Receiving SDO data in the PLC

SDO data that are unknown to the CANopen part of the software and cannot be processed automatically are transferred to the PLC, where they are evaluated and answered via ADS notification.

To this end the ADS port must be enabled in the System Manager under CAN device (CX8051).

Receiving SDO data in the PLC 1:

SDO Read request

Data to be read must be received with ADSREADIND and answered with ADSREADRES.

Input parameter ADSREADIND	Description
NETID	NetID of the CAN interface
Port number	0x1000_hex + node number
IDXGRP	16#8000_0000 + SDO Index (IDXGRP.31 = ADS-Notification)
IDXOFFS	SDO sub index
LEN	not required for reading

You now have to respond to the ADS indication with an ADS read response.

Input parameter ADSREADRES	Description
NETID	NetID of the CAN interface
Port number	0x1000_hex + node number
INVOKEID	INVOKEID of the ADSREADIND block
RESULT	error <> 0, error-free = 0
LEN	Length of the data

SDO Write request

Data to be written must be received with ADSWRITEIND and answered with ADSWRITERES.

Output parameter ADSWRITEIND	Description
NETID	NetID of the CAN interface
Port number	0x1000_hex + node number
IDXGRP	16#8000_0000 + SDO Index (IDXGRP.31 = ADS Notification)
IDXOFFS	SDO Subindex
LEN	Number of received data in bytes

You now have to respond to the ADS indication with an ADS write response.

Input parameter ADSWRITERES	Description
NETID	NetID of the CAN interface
Port number	0x1000_hex + node number
INVOKEID	INVOKEID of the ADSWRITEIND block
RESULT	error <> 0, error-free = 0