CANopen and CANlink Communication
‑47‑
Table 3–14 SDO object returned for read operation
CAN Frame CANopen Data
Description
COB‑ID
11‑bit ID 0x580+Node‑ID Node‑ID is
determined by dial
switch setting..
RTR RTR 0
Remote frame ag "0"
8‑byte frame data
DATA0
Command code
return
Success: "0x4B"
Failure: "0x80"
DATA1
Lower byte of index
Parameter group
(group F0 "0xF0")
DATA2
Higher byte of index
0x20
DATA3
Sub‑index
Parameter No. + 1
("0x03")
DATA4 Data 1
Lower byte of data
DATA5 Data 2
Higher byte of data
DATA6 Data 3
Success: "0"
Failure: SDO
operation failure error
code
DATA7 Data 4
3. SDO write operation
A CANopen data service object (SDO) is used to write data to the AC drive. The
following table shows the format of data sent from the master.
Table 3–15 SDO object sent for write operation
CAN Frame CANopen Data
Description
COB‑ID
11‑bit ID 0x600+Node‑ID Node‑ID is determined
by dial switch setting..
RTR RTR 0
Remote frame ag "0"
8‑byte frame data
DATA0
Command code
0x2B
DATA1
Lower byte of index Parameter group (group
F0 "0xF0")
DATA2
Higher byte of index
0x20
DATA3
Sub‑index
Parameter No. + 1
("0x03")
DATA4 Data 1
Lower byte of data
DATA5 Data 2
Higher byte of data
DATA6 Data 3
Reserved "0"
DATA7 Data 4
Reserved "0"
4. The following table shows the slave's SDO response to the write operation.
If the operation is successful, the command code return value is "0x60"; the index
remains unchanged; "0" is returned in DATA4, DATA5, DATA6, and DATA7.
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