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CANopen Mode

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ASDA-A3

12.2.2.2 Service data object (SDO)

With Service data objects (SDOs), you can write or read objects. The SDO message format is

mainly composed of COB-ID and SDO packets. SDO packets can transmit up to 4 bytes.

Controller

COB-ID

600h+

Node-ID

Packet (8 bytes in total)

0 1 2 3 4 567

Servo

drive

Byte

Byte 0

Byte 1 - Byte 2

Byte 3

Byte 4 - Byte 7

Function

Command code

Object index

Object sub-index

Data

 Write data with SDO

To use an SDO to write data with the controller, you need to write the command code, indexes,

and data according to the SDO format. The servo drive then returns the corresponding message

based on the written data.

The following figure shows the packet format when the controller sends the SDO for writing

data:

Controller

COB-ID

600h+

Node-ID

Packet (8 bytes in total)

0 1 2 3 4 567

Servo

drive

Command

code

Object index

Byte 0 Byte 1 Byte 2

Object

sub-

index

Byte 3

23h

2Bh

2Fh

Data

Byte 4

Byte 5 Byte 6

Data

Byte 7

Description

Write 4 bytes of

data.

Write 2 bytes of

data.

Write 1 byte of

data.

12-8

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