Beckhoff FC5101 Bedienungsanleitung PDF herunterladen (Seite 53)

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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

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

1 2 ... 48 49 50 51 52 53 54 55 56 57 58 ... 94 95

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