Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 26)

4.5 Abort SDO Transfer Protocol

This protocol is used to implement the Abort SDO Transfer service.

Client to server or server to client:

0 1 4 8

7…5 4…0

cs = 4

x m d (data)

where:

cs Command specifier

4: Abort transfer request

x Not used; always 0.

m Multiplexor. Represents index/sub-index of SDO.

d Four-byte abort code giving reason for abort, encoded as Unsigned32

value.

The SDO Abort codes are listed in the following table:

Abort Code Description

0503 0000h Toggle bit not alternated.

0504 0001h Invalid or unknown client/server command specifier.

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 000h Object does not exist in object dictionary.

0604 0041h Object cannot be mapped to PDO.

0604 0042h Number and length of objects to be mapped exceeds PDO length.

0604 0043h General parameter incompatibility.

0604 0047h General internal incompatibility in device.

0606 0000h Access failed due to hardware error.

0607 0010h Data type does not match, length of service parameter does not match.

0607 0012h Data type does not match, service parameter too long.

0607 0013h Data type does not match, service parameter too short.

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 to or stored in application.

CANopen DS 301 Implementation Guide Service Data Objects (SDOs)

MAN-CAN301IG (Ver. 2.1)

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 26