Inovance MD38CAN2 - Page 14

3 Protocol Description of the MD38CAN2
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Table 3-7 Table 3-8 SDO returned for write operation
CAN CANopen Data Description
11-bit ID 0x580+Node-ID Node-ID (device address) set by the DIP switch
RTR 0 Remote frame 󶍿ag "0"
DATA0
Return of the
command code
Success: 0x60, 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
Success: 0
Error: SDO failure error code
(refer to the CANopen protocol)
DATA5 Data 2
DATA6 Data 3
DATA7 Data 4
3) SDO failure error code
Error Code Description Error Code Description
0x05040000 SDO access timeout 0x06070010
Data type not matched, service
parameter length not matched
0x06010000
Object access not
supported
0x06090011 Subindex not exist
0x06010001 Reading write-only object 0x06090030
Parameter range exceeded for the
write operation
0x06010002 Writing read-only object 0x08000022
[1]
Data failed to be transferred or
stored to the application due to
current device status
0x06020000 Object dictionary not exist 0x08000000 General error
[1] This error code is returned when the AC drive is operated to map the object dictionary
parameter, parameters and parameter addresses cannot be changed during AC drive running,
and read-only parameters are written.