3 Protocol Description of the MD38CAN2
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Table 3-5 SDO returned for reading operation
CAN CANopen Data Description
11-bit ID 0x580+Node-ID Node-ID (device address) set by the DIP switch
DATA0
Return of the
command code
Success: 0x4B, error: 0x80
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 Low byte of data
DATA5 Data 2 High byte of data
DATA6 Data 3 Success: 0
Error: SDO failure error code
(refer to the CANopen protocol)
DATA7 Data 4
2) SDO Write AC Drive Operation
The CANopen SDO is used to perform the write operation on the AC drive. The data
format of the SDO sent by the server is described in the following table.
Table 3-6 SDO sending for write operation
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 0x2B
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 Low byte of data
DATA5 Data 2 High byte of data
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 0x60, with the
index unchanged; the return data of data 4 to 7 is 0.
If the operation fails, the return value for the command code is 0x80, with the index
unchanged; the return data of data 4 to 7 is the SDO failure error code (for details about
the error code, see the description of the CANopen protocol).
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