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5 EtherCAT Communications
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
5-5
Ser
v
ice Dat
a Object
s (SD
O
s)
5
5-5 Service Data Objects (SDOs)
1S-series Servo Drives support SDO communications. SDO communications are used for setting
objects and monitoring the status of Servo Drives. The host controller performs object setting and sta-
tus monitoring by reading and writing data to entries in the object dictionary.
The following table lists the abort codes for when an SDO communications error occurs.
Code (hex) Meaning
05030000 Toggle bit not changed
05040000 SDO protocol timeout
05040001 Client/Server command specifier not valid or unknown
05040005 Out of memory
06010000 Unsupported access to an object
06010001 Attempt to read to a write only object
06010002 Attempt to write to a read only object
06010003 Subindex cannot be written, SI0 must be 0 for write access
06020000 The object does not exist in the object directory
06040041 The object can not be mapped into the PDO
06040042 The number and length of the objects to be mapped would exceed the PDO length
06040043 General parameter incompatibility reason
06040047 General internal incompatibility in the device
06060000 Access failed due to a hardware error
06070010 Data type does not match, length of service parameter does not match
06070012 Data type does not match, length of service parameter too high
06070013 Data type does not match, length of service parameter too low
06090011 Subindex does not exist
06090030 Value range of parameter exceeded (only for write access)
06090031 Value of parameter written too high
06090032 Value of parameter written too low
06090036 Maximum value is less than minimum value
08000000 General error
08000020 Data cannot be transferred or stored to the application
08000021
Data cannot be transferred or stored to the application because of local control
*1
*1. In this state, the slave operates locally and cannot be controlled from the EtherCAT master.
08000022 Data cannot be transferred or stored to the application because of the present device state
08000023 Object dictionary dynamic generation fails or no object dictionary is present