5-7
5-5 Service Data Objects (SDOs)
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5
EtherCAT Communications
5-5 Service Data Objects (SDOs)
OMNUC G5-series Servo Drives support SDO communications. SDO communications are
used for setting objects and monitoring the status of G5-series Servo Drives. Objects can be
set and the status monitored by reading and writing data to the entries in the object dictionary
of the host controller.
Abort Codes
The following table lists the abort codes for when an SDO communications error occurs.
Code Meaning
0503 0000 hex Toggle bit not changed
0504 0000 hex SDO protocol timeout
0504 0001 hex Client/Server command specifier not valid or unknown
0504 0005 hex Out of memory
0601 0000 hex Unsupported access to an object
0601 0001 hex Attempt to read a write only object
0601 0002 hex Attempt to write to a read only object
0602 0000 hex The object does not exist in the object directory
0604 0041 hex The object can not be mapped into the PDO.
0604 0042 hex
The number and length of the objects to be mapped would exceed the
PDO length.
0604 0043 hex General parameter incompatibility reason
0604 0047 hex General internal incompatibility in the device.
0606 0000 hex Access failed due to a hardware error.
0607 0010 hex Data type does not match, length of service parameter does not match
0607 0012 hex Data type does not match, length of service parameter too high
0607 0013 hex Data type does not match, length of service parameter too low
0609 0011 hex Subindex does not exist
0609 0030 hex Value range of parameter exceeded (only for write access)
0609 0031 hex Value of parameter written too high
0609 0032 hex Value of parameter written too low
0609 0036 hex Maximum value is less than minimum value
0800 0000 hex General error
0800 0020 hex Data cannot be transferred or stored to the application
0800 0021 hex
Data cannot be transferred or stored to the application because of local
control
0800 0022 hex
Data cannot be transferred or stored to the application because of the
present device state
0800 0023 hex
Object dictionary dynamic generation fails or no object dictionary is
present
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