CANopen & CANlink Communication
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4.4.2 Operation Instance (SDO)
Take reading F0‑17 as an example. The parameter address is 0xF011, the
corresponding object dictionary index is 0x20F0, and the sub‑index is 0x12.
1. The communication master uses the CANopen SDO to perform the read operation
on the AC drive. The following table describes the format of data sent by the
master.
Take F0‑02 as an example. The index is 0x20F0, and the sub‑index is 0x03.
Table 4–13 SDO sent during the read operation
CAN Frame CANopen Data
Description
COB‑ID
11‑bit ID 0x600+Node‑ID Node‑ID (device
address) set by the DIP
switch
RTR RTR 0
Remote frame flag "0"
8‑byte frame data
DATA0
Command code (0x40)
0x40 read command
DATA1
Low‑order byte of index Parameter group (0xF0
for group F0)
DATA2
High‑order byte of index
0x20
DATA3
Sub‑index
Parameter No. + 1
("0x03")
DATA4 Data 1
Reserved "0"
DATA5 Data 2
Reserved "0"
DATA6 Data 3
Reserved "0"
DATA7 Data 4
Reserved "0"
2. The slave returns a response message. The following table describes the data
format of the SDO returned by the slave during the read operation.
If the operation is successful, the return value of the command code is "0x4B"; the
index remains unchanged; DATA4 and DATA5 are the read data; and DATA6 and
DATA7 are 0.
If the operation fails, the return value of the command code is "0x80"; the index
remains unchanged; DATA4, DATA5, DATA6, and DATA7 are the SDO operation
failure error code.
Table 4–14 SDO returned during the read operation
CAN Frame CANopen Data
Description
COB‑ID
11‑bit ID 0x580+Node‑ID Node‑ID (device
address) set by the
DIP switch
RTR RTR 0
Remote frame flag "0"
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