JVL MAC050 User Manual page 231

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Table for upload and download SDO protocol (continued)
Download
Upload
Abort SDO transfer protocol:
SDO tasks, which the MAC00-FCxx cannot process are responded to using an abort
SDO protocol. If the module does not respond in the expected time, the CANOpen®
master also sends an abort SDO.
The following figure show a 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
Table continued on next page.
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
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 contain the lsb and byte 7 contain the msb
e=1, s=1:
d contain the data of length 4-n to be downloaded,
the encoding depends on the type of the data ref-
erence 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 contain the lsb and byte 7 contain the msb
e=1, s=1:
d contain the data of length 4-n to be uploaded,
the encoding depends on the type of the data ref-
erence 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 exit 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
227