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CHAPTER5 CANOPEN COMMUNICATION FUNCTION
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5.1 Feature of CANopen communication function
5.1.1 SDO(Service Data Object)
When using the segmented SDO download and upload services, the communication software will be
responsible the SDO as a sequence of segments.
Explicit transfer has to be supported. Segmented transfer has to be supported if objects lager than 4
bytes are supported. Optionally the following SDO services for doing a block transfer with higher bus
utilization and performance for large data set size can be implemented.
The model for the SDO communication is the Client/Sever model.
CANopen Interface Option uploads and downloads inverter parameters using Object Dictionary
1200h.
Sub-Index Type Meaning Notes
0 UNSIGNED8 Number of supported entries in the record default: 2
1 UNSIGNED32 COB-ID Client -> Server (Receive ID)
2 UNSIGNED32 COB-ID Server -> Client (Transmit ID)
Abort Code
This protocol is used to implement the abort SDO Transfer Service.
The abort code is standard code of CANopen specifications.
Abort code Description Notes
0503 0000h Toggle bit not alternated.
0504 0000h SDO protocol time out.
0504 0001h Client/server command specifier not valid or unknown.
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.
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).