Service Data Object (Sdo) - Delta ASDA-A3 Series User Manual

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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 packets. SDO packets can transmit up to 4 bytes.
 Write data with SDO
To use an SDO to write data with the controller, you need to write the command code, indexes,
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:
Command
code
Byte 0
23h
2Bh
2Fh
12-8
Byte
Byte 0
Byte 1 - Byte 2
Byte 3
Byte 4 - Byte 7
Object
Object index sub-
index
Byte 1 Byte 2 Byte 3
- -
- -
- -
Command code
Object sub-index
0 1 2 3 4 5
Data
Byte 4 Byte 5
- Data
- Data
- Data
Function
Object index
Data
6 7
Description
Byte 6 Byte 7
Write 4 bytes of
data.
Write 2 bytes of
data.
Write 1 byte of
data.
ASDA-A3