Kinco FD5P AC series servo
Table 10-10 Send SDO message when reading parameters
Table 10-11 receive SDO message when reading parameters
Note ：
When the SDO message is sent, the command word is 0x40;
If the received data is 1 bit, the received command word is 0x4F; if the received data is 2 bits, the received
command word is 0x4B; if the received data is 4 bits, the received command word is 0x43; if there is an error in
the received data , the received command word is 0x80.
Table 10-12 and 10-13 show the format of sending and receiving SDO message when modifying parameters.
Table 10-12 Send SDO message when edit parameters
Table 10-13 Receive SDO message when edit parameters
Note ：If the SDO message is sent successfully, the received command word is 0x60; if the SDO message fails to
be sent, the received command word is 0x80.
If the data to be sent is 1 Bit, the command word to send is 0x2F;
If the data to be sent is 2 bits, the command word to send is 0x2B;
If the data to be sent is 4 bits, the sending command word is 0x23.
When the SDO message fails to be sent, you can troubleshoot the problem according to the error code returned.
Table 10-14 SDO message error code
Invalid command, unknown or illegal Client/Server command word
Attempt to read write-only object parameter
Attempt to write read-only object parameter
Invalid index, the object does not exist in the object dictionary
Unable to map, object parameter does not support mapping to PDO
The drive is in an error failure state and the object parameter access fails
Data type mismatch, service parameter length mismatch
Data type mismatch, service parameter length is too large
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