JVL MAC050 - Page 231

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 227
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Table for upload and download SDO protocol (continued)
Abort SDO transfer protocol:
SDO tasks, which the MAC00-FCxx cannot process are responded to using an abort
SDO protocol. If the module does not respond in the expected time, the CANOpen®
master also sends an abort SDO.
The following figure show a abort SDO transfer protocol:
There are various abort codes in CANopen®, these are listed in the table below:
Table continued on next page.
d: X: Reserved:
Download
e=0, s=0:
d is reserved for further use
e=0, s=1:
d contains the number of bytes to be downloaded.
Byte 4 contain the lsb and byte 7 contain the msb
e=1, s=1:
d contain the data of length 4-n to be downloaded,
the encoding depends on the type of the data ref-
erence by index and sub-index.
not used,
always 0
Reserved for further
use, always 0
Upload
e=0, s=0:
d is reserved for further use
e=0, s=1:
d contains the number of bytes to be uploaded.
Byte 4 contain the lsb and byte 7 contain the msb
e=1, s=1:
d contain the data of length 4-n to be uploaded,
the encoding depends on the type of the data ref
-
erence by index and sub-index.
not used,
always 0
Reserved for further
use, always 0
Abort code Description
0503 0000h Toggle bit not alternated
0504 0000h SDO Protocol timed out
0504 0001h Client/server command specified not valid or unknown
0504 0002h Invalid block size (block mode only)
0504 0003h Invalid sequence number (block mode only)
0504 0004h CRC error (block mode only)
0504 0005h Out of memory
0601 0000h Unsupported access to an object
0601 0001h Attempt to read a write only object
0601 0002h Attempt to write a read only object
0602 0000h Object does not exit in the object dictionary
0604 0041h Object cannot be mapped to the PDO
Server/Client
Indication
4
m
7...5
CS=4
4...0
X
d
1
TT1090GB
8
0
8
Request
Client/Server