Inovance MD520 Series - Page 57

CANopen & CANlink Communication
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CAN Frame CANopen Data
Description
8‑byte frame data
DATA0
Return value of the
command code
Success: 0x4B
Failure: 0x80
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
Low‑order byte of
data
DATA5 Data 2
High‑order byte of
data
DATA6 Data 3 Success: 0
Failure: SDO
operation failure error
code
DATA7 Data 4
3. Perform the write operation on the AC drive by using the SDO.
The master uses the CANopen SDO to perform the write operation on the AC drive.
The following table describes the format of data sent by the master.
Table 4–15 SDO sent during the write 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
0x2B
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
Low‑order byte of data
DATA5 Data 2
High‑order byte of data
DATA6 Data 3
Reserved "0"
DATA7 Data 4
Reserved "0"
4. The slave returns a response message. The following table describes the data
format of the SDO returned by the slave during the write operation.
If the operation is successful, the return value of the command code is "0x60"; the
index remains unchanged; DATA4, DATA5, DATA6, and DATA7 are 0.