ABB NCAN-02 User Manual

Chapter 6 – Communication
6-12 NCAN-02 Installation and Start-up Guide
Service Data Objects
(SDO)
Service Data Objects are mainly used for transferring non-time-critical
data, e.g. parameter values. SDOs provide access to the entries in the
device Object Dictionary.
If 4 bytes or less data is to be transmitted, an ‘expedited’ SDO
message can be used. Larger quantities of data can be segmented, i.e.
split between several CAN messages.
The COB IDs for SDO communication are:
• Master to Slave: 600h + Node ID
• Slave to Master: 580h + Node ID.
Read:
Write:
Master to Slave
Header
Byte
1 2345678
1100xxxxxxx01000 Command Object Index
Sub-
index
Reserved
xxxxxxx = Node ID
Master to Slave (‘Expedited’ message with max. 4 bytes of data)
Header
Byte
1 2345678
1100xxxxxxx01000 Command Object Index
Sub-
index
Data
Master to Slave (Segmented message with over 4 bytes of data)
1st Frame
Header
Byte
1 2345678
1100xxxxxxx01000 Command Object Index
Sub-
index
Length
All Subsequent Frames
Header
Byte
1 2345678
1100xxxxxxx01000 Command Data

ABB NCAN-02 Specifications

General

Brand	ABB
Model	NCAN-02
Category	Control Unit
Language	English