CANopen SDO Client Upload

This block defines SDO client upload transmission.

Block ID

Library

motohawk_canopen_lib

Description

The execution of this block will initiate the transmission of an SDO client upload request message. If at the time of execution, the referenced SDO client channel is not empty, the upload request will be queued and transmitted in the order it was received. The SDO client upload request messsage requests the external object dictionary entry referenced in the external OD entry reference block mask field. The message is sent to a CANopen server with the node ID provided on the referenced SDO client channel instance.

Object dictionary entry should :

be external
have access type is one of following: read-only or read-write
be associated with the same CANopen instance definition as the SDO client.

Protocol Type
Segmented SDO protocol sends visible string longer than 4 characters, otherwise SDO expedited protocol is used.

SDO upload request message is sent or queued with the rate inherited from the containing subsystem.

Block Parameters

Parameter Field	Values	Comments/Description
SDO Client Channel Reference	String	Name of associated SDO client channel.
External OD entry reference	String	Name of associated object dictionary.
SDO Upload Name	String	Unique name of SDO upload block.