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

EtherCAT Information

3.6.1.4 Initiate SDO Upload 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
Data
Table 4: Initiate SDO Upload Expedited Response
The server answers with the following possible responses:
CCD
0x43
0x47
0x4B
0x4F
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 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 0x03: SDO Response
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 0x02: Initiate Upload Response
WORD Object index
BYTE Object sub-index
BYTE[4] Object data
Meaning
4 byte of data read
3 byte of data read
2 byte of data read
1 byte of data read
Error, Abort SDO Transfer
TR-ELA-BA-DGB-0020 v04
Valid for
SDO Response
SDO Response
SDO Response
SDO Response
SDO Response
Printed in the Federal Republic of Germany
01/14/2022