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How to send SDO to CANOpen device in MC80?

Question:
How to read SDO from CANOpen device in MC80? in MC80 CANOpen device page, there is no a "CANOpen" tab like in M340, so how to sending SDO to a CANOpen device?

Answer:
For MC80, we can use READ_VAR and WRITE_VAR to read/write SDO. 
the OBJ pin of READ_VAR and WRITE_VAR should be set to "SDO".
below is a demo code:

READ_VAR (ADR := ADDM('0.0.2.1'),
          OBJ := 'SDO',
          NUM := 16#000c2051,(* subindex:index *)
          NB  := 0,
          GEST := Can_SDO_R1.Mange,
          RECP => Can_SDO_R1.Data);
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