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CANopen Mode

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ASDA-A3

 Read data with SDO

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

indexes according to the SDO format. The servo drive then returns the object's data based on

the object to be read.

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

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

40h

Byte 1 Byte 2

Object

sub-

index

Byte 3

Byte 4

Data

Byte 5 Byte 6

Byte 7

Description

Read data.

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

sends the SDO for reading data:

Controller

COB-ID

580h+

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

43h

Byte 4

Data

Byte 5 Byte 6

Data

4Bh

Data

4Fh

Data

80h

SDO abort codes

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

Byte 7

Description

Read 4 bytes of

data.

Read 2 bytes of

data.

Read 1 byte of

data.

Error code.

12-10

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