CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
100
Abort SDO Transfer Example
The object index 0x1008 doesn’t support the sub-index 01 entry.
Therefore, if users read the object entry with index 0x1008 and sub-index 01,
the CAN-8x23 will reply the Abort SDO Transfer message. The example is
figured as follows.
Step 1. The Rx SDO message will be sent to the CAN-8423 in order to get the
object entry with index 0x1008 and sub-index 01. The following example is
assumed that the node ID for the CAN-8423 is set to 1.
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0
0
1
2
3
4
5
6
7
1
1 0 0 0 0 0 0 0 0 1
0
8
40 08 10
01
00
00
00
00
SDO client
SDO server
(CAN-8x23)
ccs
:
2
m
:
08 10 01
Step 2. The CAN-8423 will reply to the Abort SDO message as shown below.
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0
0
1
2
3
4
5
6
7
1
0 1 1 0 0 0 0 0 0 1
0
8
80 08 10
01
11
00
09
06
SDO client
SDO server
(CAN-8x23)
cs
:
4
m
:
08 10 01
d
:
11 00 09 06
According to the low byte data have the transferring priority, the data
will be converted to
“06 09 00 11”. Therefore, after searching the Abort
Code table described above, this Abort Code can be interpreted as
“Sub-index does not exist”.
