INVT Goodrive350 Series, Operation Manual

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Communication extension card CANopen communication card
-27-
Response codes indicating successful reading vary according to the character length of items
in the object dictionary, and the response code indicating successful writing are 0×60. The
response codes indicating reading failure and writing failure are both 0x80. See Table 3-9.
Table 3-8 SDO request codes and requested data
Request
code type
Request
code
Command
description
Requested data
Byte4 Byte5 Byte6 Byte7
Write
0x23 Writes 4-byte data bit7-0 bit15-8 bit23-16 bit31-24
0x2B Writes 2-byte data bit7-0 bit15-8 - -
0x2F Writes 1-byte data bit7-0 - - -
Read 0x40 Reads data - - - -
Table 3-9 SDO response codes and response data
Response
code type
Response
code
Command
description
Response data
Byte4 Byte5 Byte6 Byte7
Read
0x43 Reads 4-byte data bit7-0 bit15-8 bit23-16 bit31-24
0x4B Reads 2-byte data bit7-0 bit15-8 - -
0x4F Reads 1-byte data bit7-0 - - -
Write 0x60 Writing succeeds - - - -
Read/write 0x80
Reading/writing
fails
Interruption error code
bit7-0 bit15-8 bit23-16 bit31-24
Note: The symbol "-" in Table 3-8 and Table 3-9 indicates that the byte is reserved and
provides no function.
Table 3-10 describes the interruption error codes.
Table 3-10 Interruption error codes
Interruption code Code function description
0503 0000 Triggering bit not alternated
0504 0000 SDO protocol times out
0504 0001 Invalid or unknown client/server
0504 0002 Invalid block size
0504 0003 Invalid sequence number
0504 0004 CRC error
0504 0005 Memory overflow
0601 0000 No access to the object
0601 0001 Attempts to read a write-only object
0601 0002 Attempts to write information to a read-only object
0602 0000 Object cannot be found in the object dictionary
0604 0041 Object cannot be mapped to PDO
0604 0042 Number and length of the object to be mapped exceeds the PDO