How to use the canopen.sdo.SdoAbortedError function in canopen

def _find_object(self, index, subindex):
        if index not in self.object_dictionary:
            # Index does not exist
            raise SdoAbortedError(0x06020000)
        obj = self.object_dictionary[index]
        if not isinstance(obj, objectdictionary.Variable):
            # Group or array
            if subindex not in obj:
                # Subindex does not exist
                raise SdoAbortedError(0x06090011)
            obj = obj[subindex]
        return obj

def _find_object(self, index, subindex):
        if index not in self.object_dictionary:
            # Index does not exist
            raise SdoAbortedError(0x06020000)
        obj = self.object_dictionary[index]
        if not isinstance(obj, objectdictionary.Variable):
            # Group or array
            if subindex not in obj:
                # Subindex does not exist
                raise SdoAbortedError(0x06090011)
            obj = obj[subindex]
        return obj

subindex = 1
            for var in self.map:
                logger.info("Writing %s (0x%X:%d, %d bits) to PDO map",
                            var.name, var.index, var.subindex, var.length)
                if hasattr(self.pdo_node.node, "curtis_hack") and self.pdo_node.node.curtis_hack:  # Curtis HACK: mixed up field order
                    self.map_array[subindex].raw = (var.index |
                                                    var.subindex << 16 |
                                                    var.length << 24)
                else:
                    self.map_array[subindex].raw = (var.index << 16 |
                                                    var.subindex << 8 |
                                                    var.length)
                subindex += 1
            try:
                self.map_array[0].raw = len(self.map)
            except SdoAbortedError as e:
                # WORKAROUND for broken implementations: If the array
                # number-of-entries parameter is not writable, we have already
                # generated the required number of mappings above.
                if e.code != 0x06010002:
                    # Abort codes other than "Attempt to write a read-only
                    # object" should still be reported.
                    raise
            self._update_data_size()

        if self.enabled:
            logger.info("Enabling PDO")
            self.com_record[1].raw = self.cob_id
            self.pdo_node.network.subscribe(self.cob_id, self.on_message)

def get_data(self, index, subindex, check_readable=False):
        obj = self._find_object(index, subindex)

        if check_readable and not obj.readable:
            raise SdoAbortedError(0x06010001)

        # Try callback
        for callback in self._read_callbacks:
            result = callback(index=index, subindex=subindex, od=obj)
            if result is not None:
                return obj.encode_raw(result)

        # Try stored data
        try:
            return self.data_store[index][subindex]
        except KeyError:
            # Try ParameterValue in EDS
            if obj.value is not None:
                return obj.encode_raw(obj.value)
            # Try default value
            if obj.default is not None:

return obj.encode_raw(result)

        # Try stored data
        try:
            return self.data_store[index][subindex]
        except KeyError:
            # Try ParameterValue in EDS
            if obj.value is not None:
                return obj.encode_raw(obj.value)
            # Try default value
            if obj.default is not None:
                return obj.encode_raw(obj.default)

        # Resource not available
        logger.info("Resource unavailable for 0x%X:%d", index, subindex)
        raise SdoAbortedError(0x060A0023)

def set_data(self, index, subindex, data, check_writable=False):
        obj = self._find_object(index, subindex)

        if check_writable and not obj.writable:
            raise SdoAbortedError(0x06010002)

        # Try callbacks
        for callback in self._write_callbacks:
            callback(index=index, subindex=subindex, od=obj, data=data)

        # Store data
        self.data_store.setdefault(index, {})
        self.data_store[index][subindex] = bytes(data)