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Kinco FD5 系列伺服驱动器使用手册 第十章 通讯连接
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n
—— Indicates the number of bits of meaningless data in the message data [from (8-n) Bit to the 7th Bit
data is meaningless] (n is valid when e=1 and s=1, otherwise n is 0)
e —— Normal transmission when e=0, accelerated transmission when e=1 ；
s
—— Indicates whether the data length is specified, 0 means the data
length is not specified, 1 means the data length is specified
e=0 ， s=0 —— Keep by CiA ；
e=0
，
s=1
—— Data Bit is the Bit counter, byte4 is LSB ，
byte7 is MSB
e=1
—— Data Bit is the data to be downloaded.
Table 10-10 and 10-11 show the format of sending and receiving SDO message when reading
parameters.
Table
10-10
Send SDO message when reading parameters
Identifier DLC
Daten
0
1 2 3 4 5 6 7
0x600+Node_ID 8
send command word object index object subindex
00
Table
10-11
receive SDO message when reading parameters
Identifier DLC
Daten
0
1 2 3 4 5 6 7
0x580+Node_ID 8
receive command word object index object subindex
Maximum 4 Bit data
Note ：
When the SDO message is sent, the command word is 0x40;
If the received data is 1 bit, the received command word is 0x4F; if the received data is 2 bits, the received command
word is 0x4B; if the received data is 4 bits, the received command word is 0x43; if there is an error in the received
data , the received command word is 0x80.
Table 10-12 and 10-13 show the format of sending and receiving SDO message when modifying
parameters.
Table
10-12 S e n d S D O m e s s a g e w h e n e d i t p a r a m e t e r s
Identifier DLC
Daten
0
1 2 3 4 5 6 7
0x600+Node_ID 8
Send command word object index object subindex
Maximum 4 Bit data
Table
10-13 R e c e i v e S D O m e s s a g e w h e n e d i t p a r a m e t e r s
Identifier DLC
Daten
0
1 2 3 4 5 6 7
0x580+Node_ID 8
Receive command word object index object subindex
Maximum 4 Bit data
Note ：
If the SDO message is sent successfully, the received command word is 0x60; if the
SDO message fails to be sent, the received command word is 0x80.
If the data to be sent is 1 Bit, the command word to send is 0x2F;
If the data to be sent is 2 bits, the command word to send is 0x2B;
If the data to be sent is 4 bits, the sending command word is 0x23.
When the SDO message fails to be sent, you can troubleshoot the problem