Lenze EtherCAT Controller-based Automation - Manual (Page 118)

9 Function library L_IODrvEtherCAT.lib
9.2 CoE Interface
118
Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
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SDO Upload Expedited Response
An "SDO Upload Normal Response" is effected if the data length of the parameter data to be read is

4 bytes.
Detailed breakdown of the data for an "SDO Upload Normal Response":
SDO frame area Data field Data type / length Value / description
Mailbox header Length WORD 2 bytes n  0x0A: Length of the mailbox service data
Address WORD 2 bytes Station address of the source if an EtherCAT
master is the instructing party.
Station address of the target if an EtherCAT slave
is the instructing party.
Channel WORD 6 bits
(0 ... 5)
0x00: Reserved
Priority 2 bits
(6, 7)
0x00: Lowest priority
...
0x03: Highest priority
Type 4 bits
(8 ... 11)
0x03: CANopen over EtherCAT (CoE)
Reserved 4 bits
(12 ... 15)
0x00
CANopen header Number WORD 9 bits
0 ... 8)
0x00
Reserved 3 bits
(9 ... 11)
0x00
Service 4 bits
(12 ... 15)
0x03: SDO response
SDO Size indicator BYTE 1 bit
(0)
0x01
Transfer type 1 bit
(1)
0x00: Normal transfer
Data set size 2 bits
(2, 3)
0x00
Complete access 1 bit
(4)
0x00: The entry addressed with index and
subindex is read.
0x01: The complete object is read. (Currently not
supported.)
Command specifier 3 bits
(5 ... 7)
0x02: Upload response
Index WORD 2 bytes Index of the object
Subindex BYTE 1 byte Subindex of the object
0x00 or 0x01 if "Complete access" = 0x01.
Complete size DWORD 4 bytes Total data length of the object
Data BYTE n - 10
bytes
Data of the object