CANopen error codes
(Original Document)
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At a Glance
The following tables describe the different error codes that can arise in a CANopen configuration.
The explanations given in each table allow you to program the application in order to more easily detect and correct any future abnormal operation.
Module Error Codes
The following table describes the error codes located in the words %IW0.m.1.1 (in the Description column) and %IW0.m.1.2 (in the Details column).
Code
Description
Details
0
No error, operating correctly
Standard errors
100
Invalid address (NULL pointer)
-
101
Invalid value
Value
102
Invalid object ID
ID
103
Invalid driver status
Status code
104
Size of read memory zone invalid
Memory size
105
Size of data to be written invalid
Size of data
106
Timeout
Timeout counter for an SDO transfer or loading status when downloading a configuration
107
Synchronization error
-
108
Stopped by the user
-
Resource errors
200
Memory overflow
-
201
Memory resources saturated
-
Messaging errors
300
Invalid source address
Value of address
301
Invalid destination address
Value of address
302
Invalid service
Service code
303
Invalid service class for a segment ID
Specified value
304
Primitive function of service invalid
Function code
305
ID of service called invalid
Specified value
306
Invalid communication gate
Port number
307
Invalid bus device ID
Value of ID
308
Invalid SDO index
Value of index
309
Invalid SDO sub-index
Value of sub-index
310
Remote error when executing a service
Error code
311
Invalid COB-ID
Value of COB-ID
312
Invalid type of transfer on the link layer
Code of the transfer requested:
  • 101: send
  • 102: receive
  • 103: send and receive
PCMCIA card errors
600
Card missing
-
601
Card different to TSX CPP 110 detected
-
602
Card not ready to communicate
-
603
Card no longer in RUN mode
-
PCMCIA card communication errors
700
Error when sending a message to the card
-
701
Error when receiving a message coming from the card
-
702
Error when sending an output PDO to the card
-
703
Error when receiving an input PDO from the card
-
Configuration errors
800
Incorrect size of bus configuration data
Configuration data size
801
Size of input image data invalid
Size, in number of words, fixed at card start-up
802
Size of output image data invalid
Size, in number of words, fixed at card start-up
803
Overlap of memory areas reserved for inputs and outputs
Type of overlap:
  • 1: the start of the input area covers the end of the output area
  • 2: the start of the output area covers the end of the input area
804
Data loading zone not found
Type of zone:
  • 1: global data
  • 2: bus parameters
  • 3: synchronization mode
805
Invalid configuration data checksum (inconsistency of bus configuration data in Sycon mode)
Checksum of the bus configuration data located in the card’s flash memory
806
Negative report on downloading of configuration
Most significant byte: card error code.
Least significant byte:
  • 16#00: no loading in progress
  • 16#01: load request
  • 16#02: loading in progress
  • 16#03: loading completed
  • 16#11: transfer to the PC requested
  • 16#12: transfer to the PC in progress
Code 806 Details
The following table describes the error codes, situated in the most significant byte of word %IW0.m.1.2 and for the value 806 of the word %IW0.m.1.1.
Code
Description
48
Timeout
52
Unknown zone code
53
Maximum memory size exceeded
55
Incorrect parameter
57
Sequence error in downloading
59
Incomplete data downloaded
60
Duplicate address
61
Size of PDO address table too big
62
Size of the bus device parameter zone too big
63
Mode of PDO transmission unknown
64
Size of PDO data too big
65
Transmission speed unknown
66
Synchro COB-ID outside limits
67
Synchro message Timer Preset value outside limits
68
Size of input data + offset greater than the maximum size of the input image zone
69
Size of output data + offset greater than the maximum size of the output image zone
70
Inconsistency between the configuration of the PDOs and the PDO address table
71
Invalid length of PDO address table
72
Length of download data invalid
73
Urgent message COB-ID outside limits
74
Bus device monitoring message COB-ID outside limits
75
PDO length indicator outside limits
76
Size of SDO data too big
History Codes
The following table describes the error codes, located in the fifth and sixth byte of the diagnostics history table.
Code
Description
3
Service rejected by the device
17
No response from the device
51
Length of the receive memory zone too long
53
Length of fragmented protocol data greater than the size of the buffer memory
54
Unknown function requested by the card driver
55
Bus device address outside limits
57
Sequence error during a fragmented transfer. The action is canceled.
200
card not configured
Slave Diagnostics Codes
The following table describes the error codes, located in the seventh byte of a slave’s diagnostics table.
Code
Description
30
Error in slave monitoring
31
Change of status of a device on the bus, device unavailable
32
Sequence error in bus monitoring protocol
33
No response for a configured PDO
34
No response when configuring device
35
Profile of device configured different to profile of device present on the bus
36
Type of device configured different to type of device present on the bus
37
Unknown SDO response
38
Frame received longer than 8 bytes
39
Device not scanned or stopped (for example in Autoclear mode)
Sycon Loading Error Codes
The following table describes the error codes that can occur while loading configuration or firmware onto the card using the X-WAY driver.
Code
Description
0
No error, operating correctly
Standard errors
8001
Driver inoperative
8002
Unknown event code from the driver
8003
Command code not recognized by the driver
8004
Command refused
8005
Another command is still active
8006
Command sent to an invalid device
Allocation errors
8010
No device assigned
8011
Device already assigned
Communication errors
8020
Sending of a service request when no device is connected
8021
Initialization of a connection when there is already one
8022
Time-out
8030
Driver status read error
8031
Error following the sending of a request on the network
8032
Outbox still busy
8033
Network response error
8034
No response available from the inbox
8035
Input/output data transfer error
Driver initialization errors
8080
Parametering errors
8081
General driver initialization error
Multitask processing errors
-1
Work task not created
-2
Invalid task pointer or synchronized object
-3
No synchronization event has been created