Delta ASDA-A3 Series User Manual page 670

ASDA-A3
The following figure shows the packet format returned by the servo drive when the controller
sends the SDO for writing data:
Controller
Function
Object index
code
Byte 0 Byte 1
60h -
80h -
Note: for SDO abort codes, refer to Section 12.2.2.3.
Example:
Write the value of 300,000 (483E0h) to the servo parameter P7.001 (OD 2701h).
The write-in format is as follows:
Function
Object index
code
Byte 0 Byte 1
23h 01
The returned packet is as follows:
Function
Object index
code
Byte 0 Byte 1
60h 01
COB-ID
Packet (8 bytes in total)
580h+
0 1
Node-ID
Object
sub-index
Byte 2 Byte 3 Byte 4
- -
- -
Object
sub-index
Byte 2 Byte 3 Byte 4
27 0
Object
sub-index
Byte 2 Byte 3 Byte 4
27 0
2 3 4 5 6 7
Data
Byte 5 Byte 6
SDO abort codes
Data
Byte 5 Byte 6
E0 93 04
Data
Byte 5 Byte 6
CANopen Mode
Servo drive
Description
Byte 7
Write-in is
successful.
Error code.
Description
Byte 7
Write 4 bytes of
00
data.
Description
Byte 7
Write-in is
successful.
12
12-9