5 — VEHICLE CONTROL LANGUAGE (VCL)
Curtis Model 1351 – December 2018
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pg. 92
Check_SDO_Read() Check if a specic request for SDO data has been fullled
Check_SDO_Read(Reception_ID)
:
Reception_ID Specify the buer handle provided by the Request_
SDO_Read function
:
0 = waiting for the message to be received. (i.e., cannot send
another read request until the previous request has populated
the buer). Needs a check and/or delay in the VCL main loop
to prevent over-requesting.
1 = Message Received
2 – 11 = Abort code (see table)
Error Message Return CANopen Code Description
BAD_SDO_COMMAND 2 0504 0001h
Anytime the SDO command byte is unknown or the
SDO structure is incorrect, including wrong length
(not 8 bytes, as required by the CCIS-V2 device)
CRC_FAILED 3 0504 0004h The CRC failed on the le.
UNSUPPORTED_ACCESS 4 0601 0000h
Attempt to access an object using an incorrect
access level.
OBJECT_IS_WRITE_ONLY 5 0601 0001h Try to read a write-only object
OBJECT_IS_READ_ONLY 6 0601 0002h Try to write a read-only object
UNSUPPORTED_OBJECT 7 0602 0000h
Object is not in the device, or an error occurred
while in a block, or segmented SDO transfer.
PDO_MAPPING_ERROR 8 0604 0041h
Any PDO mapping failure, including a non-
map-able parameter, the device is not in Pre-
Operational mode, the length byte is wrong or
there are too many bytes in the PDO mapping.
VALUE_OUT_OF_RANGE 9 0609 0030h The value is out-of-range
GENERAL_ERROR 10 0800 0000h Any other generic reason not listed elsewhere.
INVALID_DEVICE_STATE 11 0800 0022h
Some parameters cannot be changed if the system
is moving or is engaged (interlock off) or if the fault
has not occurred
:
Variable = Get_SDO_Length() Return the number of valid bytes in the
SDO reception
Get_SDO_Length(Reception_ID)
:
Reception_ID Specify the buer handle provided by the request
function
:
Number of valid bytes that were returned by the SDO
request
:
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