Communication via CAN bus (CANopen)
AP10
Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 25 of 78
5.4.2 Error Response
An error report (Abort) is returned to the master in case of invalid access.
The error codes are described in the CANopen profile (DS 301) or in the encoder profile (DSP
406), respectively. The following table shows the error codes used:
Wrong access to an object.
Read access to Write-Only.
Write access to Read-Only.
Object doesn't exist in the object directory.
Sub-index does not exist.
Wrong value range of selected parameter.
Parameters cannot be transferred to application or stored.
Parameters cannot be transferred to application or stored due to the
current device status.
Table 18: Error code
5.4.3 Examples of SDO access
Example of reading SDO parameters:
Read the calibration value stored in object 6003h of the directory of objects from AP10 with
device address 1.
Calculation of the identifier: 600h + Node-ID = 600h +1h = 601h
Command: 40h
Index: 6003h
Sub-index: 00h
The current value is 510 = 01FEh
Query by master from slave with Node-ID 1:
Response to the request by the slave:
Calculation of the identifier: 580h + Node-ID = 581h
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