JVL MIS17 Series, User Manual

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JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 303
11.7 More details of CANopen Theory
Table for upload and download SDO protocol (continued)
Abort SDO transfer protocol:
SDO tasks which the MIS motors (or SMC66/85) cannot process are responded to using
an abort SDO protocol. If the module does not respond in the expected time, the CAN-
open master also sends an abort SDO.
The following figure shows an abort SDO transfer protocol:
There are various abort codes in CANopen. These are listed in the table below:
d: X: Reserved:
Download
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 contains the lsb and byte 7 contains the
msb
e=1, s=1:
d contains the data of length 4-n to be download-
ed, the encoding depends on the type of the data
referenced by index and sub-index.
not used,
always 0 Reserved for further
use, always 0
Upload
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 contains the lsb and byte 7 contains the
msb
e=1, s=1:
d contains the data of length 4-n to be uploaded,
the encoding depends on the type of the data ref-
erenced by index and sub-index.
not used,
always 0 Reserved for further
use, always 0
Abort code Description
0503 0000h Toggle bit not alternated
0504 0000h SDO Protocol timed out
0504 0001h Client/server command specified not valid or unknown
0504 0002h Invalid block size (block mode only)
0504 0003h Invalid sequence number (block mode only)
0504 0004h CRC error (block mode only)
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
Server/Client
Indication
4
m
7...5
CS=4
4...0
X
d
1
TT1090GB
8
0
8
Request
Client/Server