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85201A_RK5C_User Manual_02-2017_ENG
SDO abort transfer
The SDO abort transfer service aborts the SDO download or the SDO upload service of an SDO referenced by its
number.
As result of an SDO abort transfer event, the SDO server sends this message to the SDO client:
COB-ID
Rx/Tx
DLC
Data
D0
D1
D2
D3
D4
D5
D6
D7
580h +
node-ID
Tx
8
80h
Index
Sub
index
Abort code
Figure 28 - SDO abort response message
where:
Index is the object dictionary parameter index (Intel format byte ordering)
Sub index is the object dictionary parameter sub index
Abort code explain the reason of the SDO abort event.
The following table contains the abort codes provided by the protocol SDO abort transfer of the GEFRAN RK5C
CANopen device.
Abort code
Description
05040001h
Client/server command specifier not valid or unknown
05040005h
Out of memory
06010001h
Attempt to read a write only object
06010002h
Attempt to write a read only object
06020000h
Object does not exist in the object dictionary
06040041h
Object cannot be mapped to the PDO
06070010h
Data type does not match, length of service parameter does not match
06090011h
Sub-index does not exist
06090030h
Invalid value for parameter (download only)
08000020h
Data cannot be transferred or stored to the application.
Figure 29 - SDO abort codes