CHAPTER5 CANOPEN COMMUNICATION FUNCTION
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5.1 Feature of CANopen communication function
5.1.1 SDO(Service Data Object)
When using the segmented SDO download and upload services, the communication software will be
responsible the SDO as a sequence of segments.
Explicit transfer has to be supported. Segmented transfer has to be supported if objects lager than 4
bytes are supported. Optionally the following SDO services for doing a block transfer with higher bus
utilization and performance for large data set size can be implemented.
The model for the SDO communication is the Client/Sever model.
CANopen Interface Option uploads and downloads inverter parameters using Object Dictionary
1200h.
Sub-Index
Type
Meaning
Notes
0
UNSIGNED8
Number of supported entries in the record
default: 2
1
UNSIGNED32
COB-ID Client -> Server (Receive ID)
2
UNSIGNED32
COB-ID Server -> Client (Transmit ID)
Abort Code
This protocol is used to implement the abort SDO Transfer Service.
The abort code is standard code of CANopen specifications.
Abort code
Description
Notes
0503 0000h
Toggle bit not alternated.
0504 0000h
SDO protocol time out.
0504 0001h
Client/server command specifier not valid or unknown.
0504 0005h
Out of memory.
0601 0000h
Unsupported access to an object.
0601 0001h
Attempt to read a write only object.
0601 0002h
Attempt to write a read only object.
0602 0000h
Object does not exist in the object dictionary.
0604 0041h
Object cannot be mapped to the PDO.
0604 0042h
The number and length of the objects to be mapped would exceed
PDO length.
0604 0043h
General parameter incompatibility reason.
0606 0000h
Access failed due to an hardware error.
0607 0010h
Data type does not match, length of service parameter does not
match
0607 0012h
Data type does not match, length of service parameter too high
0607 0013h
Data type does not match, length of service parameter too low
0609 0011h
Sub-index does not exist.
0609 0030h
Value range of parameter exceeded (only for write access)
0609 0031h
Value of parameter written too high.
0609 0032h
Value of parameter written too low.
0609 0036h
Maximum value is less than minimum value.
0800 0000h
general error
0800 0020h
Data cannot be transferred or stored to the application.
0800 0021h
Data cannot be transferred or stored to the application because of
local control.
0800 0022h
Data cannot be transferred or stored to the application because of
the present device state.
0800 0023h
Object dictionary dynamic generation fails or no object dictionary is
present (e.g. object dictionary is generated from file and generation
fails because of an file error).
