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To read the 1 byte data : 0xFD in the object dictionary of node 5, at index 0x1400, subindex 2, sends :
605 40 00 14 02 00 00 00 00
If success, the node 5 responds :
585 4F 00 14 02 FD 00 00 00
To read the 4 bytes data : 0x60120208 in the object dictionary of node 5, at index 0x1603, subindex 1, sends :
605 40 03 16 01 00 00 00 00
If success, the node 5 responds :
585 43 03 16 01 08 02 12 60
Examples
SDO Upload expedited protocol
To read the data 0xd0d1... in the server node object dictionary, the client node sends :
The server responds (if success) :
40
0
600 + Serv
NodeId
Sub
index
00
00
00
00
Index
The client request :
4B
0
580 + Serv
NodeId
Data length = 2 bytes
Sub
index
d1
d0
x
x
Index
X : undefined. Should be 0
47
0
580 + Serv
NodeId
Data length = 3 bytes
Sub
index
d2
d1
d0
x
Index
X : undefined. Sould be 0
43
0
580 + Serv
NodeId
Data length = 4 bytes
Sub
index
d3
d2
d1
d0
Index
The server responds (if failure) :
80
0
580 + Serv
NodeId
Sub
index
Index
SDO abort code error
The server responds (if success) :
The server responds (if success) :
The server responds (if success) :
4F
0
580 + Serv
NodeId
Data length = 1 byte
Sub
index
d1
x
x
x
Index
X : undefined. Should be 0