Maxon EPOS4 User Manual

Communication Error Code Definition
EPOS4 Communication Guide
CCMC | 2019-11 | rel8759
6-47
6 COMMUNICATION ERROR CODE DEFINITION
The following abort codes (= errors) are defined by CANopen Communication Profile CiA 301 and in use by
the EPOS4. Codes greater then 0x0F00 0000 are manufacturer-specific (maxon specific).
Table 6-20 Communication errors
Abort code Name Cause
0x0000 0000 No abort Communication successful
0x0503 0000 Toggle error Toggle bit not alternated
0x0504 0000 SDO timeout SDO protocol timed out
0x0504 0001 Command unknown Command specifier unknown
0x0504 0004 CRC error CRC check failed
0x0601 0000 Access error Unsupported access to an object
0x0601 0001 Write only error Read command to a write only object
0x0601 0002 Read only error Write command to a read only object
0x0601 0003 Subindex cannot be written
Subindex cannot be written, subindex 0 must
be “0” (zero) for write access
0x0602 0000 Object does not exist error
Last read or write command had wrong object
index or subindex
0x0604 0041 PDO mapping error Object is not mappable to the PDO
0x0604 0042 PDO length error
Number and length of objects to be mapped
would exceed PDO length
0x0604 0043 General parameter error General parameter incompatibility
0x0604 0047 General internal incompatibility error General internal incompatibility in device
0x0606 0000 Hardware error Access failed due to hardware error
0x0607 0010 Service parameter error
Data type does not match, length or service
parameter do not match
0x0607 0013 Service parameter too short error
Data type does not match, length of service
parameter too low
0x0609 0011 Subindex error
Last read or write command had wrong object
subindex
0x0609 0030 Value range error Value range of parameter exceeded
0x0800 0000 General error General error
0x0800 0020 Transfer or store error Data cannot be transferred or stored
0x0800 0022 Wrong device state error
Data cannot be transferred or stored to
application because of present device state
0x0F00 FFBE Password error Password is incorrect
0x0F00 FFBF Illegal command error Command code is illegal (does not exist)
0x0F00 FFC0 Wrong NMT state error Device is in wrong NMT state

Maxon EPOS4 Specifications

General

Digital Outputs	4
Analog Inputs	2
Communication	USB
Interface	USB, CAN
Protocol	EtherCAT, CANopen