Initiate Sdo Download Expedited Response - TR-Electronic LP-46 Bedienungsanleitung

EtherCAT Information

3.6.1.2 Initiate SDO Download Expedited Response

Response, Server --> Client
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
Table 2: Initiate SDO Download Expedited
The server answers with the following response:
CCD
0x60
0x80
In the case of an error (SDO response CCD = 0x80), the data range contains a 4-byte-error code,
which provides information on the cause of the error, see chapter SDO Abort Codes, page 125.
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Data type Value / Description
WORD 0x06: 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 0x03: SDO Response
unsigned:1 0x00
unsigned:1 0x00
unsigned:2 0x00
unsigned:1 0x00
unsigned:3 0x03: Initiate Download Response
WORD Object index
BYTE Object sub-index
Meaning
Write successful
Error, Abort SDO Transfer
TR-ELA-BA-DGB-0020 v04
Valid for
SDO Response
SDO Response
Printed in the Federal Republic of Germany
01/14/2022