TR-Electronic CEV-58 - Canopen over Ethercat Protocol; Initiate SDO Download Expedited Request

EtherCAT Information
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Page 80 of 119 TR - ECE - BA - DGB - 0069 - 02 11/17/2009
4.7.1 CANopen over EtherCAT protocol
4.7.1.1 Initiate SDO Download Expedited Request
Write, Client --> Server
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: Size of data (1..4) not specified
0x01: Size of data specified in data record size
Transmission type unsigned:1 0x01: Expedited transmission
Data record size unsigned:2
0x00: 4 byte of data
0x01: 3 byte of data
0x02: 2 byte of data
0x03: 1 byte of data
Total access unsigned:1 0x00
SDO
Command code (CCD)
Command unsigned:3 0x01: Initiate Download Request
Index WORD Object index
Sub-index BYTE Object sub-index
Data BYTE[4] Object data
Table 1: CANopen Initiate SDO Download Expedited Request
The following SDO write frames can be derived from the above protocol:
CCD Meaning Valid for
0x23 Write 4 byte SDO Request
0x27 Write 3 byte SDO Request
0x2B Write 2 byte SDO Request
0x2F Write 1 byte SDO Request