CANopen SDO Server Channel Instance

This block defines a CANopen SDO server channel.

Block ID

Library

motohawk_canopen_lib

Description

This block defines CANopen SDO server channel.

This block creates an interface for CANopen clients with a node ID that matches the node ID value on this block's input port to make SDO upload and download requests of the referenced SDO server. Should a client request be received while the server is processing a previous request, that request will be discarded and the new request will be processed.

There could be up to 127 SDO Server channel blocks. It is not recommended to use the same node ID value in multiple SDO server channel blocks.

COB ID Base values shall comply with CANopen specification :

First 7 bits must always be set to '0'.
If CAN id type in the CANopen instance is set to standard only the following value is allowed :

COB-ID base client->server : 0x600
COB-ID base server->client : 0x580

If CAN id type in the CANopen instance is set to extended the following values are allowed :

COB-ID base client->server : 0x600 and any value equal or greater than 0x800
COB-ID base server->client : 0x580 and any value equal or greater than 0x800

SDO client requests can request the value of, or change value of any internal object dictionary entry.

It is recommended that server channel be used for peer-to-peer communication. Only one server and one client should communicate over single channel

Block Parameters

Parameter Field	Values	Comments/Description
SDO Server Reference	String	Name of associated SDO server.
Channel Name	String	Unique name of SDO server channel.
COB-ID Base Client->Server	Numeric	COB-ID base of this SDO servers's client to server ID.
COB-ID Base Server->Client	Numeric	COB-ID base of this SDO servers's server to client ID.