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Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 8-5
※Sample SDO Packet Format for CANopen 3 – Read/Write ASDA-A2 Parameter
When reading the ASDA-A2 parameter, the return value is in the following format:
Table 8.6
Field
name:
Datatype Index low Index high Sub index Data1 Data2 Data3 Data4
Command 0x40 0x00 0x23 0x00 0x00 0x00 0x00 0x00
Return 0x4b 0x00 0x23 0x00 0x7F 0x00 0x00 0x00
Table description:
(1) Can use the standard CANopen SDO format to read from A2 parameter.
(2) P3-00[Node ID] (CANopen's Index is set as 0x2300 and SubIdx is set as 0x00).
Format: P- [Servo parameter] ←→ 0x2 [Index value] (Expressed as
hexadecimal).
If Index is set as 0x2300 this means read parameter at P3-00
If Index is set as 0x212D this means read parameter at P1-45 (2D is the
hexadecimal notation for 45)
(3) SubIdx are all set to 0x00.
To write to ASDA-A2 parameter, the return value is in the following format:
Table 8.7
Field
name:
Datatype Index low Index high
Sub
index
Data1 Data2 Data3 Data4
Command 0x2b 0x00 0x23 0x00 0x7F 0x00 0x00 0x00
Return 0x60 0x00 0x23 0x00 0x00 0x00 0x00 0x00
Table description:
(1) Can use the standard CANopen SDO format to write to A2 parameter.
(2) P3-00[Node ID] (CANopen's Index is set as 0x2300 and SubIdx is set as 0x00).
Format: P- [Servo parameter] ←→ 0x2 [Index value] (Expressed as
hexadecimal).
(3) SubIdx are all set to 0x00.
(4) ASDA-A2 parameter's data length is 16bit or 32bit
(5) You may refer to the ASDA-A2 EDS file to find the DataType for the corresponding
parameter Index.
If DataType 3, data length is 16 bit and the DataType for command write should be 0x2b
If DataType 4, data length is 32 bit and the DataType for command write should be 0x23b