CANopen & CANlink Communication
‑57‑
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 4–16 SDO returned during the write 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"
8‑byte frame data
DATA0
Return value of the
command code
Success: 0x60 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 Success: 0
Failure: SDO operation
failure error code
Reserved "0"
DATA5 Data 2
DATA6 Data 3
DATA7 Data 4
5. Perform read and write operations on the AC drive.
The following takes the read and write operations on F0‑02 as an example. The
CANopen address of the AC drive is 0x06.
Read the AC drive command source (F0‑02).
The master reads the AC drive parameter F0‑02 (command source selection). The
following table describes the CANopen message sent from the master when
reading the AC drive parameter F0‑02 (command source).
Table 4–17 Message sent from the master to read F0‑02
Message ID (Hex)
RTR
Data (Hex)
0x606 0 40F0200300000000
6. The AC drive returns a CANopen response message, as described in the following
table.
The current value of F0‑02 is 0x0002, indicating that the current command source
of the AC drive is communication control.
Table 4–18 Message returned by the AC drive when reading F0‑02
Message ID (Hex)
RTR
Data (Hex)
0x586 0 4BF0200302000000
7. Set the command source (F0‑02) to the operating panel.
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