BECKHOFF AX2000 CANopen communication profile - Manual (Page 23)

3.4.5.6 Abort SDO Protocol
The Abort SDO protocol breaks off SDO transmission, and indicates the error that caused the break
in transmission through an abort code (error code). The error code is in the format of an UNSIG-
NED32 value. The following table shows possible reasons for an abort SDO.
Abort Code Description
0503 0000 h Toggle bit was not toggled
0504 0000 h Timeout for SDO protocol
0504 0001 h Client/server command - invalid or unknown Identifier
0504 0002 h Unrecognized block size (block mode only)
0504 0003 h Unrecognized block number (block mode only)
0504 0004 h CRC error (block mode only)
0504 0005 h Out of memory
0601 0000 h Access to this Object is not supported
0601 0001 h Attempted read access to a write-only Object
0601 0002 h Attempted write access to a read-only Object
0602 0000 h Object does not exist in Object Dictionary
0604 0041 h Object cannot be mapped to a PDO
0604 0042 h Size and number of mapped Objects exceed permissible PDO length
0604 0043 h General parameter incompatibility
0604 0047 h General device incompatibility
0606 0000 h Access infringement caused by hardware error
0607 0010 h Data type incompatible, length of service parameter is incompatible
0607 0012 h Data type incompatible, length of service parameter is too long
0607 0013 h Data type incompatible, length of service parameter is too short
0609 0011 h Sub-index does not exist
0609 0030 h Outside value range for the parameter (only for write access)
0609 0031 h Parameter value too high
0609 0032 h Parameter value too low
0609 0036 h Maximum value is lower than minimum value
0800 0000 h General error/fault
0800 0020 h Data cannot be transmitted or saved
0800 0021 h Data cannot be transmitted or saved because device is under local control
0800 0022 h Data cannot be transmitted or saved because of device status
0800 0023 h
Dynamic generation of the Object Dictionary not possible or already available
(e.g Object Dictionary is created from a file, and an error occurs because of a defect in the
file)
Abort Codes not listed above are reserved.
3.4.6 Process Data Object (PDO)
PDOs are used for real-time data communication. PDOs can, for instance, be used to set up con-
trollers similar to analog drives. Instead of +/-10VDC setpoints and ROD feedback, digital speed
setpoints and position feedback are attained via PDOs in this case.
Transmission is carried out unconfirmed without a protocol “overhead”. This communication Object
uses the unconfirmed communication service.
PDOs are defined via the Object Dictionary for the AX2000/2500, whereby pre-defined PDOs can
be selected (mapping of pre-defined PDOs) or composed by the user (mapping of variables). Map-
ping is made during the configuration phase, with the help of SDOs. The lengths and mapping num-
bers for the PDOs are defined by the drive profile DS 402.
CANopen for AX2000/2500 23
BECKHOFF
07/2007
CANopen communication profile