RS Automation OEMax CSD7, User Manual

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EtherCAT Communication
5-17
CSD7 Servo Drive (EtherCAT)
SDO (Service Date Object)
The CSD7 servo drive supports SDO communication. SDO communication is used to set the
object of CSD7 servo drive or to monitor its state. The host controller read data from related
object in the object dictionary to monitor slave states, and write data to related object in
the object dictionary to set the object.
Abort Code
The following table describes abort code that are sent to the master when SDO
communication is abnormal.
Abort Code Description
0x00000000 No SDO error
0x05030000 Toggle bit not changed
0x05040000 SDO timeout
0x05040001 Command specifier unknown
0x05040005 Out of memory
0x06010000 Unsupported Access
0x06010001 Write only entry
0x06010002 Read only entry
0x06010003 Entry can not be written because Subindex0 is not 0
0x06010004 The object can not be accessed via complete access
0x06020000 Object not existing
0x06040041 Object can not be mapped to PDO
0x06040042 Mapped Object exceeds PDO
0x06040043 Parameter is incompatible
0x06040047 Device incompatibility
0x06060000 Hardware error
0x06070010 Parameter length error
0x06070012 Parameter is too long
0x06070013 Parameter is too short
0x06090011 Subindex (Entry) not exists
0x06090030 Value exceeds
0x06090031 Value is too great
0x06090032 Value is too small
0x06090033
Detected Module Ident List (0xF030) and Configured Module Ident list (0xF050) does not
match
0x06090036 Value is less than minimum value
0x08000000 General error