CANopen frame
The STP-MND-HE-UA part of an Omron CANopen frame represents the Service Data Object (SDO) protocol, which is part of the CANopen Standard. This protocol is used to configure and manage parameters within CANopen networks. The STP-MND-HE-UA stands for: Service, Target, Protocol-Manage Node Data, High-Endian, Unsigned, Arbitrary Length. This indicates that the service is a SDO, targeted at a specific node, with the data being stored in High-Endian format, stored in Unsigned values, and can be of arbitrary length depending on the node.