Canopen Over Ethercat Protocol; Initiate Sdo Download Expedited Request - TR-Electronic LP-46 Bedienungsanleitung

3.6.1 CANopen over EtherCAT protocol

3.6.1.1 Initiate SDO Download Expedited Request

Write, Client --> Server
Frame Fragment Data field
Length
Address
Channel
Mailbox Header
Priority
Type
reserved
Quantity
CANopen Header reserved
Service
Size indicator
Transmission type
SDO
Data record size
Total access
Command
Index
Sub-index
Data
Table 1: CANopen Initiate SDO Download Expedited Request
The following SDO write frames can be derived from the above protocol:
CCD
0x23
0x27
0x2B
0x2F
Printed in the Federal Republic of Germany
01/14/2022
Data type Value / Description
WORD 0x0A: Length of the mailbox service data
Source station address, if Master = Client
WORD
Destination station address, if Slave = Client
unsigned:6 0x00, reserved
0x00: Lowest priority
...
unsigned:2
0x03: Highest priority
unsigned:4 0x03: CANopen over EtherCAT (CoE)
unsigned:4 0x00
unsigned:9 0x00
unsigned:3 0x00
unsigned:4 0x02: SDO Request
0x00: Size of data (1..4) not specified
unsigned:1
0x01: Size of data specified in data record size
unsigned:1 0x01: Expedited transmission
0x00: 4 byte of data
0x01: 3 byte of data
unsigned:2
0x02: 2 byte of data
0x03: 1 byte of data
unsigned:1 0x00
unsigned:3 0x01: Initiate Download Request
WORD Object index
BYTE Object sub-index
BYTE[4] Object data
Meaning
Write 4 byte
Write 3 byte
Write 2 byte
Write 1 byte
TR-ELA-BA-DGB-0020 v04
Valid for
SDO Request
SDO Request
SDO Request
SDO Request
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