Delta ASDA-A3 Series User Manual page 671

CANopen Mode
 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
12
to be read.
The following figure shows the packet format when the controller sends the SDO for reading data:
Controller
Function
code
Byte 0
40h
The following figure shows the packet format returned by the servo drive when the controller
sends the SDO for reading data:
Controller
Function
code
Byte 0
43h
4Bh
4Fh
80h
Note: for SDO abort codes, refer to Section 12.2.2.3.
12-10
COB-ID
600h+
Node-ID
Object
Object index
sub-index
Byte 1 Byte 2 Byte 3
- - -
COB-ID
580h+
Node-ID
Object
Object index
sub-index
Byte 1 Byte 2 Byte 3
- - -
- - -
- - -
- - -
Packet (8 bytes in total)
0 1 2 3 4 5 6 7
Data
Byte 4 Byte 5 Byte 6
Packet (8 bytes in total)
0 1 2 3 4 5 6 7
Data
Byte 4 Byte 5 Byte 6
Data
Data
Data
SDO abort codes
ASDA-A3
Servo drive
Description
Byte 7
Read data.
Servo drive
Description
Byte 7
Read 4 bytes of
data.
Read 2 bytes of
data.
Read 1 byte of
data.
Error code.