Data transfer using CANopen Issue 01/05
CANopen Option Module Operating Instructions
40 6SE6400-5BC00-0BP0
Abort Name Abort Code Description
SDO protocol time
overflow
05040000H MICROMASTER had not responded within xxxs to a parameter task of
the option module.
The CANopen module cancels the request.
Illegal access 06010001H
This parameter can only be write accessed (write only)
(parameter value cannot be read)
Illegal access 06010002H Parameter is a read-only parameter
(parameter value cannot be changed)
Object not available in the
object directory
06020000H Access to a non-existing object
(parameter number does not exist)
General parameter
incompatibility
06040043H Illegal parameter value
(the parameter only permits specific values)
Data type does not match
the length of the SDO
value, SDO value too
high or too low
06070010H Mixture between word and double word
(incorrect data type)
Subindex does not exist 06090011H SDO access to a non-existing subindex of an object
(erroneous subindex, no array)
For tasks from "indexed parameter to non-indexed parameter" type
Example: Task: 'Change parameter value (word, array)' for non-indexed
parameters
Parameter value
exceeded
06090030H Upper or lower limit value exceeded (write only)
General error 08000000H Incorrect parameter status:
Parameter, read or write buffer simultaneously used in both directions
New parameter task is sent before the previous has been responded to.
Data transfer error 08000020H Data cannot be transferred to the application or cannot be saved.
Data not able to be
transferred or saved due
to local control
08000021H
Change request without having status as higher-level control (refer
to P0927, corresponds to object 0x239F*)
Drive converter parameter: 'Access code' and/or 'Special parameter
access' presently not set
(the operator has no change authorization
for the PKW interface)
Service error 08000022H The drive converter does not permit the presently output task
(the task cannot be executed due to the operating state)
Working with the SDO<->parameter channel
The CANopen option module offers an SDO->parameter channel, which can be
used to read or write all parameters (PKW objects) of the MICROMASTER
420/430/440. In this case, it does not involve CANopen objects in the true sense.
The reason for this is that the numbering of the sub-indices with respect to CAN-
open differs (subindex 0 does not contain the number of objects, but already the
first object). However, the objects from the parameter channel can be read and
written just like CANopen objects using SDO access operations. Their object
number must be appropriately converted. They are designated by a * in this
document.
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