TR-Electronic CEV-58 - Initiate SDO Download Expedited Response

EtherCAT Information
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11/17/2009 TR - ECE - BA - DGB - 0069 - 02 Page 81 of 119
4.7.1.2 Initiate SDO Download Expedited Response
Response, Server --> Client
Frame Fragment Data field Data type Value / Description
Length WORD 0x06: 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 0x03: SDO Response
Size indicator unsigned:1 0x00
Transmission type unsigned:1 0x00
Data record size unsigned:2 0x00
Total access unsigned:1 0x00
SDO
Command
code (CCD)
Command unsigned:3 0x03: Initiate Download Response
Index WORD Object index
Sub-Index BYTE Object sub-index
Table 2: Initiate SDO Download Expedited
The server answers with the following response:
CCD Meaning Valid for
0x60 Write successful SDO Response
0x80 Error, Abort SDO Transfer SDO Response
In the case of an error (SDO response CCD = 0x80), the data range contains a 4-byte-error code,
which provides information on the cause of the error, see chapter SDO Abort Codes, page 116.