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How to configure a SDO client ?
1 – Index 1280 + n, subindex 01 : write the cobId transmit (4 bytes) : 600 + nsl
2 – subindex 02 : write the cobId receive (4 bytes) : 580 + nsl
3 – subindex 03 : write the slave node id (1 byte) : nsl (Optional)
In most of the CANOpen networks, each slave node implements only one SDO server (index 1200), to be able to receive
SDO from a client node. By default, the slave node SDO functionality is well configured.
Usually, a slave node does not implement any SDO client, because it usually not need to send SDO to other nodes.
The case of the Master node is different if it must configure the slaves nodes.
To send SDO to slaves nodes, it should have several SDO clients (one for each slave).
This entries must be configured at index 1280, 1281, ...
Configuring the SDO client defined at index 0x1280 + n to communicate with the node nsl (slave node)
600 + ns1
Index 1280 (client)
SubIndex 1
CobId SDO transmited
580 + ns1
SubIndex 2
CobId SDO received
600 + ns2
Index 1281 (client)
SubIndex 1
CobId SDO transmited
580 + ns2
SubIndex 2
CobId SDO received
600 + ns1
Index 1200 (server)
SubIndex 1
CobId SDO received
580 + ns1
SubIndex 2
CobId SDO transmited
600 + ns2
Index 1200 (server)
SubIndex 1
CobId SDO received
580 + ns2
SubIndex 2
CobId SDO transmited
Master node
Slave node. Node id = ns1
Slave node. Node id = ns2
Index ...