ADL300 • Appendix 141
Example of value 1 writing:
MessageID Writing Code Lower part
IpaCan
Higher part
IpaCan
Subindex Value of
parameter LL
Value of
parameter LH
Value of
parameter HL
Value of
parameter HH
601h 22h 0Ch 43h 01h 01h 00h 00h 00h
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
In the event of success the following message is received:
MessageID Writing Code Lower part
IpaCan
Higher part
IpaCan
Subindex Value of
parameter LL
Value of
parameter LH
Value of
parameter HL
Value of
parameter HH
601h 60h 0Ch 43h 01h 01h 00h 00h 00h
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Example of reading: with value 1
MessageID Writing Code Lower part
IpaCan
Higher part
IpaCan
Subindex Not significant Not significant Not significant Not significant
601h 40h 0Ch 43h 01h 00h 00h 00h 00h
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
In the event of success the following message is received:
MessageID Reading code Lower part
IpaCan
Higher part
IpaCan
Subindex Value of data
601h 43h 0Ch 43h 01h 01h 00h 00h 00h
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Index Subindex
0Ch 4Bh 01h 01h 00h 00h 00h
Drive parameter index
Subindex
Drive parameter value
to be assigned to SDO
In case an error occurs during the parameter reading or setting, the CANopen interface sends an Abort domain transfer
message; the value of Application-error-codes has the following meanings:
Error class Error code Additional code (hex) Meaning
6 0 0 Parameter doesn’t exist
8 0 22 Acces failed because of present
device state
6 1 2 Read/Write only error
8 0 0 Generic error
6 9 32 Minimum value
6 9 31 Maximum value
5 4 0 SDO time_out
5 4 1 Invalid command
3 9 30 Invalid value