Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 CANopen Mode
11-9
11
The following figure shows the packet format returned by the servo drive when the controller
sends the SDO for writing data:
Controller
Servo drive
COB-ID
580h+
Node-ID
Packet (8 bytes in total)
0 1 2 3 4 5 6 7
Function
code
Object index
Object
sub-index
Data
Description
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
60h - - -
Write-in is
successful.
80h - - - SDO abort codes Error code.
Note: for SDO abort codes, refer to Section 11.2.2.3.
Example:
Write the value of 300,000 (493E0h) to the servo parameter P7.001 (OD 2701h).
The write-in format is as follows:
Function
code
Object index
Object
sub-index
Data
Description
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
23h 01 27 0 E0 93 04 00
Write 4 bytes of
data.
The returned packet is as follows:
Function
code
Object index
Object
sub-index
Data
Description
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
60h 01 27 0
Write-in is
successful.