TR-Electronic CEV-58 - 11.3 Abort SDO Transfer and 11.3.1 SDO Abort Codes

Error Causes and Remedies
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11/17/2009 TR - ECE - BA - DGB - 0069 - 02 Page 115 of 119
11.3 Abort SDO Transfer Request Protocol
In the case of an error (SDO Response CCD = 0x80), Abort SDO Transfer Request
Protocol is transmitted instead of the response.
Abort SDO Transfer Request, Server --> Client
Frame Fragment Data field Data type Value / Description
Length WORD 0x0A: Length of the mailbox service data
Address WORD
Source station address, if Master = Client
Destination station address, if Slave = Client
Channel unsigned:6 0x00, reserved
Priority unsigned:2
0x00: Lowest priority
…
0x03: Highest priority
Type unsigned:4 0x03: CANopen over EtherCAT (CoE)
Mailbox Header
reserved unsigned:4 0x00
Quantity unsigned:9 0x00
reserved unsigned:3 0x00
CANopen Header
Service unsigned:4 0x02: SDO Request
Size indicator unsigned:1 0x00
Transmission type unsigned:1 0x00
Data record size unsigned:2 0x00
reserved unsigned:1 0x00
SDO
Command
code (CCD)
Command unsigned:3
0x04: Abort Transfer Request
Index WORD Object index
Sub-Index BYTE Object sub-index
Abort code DWORD Abort code
Table 7: Abort SDO Transfer Request