Altivar Process ATV900 - Page 21

Basics
NHA80945 04/2017 21
Request Codes and Response Codes
The SDO request code differs depending on the scenarios detailed in the following table:
The SDO response codes correspond to the request codes and are detailed in the following table:
Abort Codes
The following table describes the possible abort code that may occur during data exchange with the
product:
Request code Description of the command Byte 4 Byte 5 Byte 6 Byte 7
23 hex Write 4 bytes data length (ex:
UNSIGNED32)
Bits 7 - 0 Bits 15 - 8 Bits 23 - 16 Bits 31 - 24
2B hex Write 2 bytes data length (ex:
UNSIGNED16)
Bits 7 - 0 Bits 15 - 8 00 hex 00 hex
2F hex Write 1 byte data length (ex:
UNSIGNED8)
Bits 7 - 0 00 hex 00 hex 00 hex
40 hex Read 1, 2 bytes or 4 bytes data
length
00 hex 00 hex 00 hex 00 hex
80 hex Cancel current SDO command 00 hex 00 hex 00 hex 00 hex
Request code Description of the command Byte 4 Byte 5 Byte 6 Byte 7
43 hex Read 4 bytes data length (response
to 40 hex request code)
Bits 7 - 0 Bits 15 - 8 Bits 23 - 16 Bits 31 - 24
4B hex Read 2 bytes data length (response
to 40 hex request code)
Bits 7 - 0 Bits 15 - 8 00 hex 00 hex
4F hex Read 1 byte data length (response to
40 hex request code)
Bits 7 - 0 00 hex 00 hex 00 hex
60 hex Write data 1, 2 bytes or 4 bytes data
length (response to 23 hex, 2B hex,
or 2F hex request codes)
00 hex 00 hex 00 hex 00 hex
80 hex
Error : sending abort code
(1)
.
00 hex 00 hex 00 hex 00 hex
(1)
: The response data (bytes 4 to 7) correspond to a 32 bit abort code detailed below.
Abort Code Description
0503 0000 hex Segmented transfer: the toggle bit is not toggled
0504 0001 hex Command Specifier (CS) incorrect or unknown
0601 0000 hex Access to object not possible
0601 0002 hex Attempt to execute a write request on a read-only parameter
0602 0000 hex Object does not exist in object dictionnary
0604 0041 hex PDO object assignment: the object cannot be assigned to the PDO, this error is
triggered when writing to parameters 1600 hex, 1602 hex, 1A00 hex, 1A01 hex, and
1A02 hex (assignments of PDO1, PDO2, and PDO3)
0604 0042 hex PDO object assignment : the number and/or length of the parameters to be assigned
exceeds the maximum PDO length
0609 0011 hex The subindex of the object sent in the request does not exist in object dictionnary
0609 0030 hex Outside parameter value limits (for a write request only)
0609 0031 hex Value of parameter written too high
0800 0000 hex General error triggered
NOTE: The abort codes listed in this table have been written in accordance with general convention and must,
therefore, be inverted in the case of byte-by-byte representation for " bytes 4 to 7 " (example: 0609 0030 hex becomes
byte 4: 30 hex, byte 5: 00 hex, byte 6: 09 hex, byte 7: 06 hex)