Stober SC6 Series, Руководство по эксплуатации

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STOBER 10 | Appendix
02/2020 | ID 443025.06
85
10.1.6 ETG.5000.1 Modular Device Profile: F000 hex – FFFF hex
The following table includes the supported communication objects of the standardized profile ETG.5000.1 Modular Device
Profile.
Index Subindex TxPDO RxPDO Name Comment
F050 hex Detected module ident list Constant value of 2
F050 hex 0 hex — — Highest subindex supported
F050 hex 1 hex — — Module ident axis A
F050 hex 2 hex — — Module ident axis B
Tab. 13: ETG.5000.1 communication objects: F000 hex – FFFF hex
10.2 SDO transmission: Error codes
If an SDO frame cannot be processed, the slave sends an SDO Abort Domain Transfer and outputs one of the following
errors ─ along with the error class, error code and additional information ─ over the Abort SDO Transfer Protocol in case of
an error.
Error
class Error
code Additional
code Meaning
5 hex 3 hex 0 hex Toggle bit not changed
5 hex 4 hex 0 hex SDO protocol timeout expired
5 hex 4 hex 1 hex SDO command specifier invalid or unknown
5 hex 4 hex 5 hex Memory not sufficient
6 hex 1 hex 0 hex Access to object is not supported
6 hex 1 hex 1 hex Read attempt on a write-only parameter
6 hex 1 hex 2 hex Write attempt on a read-only parameter
6 hex 2 hex 0 hex Object not present in the object directory
6 hex 4 hex 41 hex Object cannot be mapped to PDO
6 hex 4 hex 42 hex Number and/or length of the object to be transmitted exceeds PDO length
6 hex 4 hex 43 hex General parameter incompatibility
6 hex 4 hex 47 hex General internal device incompatibility
6 hex 6 hex 0 hex Access terminated due to hardware error
6 hex 7 hex 10 hex Incorrect data type or parameter length
6 hex 7 hex 12 hex Incorrect data type or parameter length too long
6 hex 7 hex 13 hex Incorrect data type or parameter length too short
6 hex 9 hex 11 hex Subindex not available
6 hex 9 hex 30 hex Invalid parameter value (write process)
6 hex 9 hex 31 hex Parameter value too large
6 hex 9 hex 32 hex Parameter value too small
6 hex 9 hex 36 hex Maximum value is less than minimum value
8 hex 0 hex 0 hex General SDO error
8 hex 0 hex 20 hex Access not possible
8 hex 0 hex 21 hex Access not possible due to local controller
8 hex 0 hex 22 hex Access not possible in current device state
8 hex 0 hex 23 hex Dynamic generation of the object directory failed or no object directory available
Tab. 14: SDO – Error codes