JVL MIS17 Series User Manual page 303

11.7 More details of CANopen Theory
Table for upload and download SDO protocol (continued)
Download
Upload
Abort SDO transfer protocol:
SDO tasks which the MIS motors (or SMC66/85) cannot process are responded to using
an abort SDO protocol. If the module does not respond in the expected time, the CAN-
open master also sends an abort SDO.
The following figure shows an abort SDO transfer protocol:
There are various abort codes in CANopen. These are listed in the table below:
Abort code
0503 0000h
0504 0000h
0504 0001h
0504 0002h
0504 0003h
0504 0004h
0504 0005h
0601 0000h
0601 0001h
0601 0002h
0602 0000h
0604 0041h
JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
d:
e=0, s=0:
d is reserved for further use
e=0, s=1:
d contains the number of bytes to be downloaded.
Byte 4 contains the lsb and byte 7 contains the
msb
e=1, s=1:
d contains the data of length 4-n to be download-
ed, the encoding depends on the type of the data
referenced by index and sub-index.
e=0, s=0:
d is reserved for further use
e=0, s=1:
d contains the number of bytes to be uploaded.
Byte 4 contains the lsb and byte 7 contains the
msb
e=1, s=1:
d contains the data of length 4-n to be uploaded,
the encoding depends on the type of the data ref-
erenced by index and sub-index.
Client/Server
0
7...5
Request
CS=4
TT1090GB
Description
Toggle bit not alternated
SDO Protocol timed out
Client/server command specified not valid or unknown
Invalid block size (block mode only)
Invalid sequence number (block mode only)
CRC error (block mode only)
Out of memory
Unsupported access to an object
Attempt to read a write-only object
Attempt to write a read-only object
Object does not exist in the object dictionary
Object cannot be mapped to the PDO
X:
not used,
always 0
not used,
always 0
1 4
m d
4...0
X
Reserved:
Reserved for further
use, always 0
Reserved for further
use, always 0
Server/Client
8 8
Indication
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