Initiate Sdo Upload Expedited Request - TR-Electronic LP-46 Bedienungsanleitung

3.6.1.3 Initiate SDO Upload Expedited Request

Read, 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 3: Initiate SDO Upload Expedited Request
The following SDO read frame can be derived from the above protocol:
CCD
0x40
Printed in the Federal Republic of Germany
01/14/2022
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 0x02: SDO Request
unsigned:1 0x00
unsigned:1 0x00
unsigned:2 0x00
unsigned:1 0x00
unsigned:3 0x02: Initiate Upload Request
WORD Object index
BYTE Object sub-index
Meaning
Read request
TR-ELA-BA-DGB-0020 v04
Valid for
SDO Request
 TR-Electronic GmbH 2013, All Rights Reserved
Page 85 of 128