Configuring the Service Data Object¶
During the initialization of the CANbus, the current configuration values will be transferred via Service Data Objects (SDO) to the CAN module.
In the Service Data Object configuration dialog, the desired SDOs can be configured and it can be defined in which sequence they should be transferred and what should happen in case of an incomplete transfer.
Note
If option Enable expert PDO settings is not activated for the current device only the user-defined SDOs will be listed. for more information, see Enable Expert PDO Settings Configuration of the CANOPEN Remote Devices.
The tab Service Data Object can be used to configure the Service Data objects:
The view shows all parameters of the Service Data Object of the current device including the device -specific values and sizes.
| Parameter | Default value |
Value | Meaning |
|---|---|---|---|
| SDO table columns | |||
| Line | Device-specific | Device-specific | The line number of the parameter. |
| Index:Subindex | Device-specific | Device-specific | The index and the subindex of the parameter. |
| Name | Device-specific | Device-specific | The name of the parameter. |
| Value | Device-specific | Device-specific | The configured value of the parameter. |
| Bitlength | Device-specific | Device-specific | The length of the parameter in [bit]. |
| Abort if error | Device-specific | Device-specific | If parameter Abort if error is activated the transfer will be terminated on error detection. |
| Jump to line if error | Device-specific | Device-specific | If the parameter Jump to line if error is activated the transfer will be continued with the line which is set in parameter Next line in case of an error. |
| Next line | 0 | 1…number of lines | The parameter Next line determines the line with which the transfer will be continued in case of an error if the parameter Jump to line if error is activated. |
| Comment | ” | Device-specific | The parameter Comment shows a comment text of the corresponding line. |
| Buttons | |||
| Move up | - | - | The order (top-down) in the SDO table represents the sequence in which the SDOs will be transferred to the module. The button Move up shifts up the selected entry. |
| Move down | - | - | The order (top-down) in the SDO table represents the sequence in which the SDOs will be transferred to the module. The button Move down shifts up the selected entry. |
New… see Remark 1 |
- | - | The button New… opens the Select item from object directory to add an SDO entry to the table. |
| Delete… | - | - | The button Delete… deletes the currently selected line from the table. |
Edit… see Remark 1 |
- | - | The button Edit… opens the Select item from object dictionary dialog where it can be edited. |
Remark 1: The Select item from object directory dialog:
The dialog Select item from object dictionary shows all entries defined in the EDS file:
The dialog allows editing the available SDOs before adding them to the table. New entries can be created and edited which are not defined in the EDS file.