TR-Electronic CEV-58 - Initiate SDO Upload Expedited Request

EtherCAT Information
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Page 82 of 119 TR - ECE - BA - DGB - 0069 - 02 11/17/2009
4.7.1.3 Initiate SDO Upload Expedited Request
Read, 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 0x02: SDO Request
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 0x02: Initiate Upload Request
Index WORD Object index
Sub-Index BYTE Object sub-index
Table 3: Initiate SDO Upload Expedited Request
The following SDO read frame can be derived from the above protocol:
CCD Meaning Valid for
0x40 Read request SDO Request