Motion iWMC Series - Page 48

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0x06070013
The data types do not match, and the service parameter length is too short
0x06090011
Invalid subindex
0x06090030
Invalid data, outside the scope of object parameter sengs
0x06090031
The number of wrien data is too large
0x06090032
The number of wrien data is too small
0x08000022
Data cannot be transferred or saved to the app due to the current device state
Table 7-12 Set the velocity mode via SDO messages
Parameter
address
Name
value
message (ID=1)
60600008
Operaon_Mode
3
send→601 2F 60 60 00 03 00 00 00
receive←581 60 60 60 00 03 00 00 00
60FF0020
Target_Speed
-100RPM
send→601 23 FF 60 00 7E B1 E4 FF
receive←581 60 FF 60 00 7E B1 E4 FF
60400010
Controlword
2F
send→601 2B 40 60 00 2F 00 00 00
receive←581 60 40 60 00 2F 00 00 00
60830020
Prole_Acc
100rps/s
send→601 23 83 60 00 6E A3 01 00
receive←581 60 83 60 00 6E A3 01 00
60840020
Prole_Dec
100rps/s
send→601 23 84 60 00 6E A3 01 00
receive←581 60 84 60 00 6E A3 01 00
Note: The message is represented in decimal 16, and the motor resoluon used in this case is 65536
PDO Introducon
PDO can transport 8 bytes of data at one me, and no other protocol preset (Mean the content of the data are preset) , it
is mainly used to transmit data in high frequency. PDO uses brand new mode for data exchange, it needs to dene the data
receiving and sending area before the transmission between two devices, then the data will transmit to the receiving area
of devices directly when exchanging data. It greatly increase the eciency and ulizaon of the bus communicaon.
PDO COB-ID introducon
COB-ID is a unique way of CANOpen communicaon protocol, it is the short name of Communicaon Object Idener.
These COB-ID denes the respecve transmission levels for PDO. These transport level, the controller and servo will be
able to be congured the same transmission level and the transmission content in the respecve soware. Then both sides
know the contents of data to be transferred, there is no need to wait for the reply to check whether the data transmission
is successful or not when transferring data.
The default ID allocaon table is based on the CAN-ID (11 bits) dened in CANOpen 2.0A (The COB-ID of CANOpen 2.0B
protocol is 27 bits), include funcon code (4 bits) and Node-ID (7 bits) as shown in Diagram7-12.