# CANopen Send This **Node** has different versions depending on which `Protocol` is selected. This can be either *PDO* or *SDO*. Find in the tabs below the documentation for both versions. {% tabs %} {% tab title="PDO" %} **Overview** ![The CANopen Send: PDO Node.](/files/qnmTEiStEjabOoCv8IbZ) The **CANopen Send Node** is used to send a message once a **CANopen** connection has been selected from the **Drop-down Menu**. Here, the *PDO* `protocol` has been chosen. [**Scope**](/incari-studio/toolbox/overview.md#scopes): **Project**, **Scene**. ## Attributes ![The CANopen Send: PDO Node Attributes.](/files/4H9Y3EJcTHBBhTg2Qqel) | Attribute | Type | Description | | ------------------- | ---------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | `Configuration` | **Drop-down** | The identifying connection name that will be used, which has already been set up in the [**Project Settings**](/incari-studio/modules/project-settings/canopen.md). | | `Protocol` | **Drop-down** | The desired protocol to use when sending the message. Here, `PDO` has been chosen. After selecting this, `Index` and `Subindex` will provide values. | | `Is Custom Message` | **Bool** | Can be toggled on or off depending on whether it is a custom message or not. Toggling it on changes the `Index` and `Subindex` into editable input fields allowing values from 0-FFFF for the former and 0-255 for the latter. | | `Index` | **Drop-down** | The index of the signal. Values depend on which `Protocol` has been selected. | | `Subindex` | **Drop-down** | The subindex of the signal. Values depend on which `Index` has been selected. | | `CANopen Type` | **Defined by previous selections** | The value type to be sent which is determined by index and subindex selection. | | `Message Name` | **String** | A custom name which remains read-only. | | `Type` | **String** | A message type which remains read-only, unless `Is Custom Message` is set to *true*. | ## Inputs | Input | Type | Description | | ----------------- | ---------------------------------------- | --------------------------------------------------------------------- | | *Pulse Input* (►) | **Pulse** | A standard **Input Pulse**, to trigger the execution of the **Node**. | | `Message` | **Any (Defined by previous selections)** | The value to be sent. | ## Outputs | Output | Type | Description | | ------------------ | --------- | -------------------------------------------------------------------------------------------------------------------------------------- | | *Pulse Output* (►) | **Pulse** | A standard **Output Pulse**, to move onto the next **Node** along the **Logic Branch**, once this **Node** has finished its execution. | | {% endtab %} | | | {% tab title="SDO" %} **Overview** ![The CANopen Send: SDO Node.](/files/6HbHhkw60bZvY4kpUBAP) The **CANopen Send Node** is used to send a message once a **CANopen** connection has been selected from the **Drop-down Menu**. Here, the *SDO* `Protocol` has been chosen. [**Scope**](/incari-studio/toolbox/overview.md#scopes): **Project**, **Scene**. ## Attributes ![The CANopen Send: SDO Node Attributes.](/files/OLtlC0qJIJBFzbg8GuBK) | Attribute | Type | Description | | ------------------- | ---------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | `Configuration` | **Drop-down** | The identifying connection name that will be used, which has already been set up in the [**Project Settings**](/incari-studio/modules/project-settings/canopen.md). | | `Protocol` | **Drop-down** | The desired protocol to use when sending the message. Here, `SDO` has been chosen. After selecting this, `Index` and `Subindex` will provide values. | | `Is Custom Message` | **Bool** | Can be toggled on or off depending on whether it is a custom message or not. Toggling it on changes the `Index` and `Subindex` into editable input fields allowing values from 0-FFFF for the former and 0-255 for the latter. | | `Index` | **Drop-down** | The index of the signal. Values depend on which `Protocol` has been selected. | | `Subindex` | **Drop-down** | The subindex of the signal. Values depend on which `Index` has been selected. | | `CANopen Type` | **Defined by previous selections** | The value type to be sent which is determined by index and subindex selection. | | `Message Name` | **String** | A custom name which remains read-only. | | `Type` | **String** | A message type which remains read-only. | ## Inputs | Input | Type | Description | | ----------------- | ---------------------------------------- | --------------------------------------------------------------------- | | *Pulse Input* (►) | **Pulse** | A standard **Input Pulse**, to trigger the execution of the **Node**. | | `Message` | **Any (Defined by previous selections)** | The value to be sent. | ## Outputs | Output | Type | Description | | ------------------ | --------- | -------------------------------------------------------------------------------------------------------------------------------------- | | *Pulse Output* (►) | **Pulse** | A standard **Output Pulse**, to move onto the next **Node** along the **Logic Branch**, once this **Node** has finished its execution. | | {% endtab %} | | | | {% endtabs %} | | | ## See Also * [**CANopen Start**](/incari-studio/toolbox/communication/canopen/canopenstart.md) * [**CANopen Stop**](/incari-studio/toolbox/communication/canopen/canopenstop.md) ## External Links * Explanation of [*PDO and SDO*](https://community.element14.com/learn/learning-center/the-tech-connection/w/documents/4195/how-does-the-canopen-network-protocol-work). --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. 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