Motion iWMC Series - Page 47

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When received data is 1 byte, received command is 0x4F;
When received data is 2 bytes, received command is 0x4B;
When received data is 4 bytes, received command is 0x43;
If received data have errors, received command is 0x80.
When modifying parameters, the format of sending and receiving SDO packets is shown in Table 7-8 and 7-9.
Table7-9 Send SDO message (Modify parameters)
Idener
DLC
Daten
0
1
2
3
4
5
6
7
0x600+Node_ID
8
Send
command
Object
index
Object
subindex
Max 4 bytes data
Table 7-10 Receive SDO message (Modify parameters)
Idener
DLC
Daten
0
1
2
3
4
5
6
7
0x580+Node_ID
8
Receive
command
Object index
Object subindex
Max 4 bytes data
Note:
The SDO packet is sent successfully, and the receiving command word is 0x60; The SDO packet failed to be sent, and the
command word received is 0x80.
If sent data ready is 1 byte, command is 0x2F;
If sent data ready is 2 bytes, command is 0x2B;
If sent data ready is 4 bytes, command is 0x23;
If the SDO packet fails to be sent, you can troubleshoot the problem based on the error code of the reply.
Table7-11 SDO Message error code
Error code
Code feature descripon
0x05040001
Invalid command, unknown or illegal Client/Server command word
0x06010001
An aempt was made to read a write-only object parameter
0x06010002
An aempt was made to write a read-only object parameter
0x06020000
Invalid index, the object does not exist in the object diconary
0x06040041
Cannot be mapped, object parameters do not support mapping to PDO
0x06060000
The drive is in an error-fault state, causing object parameter access to fail
0x06070010
The data types do not match, and the service parameter lengths do not match
0x06070012
The data types do not match, and the service parameter length is too large