Scaime eNod4-B - Page 27

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User manual SCAIME: NU-soft-eNod4B-E-0716_236704-C.doc
COB-ID
DLC
byte 0
byte 1
byte 2
byte 3
byte 4
byte 5
byte 6
byte 7
11 bits
1
byte
Command
byte
Index
sub-index
Data
580
H
or 600
H
+ ID eNod4
8
see table
LSB
MSB
/
LSB
-
-
MSB
The client request uses the SDO(Rx) COB-ID (600
H
+ ID eNod4 and the server uses the SDO(Tx) COB-ID (580
H
+ ID
eNod4).
The command byte depends on the requested data length:
Client request
Server response
read data  40
H
43
H
 4-bytes data
4B
H
 2-bytes data
4F
H
 1-byte data
write 4-bytes data  23
H
60
H
write 2-bytes data  2B
H
write 1-byte data  2F
H
For a read request, the value of the four last bytes of the frame (data) does not matter.
If an error occurs during a SDO communication eNod4 responds with the command byte 80
H
and the four data bytes
contain one of the following SDO abort codes. The data transfer is aborted.
SDO abort codes (hex.)
Description
5040001
SDO command specifier not supported
6010001
unsupported access to an object
6010002
attempt to write a read-only object
6020000
the object does not exist in the object dictionary
6040042
the number and length of the objects to be mapped would exceed PDO
length
6040047
impossible operation (for example reading a net/gross value during a tare
or a zero)
6070012
data type does not match, length of service parameter too high
6070013
data type does not match, length of service parameter too low
6090011
Sub index object does not exist.
6090030
value range of parameter exceeded
6090031
value of parameter written too high
6090032
value of parameter written too low
8000020
data cannot be stored to the application