Technical Manual N5 (CANopen)
8 CANopen
COB-ID
Data
Description
583
h
10 31 2E 30 30 2D 38 4D
Upload Segment Conf.; More segments: yes; num of bytes:
7; Toggle bit: not set
603
h
60 09 10 00 00 00 00 00
Upload Segment Req.; Toggle bit: set
583
h
0B 42 00 00 00 00 00 00
Upload Segment Conf.; More segments: no (last segment);
num of bytes: 2; Toggle bit: set
All data of the transfer grouped together yield the following string (ASCII values):
4E 31 30 20 2D 20 57 54 31 32 30 39 2D 56 31 2E 30 30 2D 38 4D 42 00
This corresponds to string: "N5 - W004-N-DT1209-V1.00-8MB"
Aborting the SDO transfer
Both the server and the client are authorized to abort the current transfer at any time. To do this, an
"Abort SDO Transfer" must be sent; this is depicted in the following.
CAN ID
Data
Byte 0
Byte 1
600/580 +
NodeID
0x80
<IDX>
Abort SDO Transfer
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
<SUBIDX>
<ERROR CODE>
After receiving the message, the SDO transfer is considered ended; the service is not confirmed. A
new SDO transfer must then be started from the very beginning. Transfer of the
<ERROR CODE>
is
optional; the controller does not evaluate the code.
SDO error messages
In case of an error, an error number specifying the reason for the error is also sent in the data area.
Error Code
Description
05030000
h
toggle bit not changed: Valid only with "normal transfer" or "block transfer". The bit,
which is to alternate after each transfer, did not change its state.
05040001
h
command specifier unknown: Byte 0 of the data block contains a command that is
not allowed.
06010000
h
unsupported access: If "complete access" was requested via CAN over EtherCAT
(CoE) (is not supported.)
06010002
h
read only entry: An attempt was made to write to a constant or read-only object.
06020000
h
object not existing: An attempt was made to access a non-existing object (index
incorrect).
06040041
h
object cannot be pdo mapped: An attempt was made to map an object in the PDO
for which that is not permissible.
06040042
h
mapped pdo exceed pdo: If the desired object were to be attached to the PDO
mapping, the 8 bytes of the PDO mapping would be exceeded.
06070012
h
parameter length too long: An attempt was made to write to an object with too
much data; for example, with
<CMD>
=
23
h
(4 bytes) to an object of type Unsigned8,
<CMD>
=
2F
h
would be correct.
06070013
h
parameter length too short: At attempt was made to write to an object with too
little data; for example, with
<CMD>
=
2F
h
(1 byte) to an object of type Unsigned32,
<CMD>
=
23
h
would be correct.
Version: 2.0.1 / FIR-v1650
113
