Festo SEC-AC-305-CO, Manual

Page: 45 / 272

4. Access methods/SDO access
4−7
Festo P.BE−SEC−AC−CO−E N en 0802a
Example
read command write command
UINT8/INT8
Command
Answer
Reading of Obj. 6061_00
h
Returning data: 01
h
40
h
61
h
60
h
00
h
4F
h
61
h
60
h
00
h
01
h
Writing of Obj. 1401_02
h
Data: EF
h
2F
h
01
h
14
h
02
h
EF
h
60
h
01
h
14
h
02
h
UINT16/INT16
Command
Answer
Reading of Obj. 6041_00
h
Returning data: 1234
h
40
h
41
h
60
h
00
h
4B
h
41
h
60
h
00
h
34
h
12
h
Writing of Obj. 6040_00
h
Data: 03E8
h
2B
h
40
h
60
h
00
h
E8
h
03
h
60
h
40
h
60
h
00
h
UINT32/INT32
Command
Answer
Reading of Obj. 6093_01
h
Returning data: 12345678
h
40
h
93
h
60
h
01
h
43
h
93
h
60
h
01
h
78
h
56
h
34
h
12
h
Writing of Obj. 6093_01
h
Data: 12345678
h
23
h
93
h
60
h
01
h
78
h
56
h
34
h
12
h
60
h
93
h
60
h
01
h
4.2.2 SDO error messages
If an error occurs reading or writing an object (e.g. because
the value is out of range) the servo controller answers with an
error message instead of the normal answer:
Command ... IX0 IX1 SU ... ... ... .
..Answer: 80
h
IX0 IX1 SU F0 F1 F2 F3
1 2
1
Error token
2
Error code (4 Byte)
Fig.4/3: