Service data (SDO)
Application Manual POWERLINK Controlled Node
Document no. 5.13013.04 Baumüller Nürnberg GmbH
34
of 80
5.3
5.3.2 Frame structure ASnd
The structure of the asynchronous Send (ASnd) frame is as follows:
Bit offset
Byte offset 7 6 5 4 3 2 1 0
0 Message Type = ASnd (0x06)
1 Destination (Node ID of the addressed nodes)
2 Source (Node ID of the transmitting node)
3 Service ID (see the following table)
4 .. 7 Sequence Layer Protocol
8 .. k-1 Command Layer Protocol
k .. 1472 SDO Payload Data
IdentResponse 0x01 Response of a node to an IdentRequest via SoA
StatusResponse 0x02 Response of a node to a StatusRequest via SoA
NMTRequest 0x03 Response of a CN to a NMTRequestInvite via
SoA
NMTCommand 0x04 Response of the MN to an internal request or an
external request via NMTRequest
SDO 0x05 Response of a CN to an UnspecificInvite via SoA
Manufacturer specific 0xA0 .. 0xFE Manufacturer specific service
5.3.3 Error reactions
Faulty SDO accesses are rejected by means of abort codes. The structure of these abort
frames is identical to the SDO frame described in ZFrame st
ructure SoA– on page 33.
The data field contains an abort code with 4 bytes.
The following different messages may occur in case of faulty SDO accesses:
RequestedService ID Description
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