Overview 07/06 Danaher Motion
12 Initial Release M-S2-021-11
Upload SDO Segment Protocol
The Upload SDO Segment protocol is used for read access to objects with more than 4 bytes of user data
(normal transfer). This service is not supported by the S200 at present, since there are no objects that
make use of more than 4 bytes of user data.
Abort SDO Protocol
The Abort SDO protocol breaks off SDO transmission, and indicates the error that caused the break in
transmission through an abort code (error code). The error code is in the format of an UNSIGNED32
value. The following table shows possible reasons for an abort SDO.
Abort Code
Description
0601 0000
h
Unsupported access to this object
0601 0001
h
Attempted read access to a write-only object
0601 0002
h
Attempted write access to a read-only object
0602 0000
h
Object does not exist in Object Dictionary
0604 0041h Object cannot be mapped to a PDO
0604 0042
h
Size and number of mapped objects exceed permissible PDO length
0604 0043
h
General parameter incompatibility
0607 0010
h
Data type incompatible, length of service parameter is incompatible
0609 0011
h
Subindex does not exist
0609 0030
h
Outside value range for the parameter (only for write access)
0609 0031
h
Parameter value too high
0609 0032
h
Parameter value too low
0800 0020
h
Data cannot be transmitted or saved
0800 0022
h
Data cannot be transmitted or saved because of device status
FF03 0000
h
OS cmd buffer full
Abort Codes not listed above are reserved.
Factor Groups (fg) (DS402)
Factor groups define the units of position-, velocity- and acceleration setpoints. These values are
converted into drive-specific parameters.
CAUTION
The unit definitions are not defined in the CANopen profile DS402. Use the SDOs 6089
h
to
609E
h
.
Set the drive parameters for the unit definitions as: PUNIT = 0 (counts), VUNIT = 0 (counts
/ s), ACCUNIT = 3 (counts / s²)
There is a possibility to convert between physical dimensions and sizes, and the internal units used in the
device (increments). Several factors can be implemented. This section describes how these factors
influence the system, how they are calculated, and which data are necessary to build them. The factors
defined in the factor group set up a relationship between device-internal units (increments) and physical
units.
The factors are the result of the calculation of two parameters called dimension index and notation index.
The dimension index indicates the physical dimension, the notation index indicates the physical unit and a
decimal exponent for the values. These factors are directly used to normalize the physical values.
The notation index can be used in two ways:
1. For a unit with decimal scaling and notation index < 64, the notation index defines the
exponent/decimal place of the unit.
2. For a unit with non-decimal scaling and notation index > 64, the notation index defines the
subindex of the physical dimension of the unit.
SDOs for Position Calculation
