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8 EtherCAT Communications
NX-series EtherCAT Coupler Unit User’s Manual (W519)
8-5 Service Data Objects (SDOs)
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8-5-1 Introduction
8-5 Service Data Objects (SDOs)
EtherCAT Slave Terminals 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-5 CoE Objects on page A-13 for the objects that you can use with SDO communications.
The following table lists the abort codes for SDO communications errors.
8-5-1 Introduction
8-5-2 Abort Codes
Value Meaning
05030000 hex Toggle bit not changed.
05040000 hex SDO protocol timeout.
05040001 hex Client/server command specifier not valid or unknown.
05040005 hex Out of memory.
06010000 hex Unsupported access to an object.
06010001 hex Attempt to read a write-only 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.
06040043 hex General parameter incompatibility.
06040047 hex General internal incompatibility in the device.
06060000 hex Access failed due to a hardware error.
06070010 hex Data type does not match, length of service parameter does not match.
06070012 hex Data type does not match, service parameter is too long.
06070013 hex Data type does not match, service parameter is too short.
06090011 hex Missing subindex.
06090030 hex Value of parameter exceeded range (only for write access).
06090031 hex Value of parameter that was written is too high.
06090032 hex Value of parameter that was written is too low.
06090036 hex Maximum value is less than minimum value.
08000000 hex General error.
08000020 hex Data cannot be transferred or stored to the application.
08000021 hex Data cannot be transferred or stored to the application because of local control.
08000022 hex Data cannot be transferred or stored to the application because of the present
device state.
08000023 hex Failed to dynamically create the object dictionary, or no object dictionary exists.
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