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4 EtherCAT Communications
CJ-series EtherCAT Slave Units Operation Manual (W541)
4-5 Service Data Objects (SDOs)
4
4-5-1 Introduction
4-5 Service Data Objects (SDOs)
This section describes the service data objects that are supported by the EtherCAT Slave Unit.
EtherCAT Slave Units support SDO communications.
The EtherCAT master can read and write data from and to entries in the object dictionary with SDO
communications to make parameter settings and monitor status.
Refer to A-4 CoE Objects on page A-13 for the objects that you can use with SDO communications.
The following table lists the abort codes for the SDO communications errors.
4-5-1 Introduction
4-5-2 Abort Codes
Value Meaning
06010000 hex Unsupported access to an object.
06010002 hex Attempt to write to a read-only object.
06020000 hex The object does not exist in the object directory.
06040041 hex The object cannot be mapped to the PDO.
06040042 hex Number/length of mapped objects exceeds PDO length.
06070010 hex Data type does not match, length of service parameter does not match.
06090011 hex Missing subindex.
06090030 hex Value of parameter exceeded range (only for write access).
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