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3
CANopen access procedure
3.2.2
SDO Error Messages
In case of an error when reading or writing (for example, write access to an object that can only be
read), the motor controller answers with an error message instead of the acknowledgement:
Command
23
h
Response:
80
h
Error identifier
Error code
Meaning
F3 F2 F1 F0
05 03 00 00
Protocol error: Toggle bit was not revised
h
05 04 00 01
Protocol error: Client / server command specifier invalid or unknown
h
06 06 00 00
Access faulty due to a hardware problem
h
06 01 00 00
Access type is not supported
h
06 01 00 01
Read access to an object that can only be written
h
06 01 00 02
Write access to an object that can only be read
h
06 02 00 00
The addressed object does not exist in the object directory
h
06 04 00 41
The object must not be entered into a PDO (e.g. ro-object in RPDO)
h
06 04 00 42
The length of the objects entered in the PDO exceeds the PDO length
h
06 04 00 43
General parameter error
h
06 04 00 47
Overflow of an internal variable / general error
h
06 07 00 10
Protocol error: Length of the service parameter does not agree
h
06 07 00 12
Protocol error: Length of the service parameter is too large
h
06 07 00 13
Protocol error: Length of the service parameter is too small
h
06 09 00 11
The addressed subindex does not exist
h
06 09 00 30
The data exceed the range of values of the object
h
06 09 00 31
The data are too large for the object
h
06 09 00 32
The data are too small for the object
h
06 09 00 36
Upper limit is less than lower limit
h
08 00 00 20
Data cannot be transmitted or stored
h
08 00 00 21
Data cannot be transmitted or stored, since the motor controller is working locally
h
08 00 00 22
Data cannot be transmitted or stored, as the motor controller is not in the correct
h
status for this
08 00 00 23
There is no object dictionary available
h
1) Returned in accordance with CiA 301 in case of incorrect access to store_parameters / restore_parameters.
2) "Status" should be understood generally here: It may be a problem of the incorrect operating mode or a technology module that is
not available or the like.
3) This error is returned, for example, when another bus system controls the motor controller or the parameter access is not
permitted.
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
41
60
00
...
h
h
h
41
60
00
02
h
h
h
Error code (4 byte):
F0
2)
...
...
...
00
01
06
h
h
h
h
F1
F2
F3
1)
1)
3)
21
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