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3 Protocol Description of the MD38CAN2

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Table 3-3 Master sending a message to write F0-02

Message Identi󶍾er (Hex) RTR Data (Hex)

0x606

2B F0 20 03 00 00 00 00

The AC drive returns a CANopen response message, as described in the following

table. The value of F0-02 is written to 0, and the current command source is changed to

operation panel control.

Table 3-4 AC drive's response to F0-02 writing

Message Identi󶍾er (Hex) RTR Data (Hex)

0x586

60 F0 20 03 00 00 00 00

3.4 SDO Read-Write Operations

1) SDO Read AC Drive Operation

The CANopen SDO is used to perform the read operation on the AC drive. The data

format of the SDO sent by the server is described in the following table.

CAN CANopen Data Description

11-bit ID 0x600+Node-ID

Node-ID (device address) set by the DIP

switch

RTR 0 Remote frame 󶍿ag "0"

DATA0 Command code (0x40) 0x40 read command

DATA1 Low byte of index Parameter group (F0 "0xF0")

DATA2 High byte of index

Mapping address (see the description in

section 4.3.1)

DATA3 Subindex Parameter number + 1 ("0x03")

DATA4 Data 1 Reserved "0"

DATA5 Data 2 Reserved "0"

DATA6 Data 3 Reserved "0"

DATA7 Data 4 Reserved "0"

The data format of the SDO returned by the client is described in the following table.

If the operation is successful, the return value for the command code is 0x4B, with the

index unchanged; the return value of data 4 and 5 is the read data, and that of data 6

and 7 is 0.

If the operation fails, the return value for the command code is 0x80, with the index

unchanged; the return value of data 4 to 7 is the SDO failure error code (for details about

the error code, see the description of the CANopen protocol).

Inovance MD38CAN2 User Manual

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