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

EtherCAT Information
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11/17/2009 TR - ECE - BA - DGB - 0069 - 02 Page 83 of 119
4.7.1.4 Initiate SDO Upload Expedited Response
Response, 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 0x03: SDO Response
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 0x02: Initiate Upload Response
Index WORD Object index
Sub-Index BYTE Object sub-index
Data BYTE[4] Object data
Table 4: Initiate SDO Upload Expedited Response
The server answers with the following possible responses:
CCD Meaning Valid for
0x43 4 byte of data read SDO Response
0x47 3 byte of data read SDO Response
0x4B 2 byte of data read SDO Response
0x4F 1 byte of data read 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.