Suspend Sdo Transmission - Econ EtherCAT EHS-580 User Manual

SHENZHEN ECON TECHNOLOGY CO.,LTD
Data area Bytes
2
2
Mail header
1
1
COE
2
command
1(control
byte)
SDO data
2
1
4
n-10
5.3.3SuspendSDO transmission
If it occurs error for data analysis during SDO transmission, the request for suspending SDO transmission can be
sent to master, and receiving the request, SDO transmission is suspended immediately
Suspend SDO transmission chart
Data area Bytes
2
2
Mail header
1
1
User Manual For EHS-580 EtherCAT Hybrid Servo Drive
Bit Definition
16 Length n
16 Address
0~5 Channel
6~7 Priority grade
0~3 Type
4~7 Reserved
0~8 PDO code
9~11 Reserved
12~15 Service type
0 Quantity mark
1 Transmission
type
2~3 Byte
transmission
Completed visit 0: incomplete visit;
4
5~7 Command code 0:segment download request
16 Index
8 Sub-index
32 Data
Extended data Conventional transmission for extended data
Bit Definition
16 Length n
16 Address
0~5 Channel
6~7 Priority grade
0~3 Type
Description
n≥0x0A,COE command and length of SDO data
Data resource address
Reserved
0: lowest priority
3: highest priority
3: COE
0
2: SDO request
0: Not set;
1: Set byte of transmission
0:conventional/segment
transmission; 1: fast transmission
0:conventional/segment transmission invalid;
others: number of byte transmission
1: complete visit
1: download request
Object dictionary index
Object dictionary sub-index
Fast transmission: specified object dictionary data
Conventional transmission: total bytes of object dictionary
Description
n≥0x0A,COE command and length of SDO data
Data resource address
Reserved
0: lowest priority
3: highest priority
3: COE