Festo CMMP-AS-***-M0 Series, Manual

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3 CANopen access procedure
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 23
3.2.2 SDO Error Messages
In case of an error when reading or writing (for example, because the written value is too large), the
motor controller answers with an error message instead of the acknowledgement:
Command 23
h
41
h
60
h
00
h
… … … …
Response: 80
h
41
h
60
h
00
h
02
h
00
h
01
h
06
h
Error identifier Error code (4 byte)
Error code
F3 F2 F1 F0
Significance
05 03 00 00
h
Protocol error: Toggle bit was not revised
05 04 00 01
h
Protocol error: Client / server command specifier invalid or unknown
06 06 00 00
h
Access faulty due to a hardware problem
1)
06 01 00 00
h
Access type is not supported.
06 01 00 01
h
Read access to an object that can only be written
06 01 00 02
h
Write access to an object that can only be read
06 02 00 00
h
The addressed object does not exist in the object directory
06 04 00 41
h
The object must not be entered into a PDO (e.g. ro-object in RPDO)
06 04 00 42
h
The length of the objects entered in the PDO exceeds the PDO length
06 04 00 43
h
General parameter error
06 04 00 47
h
Overflow of an internal variable / general error
06 07 00 10
h
Protocol error: Length of the service parameter does not agree
06 07 00 12
h
Protocol error: Length of the service parameter is too large
06 07 00 13
h
Protocol error: Length of the service parameter is too small
06 09 00 11
h
The addressed subindex does not exist
06 09 00 30
h
The data exceed the range of values of the object
06 09 00 31
h
The data are too large for the object
06 09 00 32
h
The data are too small for the object
06 09 00 36
h
Upper limit is less than lower limit
08 00 00 20
h
Data cannot be transmitted or stored
1)
08 00 00 21
h
Data cannot be transmitted or stored, since the controller is working locally
08 00 00 22
h
Data cannot be transmitted or stored, since the controller for this is not in the
correct state
2)
08 00 00 23
h
There is no object dictionary available
3)
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.