Faulhaber MC 5010, Communications Manual, Page: 20 / 43

3 Protocol description
15-04-2016 20 7000.05052
Tab. 12: Response SDO Block Upload End (Slave to Master)
Byte Contents Description
1 Length User data length >5 bytes
2 Node number Node number
3 0x0A Command SDO Block Read End
4 Sequ no Sequential number of the last segment (>0)
5–N Data Data of the last segment (max. 57 bytes)
(N+1) CRC Check sum
Tab. 13: Acknowledge SDO Block Upload End (Master to Slave)
Byte Contents Description
1 5 User data length 5 bytes
2 Node number Node number
3 0x0A Command SDO Block Read End
4 Ack Sequ Last sequential number received
5 CRC Check sum
 If AckSeq = 0, segment transmitted was not received correctly and the segment must
be sent again.
 If a processing error occurs at the controller an SDO error response to chap. 3.3.1.1,
p. 16 (e.g. timeout) is sent.
 If the block transmission is aborted by the master, an abort SDO transfer telegram is
signalled (see chap. 3.3.3, p. 23).