Chapter 8 Deployment CPU 21xCAN Manual VIPA CPU 21x
8-20 HB103E - Rev. 05/45
When the function has been executed successfully, the return value
contains the valid length of the respond data: 1: BYTE, 2: WORD, 4:
DWORD.
If an error occurs during function processing, the return value contains an
error code.
Value Description
F021h Invalid slave address (Call parameter equal 0 or above 127)
F022h Invalid Transfer type (Value unequal 60h, 61h)
F023h Invalid data length (data buffer to small, at SDO read access it should be at
least 4Byte, at SDO write access 1Byte, 2Byte or 4Byte).
F024h The SFC is not supported
F025h Write buffer in the CANopen master full, service can not be processed at this
time.
F026h Read buffer in the CANopen master full, service can not be processed at this
time.
F027h The SDO read or write access returned wrong answer, see CANopen Error
Codes.
F028h SDO-Timeout (no CANopen participant with this Node-Id has been found).
Busy = 1: The read/write job is not yet completed.
SFC data communication area. Set here an ANY pointer of the type Byte.
Read SDO: Destination area for the SDO data that were read.
Write SDO: Source area for the SDO data that were write.
Note
Unless a SDO demand was processed error free, RetVal contains the
length of the valid response data in 1, 2 or 4 byte and the CanOpenError the
value 0.
RetVal
Busy
DataBuffer
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