Sdo Services - Siemens SINAMICS S120 Commissioning Manual

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1.12 SDO services

1.12 SDO services
Introduction
SDO services allow you to access the object directory for the connected drive unit. An SDO
connection is a peer-to-peer connection between an SDO client and a server.
The drive unit with its object directory is an SDO server.
The identifiers for the first SDO channel of a drive unit are defined according to CANopen.
For communication between:
● Receive: server <= client, COB ID 600 hex + node ID applies
● Transmit: server => client, COB ID 580 hex + node ID applies
Properties
The SDOs have the following properties:
● Confirmed transfer of objects
● The transfer procedure is always asynchronous
● Transfer of values greater than 4 bytes (normal transfer)
● Transfer of values with no more than 4 bytes (expedited transfer)
● Corresponds with the acyclic PROFIBUS parameter channel
● All drive unit variables can be addressed via SDO
Structure of the SDO protocols
Depending on the task, the SDO services use the appropriate protocol. The following lists
the most important protocols for the SDO services.
SDO Protocol Write
This protocol is used to write data in the drive unit.
Confirmation with the signal "Write Response".
Table 1- 5 SDO Protocol Write
Write Request
CANopen Master Request ----> SINAMICS message
Byte 0
cs = 2Fhex
cs = 2Bhex
cs = 27hex
cs = 23hex
Write Response
SINAMICS confirmation ----> CANopen Master Response
Byte 0
Cs = 60
36
Bytes 1..2 Byte 3
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Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Bytes 4..7
data byte 4
data byte 4-5
data byte 4-6
data byte 4-7
Bytes 4..7
Reserved
CANopen interface