BECKHOFF FC5101 - Manual (Page 53)

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53
Abortion of Parameter Communication
Parameter communication is interrupted if it is faulty. The client or server send an SDO telegram with the
following structure for this purpose:
11 bit identifier 8 byte of user data
0x580 (client) or 0x600(server) + node
ID 0x80 Index0 Index1 SubIdx Error0 Error1 Error2 Error3
Parameters Explanation
Index0 Index low byte (Unsigned16, LSB)
Index1 Index high byte (Unsigned16, MSB)
SubIdx Subindex (Unsigned8)
Error0 SDO error code low low byte (LLSB)
Error3 SDO error code high high byte (MMSB)
List of SDO error codes (reason for abortion of the SDO transfer):
SDO error code Explanation
0x05 03 00 00 Toggle bit not changed
0x05 04 00 01 SDO command specifier invalid or unknown
0x06 01 00 00 Access to this object is not supported
0x06 01 00 02 Attempt to write to a Read_Only parameter
0x06 02 00 00 The object is not found in the object directory
0x06 04 00 41 The object can not be mapped into the PDO
0x06 04 00 42 The number and/or length of mapped objects would exceed the PDO length
0x06 04 00 43 General parameter incompatibility
0x06 04 00 47 General internal error in device
0x06 06 00 00 Access interrupted due to hardware error
0x06 07 00 10 Data type or parameter length do not agree or are unknown
0x06 07 00 12 Data type does not agree, parameter length too great
0x06 07 00 13 Data type does not agree, parameter length too short
0x06 09 00 11 Subindex not present
0x06 09 00 30 General value range error
0x06 09 00 31 Value range error: parameter value too great
0x06 09 00 32 Value range error: parameter value too small
0x06 0A 00 23 Resource not available
0x08 00 00 21 Access not possible due to local application
0x08 00 00 22 Access not possible due to current device status
Further, manufacturer-specific error codes have been introduced for register communication (index 0x4500,
0x4501):
SDO error code Explanation
0x06 02 00 11 Invalid table: Table or channel not present
0x06 02 00 10 Invalid register: table not present
0x06 01 00 22 Write protection still set
0x06 07 00 43 Incorrect number of function arguments
0x06 01 00 21 Function still active, try again later