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6 Handling of Errors and Maintenance
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
6-3 Application Errors
6
6-3-3 List of Cause Codes for PDO Mapping Errors
6-3-3 List of Cause Codes for PDO Mapping Errors
Cause code Meaning Cause and possible corrections
0000 hex No registered error
0001 hex Busy Cannot accept the PDO allocation because the internal status is busy.
Transition again to safe-operational.
0002 hex Device busy Cannot accept the PDO allocation because the internal status is busy.
Transition again to safe-operational.
0003 hex Unexpectedly received data Wrote to sub-index 0 of the PDO mapping in a size other than 1 byte.
Write in a 1-byte data size.
Wrote to sub-index 0 of Sync Manager in a size other than 1 byte.
Write in a 1-byte data size.
Wrote to sub-indexes 1 to 5 of Sync Manager in a size other than 2
bytes. Write in a 2-byte data size.
0020 hex Sync Manager assignment
exceeded
Allocated more than 5 PDOs to Sync Manager. Allocate 5 PDOs or
less to Sync Manager.
0021 hex PDO map number is invalid
(outside the range, does not
exist)
An object was assigned that cannot be assigned to Sync Manager.
Assign within the ranges below.
Sync Manager 2PDO assignment (1C12 hex): 1600 to 1604 hex, 1700
to 1701 hex
Sync Manager 3PDO assignment (1C13 hex): 1A00 to 1A04 hex,
1B00 to 1B01 hex
0022 hex RxPDO map overlap The same PDO is assigned more than once to Sync Manager 2PDO
assignment (1C12 hex). Correct the assignment.
0023 hex Object specified for RxPDO
mapping is invalid
An object was allocated that cannot be allocated to RxPDO. Correct
the RxPDO mapping.
0024 hex Total number of assignment
exceeded
The total size of the objects specified with the Sync Manager PDO
mapping exceeds 20 bytes. Correct the PDO mapping.
0040 hex RxPDO object overlap The same object is mapped more than once to RxPDO. Change the
RxPDO mapping.
0041 hex Number of PDO mapping
exceeded
3 or more objects are allocated to a single PDO. Allocate a maximum
of 2 objects to a PDO.
0042 hex PDO map size exceeded
(more than 32 bits)
The total size of the objects mapped to a single PDO exceeds 4 bytes.
Keep the total object size that is mapped to a PDO to within 4 bytes.
0043 hex Incorrect object specification
(sub-index 0 is mapped)
An object of sub-index 0 (number of entries, etc.) that cannot be allo-
cated to a PDO was mapped. Remove the corresponding object from
the mapping.
0044 hex Object not supported An object that does not exist was mapped. Correct the PDO mapping.
A sub-index of an object that does not exist was mapped. Correct the
PDO mapping.
0045 hex 5000 to 5999 and 6000 to
6999 objects mixed
An object from 5000 to 5999 was allocated to RxPDO mapping at the
same time as an object from 6000 to 6999. Objects from 5000 to 5999
and 6000 to 6999 cannot be mixed in RxPDO, so change the mapping
to only one of the ranges.
When a PDO was assigned to Sync Manager 2PDO assignment
(1C12 hex), objects from 5000 to 5999 and 6000 to 6999 were mixed
in the assignment. Correct the assignment so that they are not mixed.
0046 hex Object specified for PDO map
is invalid
An object that cannot be allocated to a PDO was mapped. Correct the
PDO mapping.
0047 hex Incorrect data size for speci-
fied object
The specified object data size is incorrect. Change to a correct size.
0048 hex PDO mapping exists but size
is 0
Cannot assign to Sync Manager because the PDO mapping is invalid.
Correct the PDO mapping.
004F hex Specified access method not
supported
PDO mapping writing was performed with complete access which is
not supported. Write with single access.
There was an error in the values written with complete access. Correct
the values and perform the writing.
0050 hex Specified object mapping is
invalid
An object that does not exist was allocated to a PDO. Correct the PDO
mapping.
An object that cannot be mapped was mapped to a PDO. Correct the
PDO mapping.
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