Delta ASDA-A3 Series User Manual page 959

CANopen Mode
 Read data with SDO
To use an SDO to read data with the controller, you need to write the command code and
12
indexes according to the SDO format. The servo drive then returns the object's data based on
the object to be read.
The following figure shows the packet format when the controller sends the SDO for reading
data:
Command
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:
Command
code
Byte 0
43h
4Bh
4Fh
80h
Note: for SDO abort codes, refer to Section 12.2.2.3.
12-10
Object
Object index sub-
index
Byte 1 Byte 2 Byte 3
- - -
Object
Object index sub-
index
Byte 1 Byte 2 Byte 3
- - -
- - -
- - -
- - -
Data
Byte 4 Byte 5 Byte 6
0 1 2 3 4 5 6 7
Data
Byte 4 Byte 5 Byte 6
Data
Data
Data
SDO abort codes
Description
Byte 7
Read data.
Description
Byte 7
Read 4 bytes of
data.
Read 2 bytes of
data.
Read 1 byte of
data.
Error code.
ASDA-A3