Lenze PLC Designer PLC Designer (R2-x) CANopen for Runtime Systems - Manual (Page 24)

L-force | PLC Designer - CANopen for Runtime Systems
CANopen-Master library
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DMS 2.0 EN 05/2009 TD29 23
General:
The module always sends the request on COBID: 16#600 + NodeId, the response of the SDO server
always is expected on COBID 16#580 + NodeId.
The response data are transparent, i.e. the response message on the SDO request simply appears in
ucAnswerBytes. This however is only valid for the case of an expedited Read Request (Expedited
Upload). The meaning of the particular bytes is described in the CANopen protocol specification :
- Byte ucAnswerBytes[0] contains the server command specifier (ssc): 0x60 as a response on a
download request. 0x4y as a response on an upload request (y: Bits 0..3 are allocated as follows:
Bit 1 must be 1, otherwise the SDO server responds with a segmented upload not supported by
the module). 0x80 means that the transfer has been aborted (Abort).
- Bytes ucAnswerBytes[1..2] contain the index. (Intel-byte-order)
- Bytes ucAnswerBytes[3] contain the subindex.
- Bytes ucAnswerBytes[4..7] contain the data of the response, in case of an expedited SDO upload.
In case of an abortion the abort code appears in aAbortRec, see the following table (from
DSP3.01V401):
0503 0000h
Toggle bit not alternated.
0504 0000h SDO protocol timed out.
0504 0001h Client/server command specifier 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.
0604 0042h The number and length of the objects to be mapped would exceed PDO
length.
0604 0043h
General parameter incompatibility reason.
0604 0047h General internal incompatibility in the device.
0606 0000h Access failed due to an hardware error.
0607 0010h Data type does not match, length of service parameter does not match
0607 0012h Data type does not match, length of service parameter too high
0607 0013h Data type does not match, length of service parameter too low
0609 0011h Sub-index does not exist.
0609 0030h Value range of parameter exceeded (only for write access).
0609 0031h Value of parameter written too high.
0609 0032h Value of parameter written too low.
0609 0036h Maximum value is less than minimum value.
0800 0000h general error
0800 0020h Data cannot be transferred or stored to the application.
0800 0021h Data cannot be transferred or stored to the application because of local
control.
0800 0022h
Data cannot be transferred or stored to the application because of the
present device state.
0800 0023h Object dictionary dynamic generation fails or no object dictionary is
present (e.g. object dictionary is generated from file and generation fails
because of an file error).