Abort Sdo Transfer Request Protocol - TR-Electronic EtherCat CEV58 Bedienungsanleitung

Error Causes and Remedies

10.3 Abort SDO Transfer Request Protocol

In the case of an error (SDO Response CCD = 0x80), Abort SDO Transfer Request
Protocol is transmitted instead of the response.
Abort SDO Transfer Request, Server --> Client
Frame Fragment Data field
Length
Address
Channel
Mailbox Header
Priority
Type
reserved
Quantity
CANopen Header reserved
Service
Size indicator
Transmission type
SDO Data record size
reserved
Command
Index
Sub-Index
Abort code
Table 7: Abort SDO Transfer Request
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Page 112 of 116
Data type Value / Description
WORD 0x0A: Length of the mailbox service data
Source station address, if Master = Client
WORD
Destination station address, if Slave = Client
unsigned:6 0x00, reserved
0x00: Lowest priority
...
unsigned:2
0x03: Highest priority
unsigned:4 0x03: CANopen over EtherCAT (CoE)
unsigned:4 0x00
unsigned:9 0x00
unsigned:3 0x00
unsigned:4 0x02: SDO Request
unsigned:1 0x00
unsigned:1 0x00
unsigned:2 0x00
unsigned:1 0x00
unsigned:3 0x04: Abort Transfer Request
WORD Object index
BYTE Object sub-index
DWORD Abort code
TR - ECE - BA - DGB - 0069 - 09
Printed in the Federal Republic of Germany
06/23/2017