Festo EMCA-EC-67 CO Series, Описание

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3 EtherCAT with FHPP
Festo – EMCA-EC-C-HP-EN – 2017-11e – English 65
3.8.4 SDO Error message (Abort SDO transfer request)
In the event of an error while reading or writing, the EMCA responds with an SDO error message (Abort
SDO transfer request). The cause of error is transmitted to the controller as an error code (abort codes)
in the data (Data) of the error message.
Controllers EMCA
SDO Error
Abort SDO transfer request
Fig. 3.10 Transmit error message
Example:
A write command is transmitted to the object “Statusword (6041
h
)” that only has read access. In the
error message, the error code “06 01 00 02
h
” is sent back.
SDO error code SDO abort codes
The following table describes all the SDO error codes for SDO error transmission:
Error code
F3 F2 F1 F0
Description
05 03 00 00
h
Protocol error: Toggle bit was not revised with segmented SDO transfer.
05 04 00 00
h
SDO protocol time violation
05 04 00 01
h
Protocol error: Client/server command specifier invalid or unknown
05 04 00 05
h
Outside the memory area
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 01 00 03
h
Subindex cannot be written to, subindex O must be 0 for write access
06 01 00 04
h
SDO complete access is not supported for objects with variable length, e.g. with
ENUM object types
06 01 00 05
h
Length of object exceeds size of mailbox
06 01 00 06
h
Object is assigned to RxPDO, SDO download is blocked
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 06 00 00
h
Access faulty due to a hardware problem
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
Value range for parameters was exceeded (only for write access)
06 09 00 31
h
Parameter value is too big