Delta ASDA-B3 Series, Руководство пользователя

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CANopen Mode ASDA-B3
11-10
11
 Read data with SDO
To use an SDO to read data with the controller, you need to write the request code and index
according to the SDO format. The servo drive then returns the object's data based on the object
to be read.
The following figure shows the packet format when the controller sends the SDO for reading data:
Controller
Servo drive
COB-ID
600h+
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
40h - - - Read data.
The following figure shows the packet format returned by the servo drive when the controller
sends the SDO for reading data:
Controller Servo drive
COB-ID
580
h
+
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
43h - - - Data
Read 4 bytes of
data.
4Bh - - - Data
Read 2 bytes of
data.
4Fh - - - Data
Read 1 byte of
data.
80h - - - SDO abort codes Error code.
Note: for SDO abort codes, refer to Section 11.2.2.3.