Delta ASDA-A3 Series User Manual page 669

CANopen Mode
12.2.2.2 Service data object (SDO)
With Service data objects (SDOs), you can write or read objects. The SDO message format is
12 mainly composed of COB-ID and SDO data. SDO data can transmit up to 4 bytes.
Controller
 Write data with SDO
To use an SDO to write data with the controller, you need to write the request code, index, and
data according to the SDO format. The servo drive then returns the corresponding message
based on the written data.
The following figure shows the packet format when the controller sends the SDO for writing data:
Controller
Function
code
Byte 0
23h
2Bh
2Fh
12-8
COB-ID
600h+
Node-ID
Byte
Byte 0
Byte 1 - Byte 2
Byte 3
Byte 4 - Byte 7
COB-ID
600h+
Node-ID
Object
Object index
sub-index
Byte 1 Byte 2 Byte 3
- -
- -
- -
Packet (8 bytes in total)
3 4
0 1 2 5 6
Command code
Object index
Object sub-index
Packet (8 bytes in total)
0 1 2 3 4 5 6
Data
Byte 4 Byte 5
- Data
- Data
- Data
Servo drive
7
Function
Data
Servo drive
7
Description
Byte 6 Byte 7
Write 4 bytes of
data.
Write 2 bytes of
data.
Write 1 byte of
data.
ASDA-A3