WAGO I/O-SYSTEM 750, Technical Description

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CANopen • 91
Network Communication
WAGO-I/O-SYSTEM 750
CANopen
Via Additional Code, Error Code and Error Class the following Errors are
coded as UNSIGNED32:
Byte 7 6 Byte 5 Byte 4
Additional
Code
Error
Code
Error
Class
Meaning
05 03 00 00 Toggle bit not alternated
05 04 00 00 SDO protocol timed out
05 04 00 01 Client/server command specifier not valid or unknown
05 04 00 02 Invalid block size (block mode only)
05 04 00 03 Invalid sequence number (block mode only)
05 04 00 04 CRC error (block mode only)
05 04 00 05 Out of memory
06 01 00 00 Unsupported access to an object
06 01 00 01 Attempt to read a write only object
06 01 00 02 Attempt to write a read only object
06 02 00 00 Object does not exist in the object dictionary
06 04 00 41 Object cannot be mapped to the PDO
06 04 00 42 The number and length of the objects to be mapped would exceed
PDO length
06 04 00 43 General parameter incompatibility reason
06 04 00 47 General internal incompatibility in the device
06 06 00 00 Access failed due to an hardware error
06 07 00 10 Data type does not match, length of service parameter does not
match
06 07 00 12 Data type does not match, length of service parameter too high
06 07 00 13 Data type does not match, length of service parameter too low
06 09 00 11 Sub-index does not exist
06 09 00 30 Value range of parameter exceeded (only for write access)
06 09 00 31 Value of parameter written too high
06 09 00 32 Value of parameter written too low
06 09 00 36 Maximum value is less than minimum value
08 00 00 00 general error
08 00 00 20 Data cannot be transferred or stored to the application
08 00 00 21 Data cannot be transferred or stored to the application because of
local control
08 00 00 22 Data cannot be transferred or stored to the application because of
the present device state
08 00 00 23 Object dictionary dynamic generation fails or no object dictionary is
present (e.g. object dictionary is generated from file and generation
fails because of an file error)
4.3.1.2.2 SDO Examples
The following are 4 SDO examples, the data is being displayed in hexadeci-
mal. These examples show the handling of SDOs on the CAN message level
and can be used if the SDO protocol is to be implemented on a CAN card.
A message is subdivided into 4 columns:
1. column Direction M->BC = message is sent by the master to the bus coupler.
BC->M = message is sent by the bus coupler to the master.
2. column CAN Identifier
3. column Frame Type D = Data frame
R = RTR frame