Send Quote Requests to info@automatedpt.com

ASDA-A3

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com

CANopen Mode

The following figure shows the packet format returned by the servo drive when the controller

sends the SDO for writing data:

Controller

COB-ID

580h+

Node-ID

Packet (8 bytes in total)

0 1 2 3 4 567

Servo

drive

12

Command

code

Object index

Byte 0 Byte 1 Byte 2

Object

sub-

index

Byte 3

Byte 4

Data

Byte 5 Byte 6

60h

-

-

-

80h

-

-

-

SDO abort codes

Note: for SDO abort codes, refer to Section 12.2.2.3.

Byte 7

Description

Write-in is

successful.

Error code.

Example:

Write the value of 300,000 (493E0h) to the servo parameter P7.001 (OD 2701h).

The write-in format is as follows:

Command

code

Object index

Byte 0 Byte 1 Byte 2

Object

sub-

index

Byte 3

23h

01

27

0

Byte 4

E0

Data

Byte 5

93

Byte 6

04

Byte 7

00

Description

Write 4 bytes of

data.

The returned packet is as follows:

Command

code

Object index

Byte 0 Byte 1 Byte 2

Object

sub-

index

Byte 3

60h

01

27

0

Byte 4

Data

Byte 5 Byte 6

Byte 7

Description

Write-in is

successful.

Send Quote Requests to info@automatedpt.com

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com

12-9