SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For
EHS-580 EtherCAT Hybrid Servo Drive
Data area
Bytes
Bit
Definition
Description
Mail header
2
16
Length n
n≥0x0A,COE command and length of SDO data
2
16
Address
Data resource address
1
0~5
Channel
Reserved
6~7
Priority grade 0: lowest priority
3: highest priority
1
0~3
Type
3: COE
4~7
Reserved
COE
command
2
0~8
PDO code
0
9~11
Reserved
12~15
Service type
2: SDO request
SDO data
1(control
byte)
0
Quantity mark
0: Not set;
1: Set byte of transmission
1
Transmission
type
0:conventional/segment
transmission; 1: fast transmission
2~3
Byte
transmission
0:conventional/segment transmission invalid;
others: number of byte transmission
4
Completed visit 0: incomplete visit;
1: complete visit
5~7
Command code 0:segment download request
1: download request
2
16
Index
Object dictionary index
1
8
Sub-index
Object dictionary sub-index
4
32
Data
Fast transmission: specified object dictionary data
Conventional transmission: total bytes of object dictionary
n-10
Extended data Conventional transmission for extended data
5.3.3SuspendSDO transmission
If it occurs error for data analysis during SDO transmission, the request for suspending SDO transmission can be
sent to master, and receiving the request, SDO transmission is suspended immediately
Suspend SDO transmission chart
Data area
Bytes
Bit
Definition
Description
Mail header
2
16
Length n
n≥0x0A,COE command and length of SDO data
2
16
Address
Data resource address
1
0~5
Channel
Reserved
6~7
Priority grade 0: lowest priority
3: highest priority
1
0~3
Type
3: COE
