CANopen and CANlink Communication
‑48‑
If the operation fails, the command code return value is "0x80"; the index remains
unchanged; SDO failure error codes are returned in DATA4, DATA5, DATA6, and
DATA7.
Table 3–16 SDO object returned for write 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: "0x60" 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
Success: "0"
Failure: SDO operation
failure error code
Reserved "0"
DATA5 Data 2
DATA6 Data 3
DATA7 Data 4
5. Read and write operations on the AC drive
The following takes the F0‑02 read and write operations as an example. The
CANopen address of the AC drive is set to "0x06".
Read the AC drive command source (F0‑02)
Read the AC drive parameter F0‑02 (Command source selection). The following
table shows a CANopen packet sent from the master.
Table 3–17 Packet sent from the master for reading F0‑02
Packet ID (Hex)
RTR
Data (Hex)
0x606 0 40F0200300000000
6. The following table shows a CANopen response packet from the AC drive.
The current value of F0‑02 is "0x0002", indicating that the current command source
of the AC drive is a communication command channel.
Table 3–18 AC drive response to the request of reading F0‑02
Packet ID (Hex)
RTR
Data (Hex)
0x586 0 4BF0200302000000
7. Set the command source (F0‑02) to the operating panel.
To set the command source to the operating panel, write F0‑02 (Command source
selection) as "0" by sending a CANopen packet from the master, as shown in the
following table.
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