Inovance MD500T75G - Page 205

MD500 User Manual 7. Description of Parameters
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The sending message format of the read operation is described as follows:
CAN CANopen Data Description
11-bit ID 0x600 + Node-ID The Node-ID of the equipment is set via the DIP switch.
RTR 0 Remote frame sign "0"
DATA0 Command code returned Correct: 0x4B
Incorrect: 0x80
DATA1 Index low byte Function parameter group (0xF0 for group F0)
DATA2 Index high byte Mapping address
DATA3 Sub-index SN in the function parameter group (0x02 for 02)
DATA4 Data 1 Data low byte
DATA5 Data 2 Data high byte
DATA6 Data 3 Correct: 0
Incorrect: SDO operation failed error code
DATA7 Data 4
The returned message format of the read operation is described as follows:
CAN CANopen Data Description
11-bit ID 0x580 + Node-ID The Node-ID of the equipment is set via the DIP switch.
RTR 0 Remote frame sign "0"
DATA0 Command code (0x40) 0x40 read command
DATA1 Index low byte Function parameter group (0xF0 for group F0)
DATA2 Index high byte Mapping address
DATA3 Sub-index SN in the function parameter group (0x02 for 02)
DATA4 Data 1 Reserved
DATA5 Data 2 Reserved
DATA6 Data 3 Reserved
DATA7 Data 4 Reserved
7.10.3 Write Running Command
When F0-02 = 2, you can write the running command via communication on the host computer, such as forward run, reverse run,
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RUN Command Communication Address RUN Command Description
2000H 1: Forward run
2: Reverse run
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5: Coast to stop
6: Decelerate to stop
7: Fault reset
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