EtherCAT Information
Printed in the Federal Republic of Germany © TR-Electronic GmbH 2008, All Rights Reserved
11/17/2009 TR - ECE - BA - DGB - 0069 - 02 Page 77 of 119
4.6.1 Compatibility with the CiA DS-301 communication profile
Supported services
• Initiate SDO Download
• Initiate SDO Upload
• Abort SDO Transfer
Services not supported (not required)
• Initiate SDO Block Download
• Download SDO Block
• End SDO Block Download
• Initiate SDO Block Upload
• Upload SDO Block
• End SDO Block Upload
4.6.2 Extensions to the CiA DS-301 communication profile
Cancellation of the 8 byte standard CANopen SDO frame
• Full mailbox capacity available
• "Initiate SDO Download" Request / "SDO Upload" Response can contain data
after the SDO header
Download and upload of all sub-indices at once
To Next Page