Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018
Art. No. 88734
Mod. status 330/18
Page 19 of 51
Initialization message : Index, Bytes 1 and 2:
The index (object number) is entered in the user data byte 2 (low byte) and in the user data
byte 3 (high byte) in the Intel data format. Here, the index of the object to be configured is
entered.
Initialization message : Subindex, Byte 3:
The sub-index indicates the number of the fields for objects realized as an array.
Initialization message : User data (Parameter), Byte 4-7:
In the service data range, the value of the parameter is entered in left-aligned Intel notation.
Byte 4 = low-Byte ... Byte 7 = high Byte
Segment message : User data (Parameter), Byte 1-7:
In the user data range, the value of the parameter is entered in left-aligned Intel notation.
Byte 1 = low-Byte ... Byte 7 = high Byte
5.4.1.3
Error Response in SDO exchange
With invalid access, an error message (Abort) is returned to the master.
The error codes are described in the CANopen profile (CiA DS-301) or in the encoder profile
(CiA DS- 406), respectively. The table below shows the error codes used:
Error code
Description
05030000h
Toggle bit unequal in Normal Transfer of Request/Response.
06010000h
Wrong access to an object.
06010001h
Read access to Write-Only.
06010002h
Write access to Read-Only.
06020000h
Object doesn’t exist in the object directory.
06040041h
Object cannot be mapped to PDO.
06040042h
The number and lengths of the objects to be mapped exceed PDO
length
06090011h
Sub-index does not exist
06090030h
Wrong value range of selected parameter.
08000020h
Parameters cannot be transferred to application or stored.
08000022h
Parameters cannot be transferred to application or stored due to the
current device status.
08000024h
No data available
Table 15: Error codes
