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3
CANopen access procedure
EXAMPLE
UINT8/INT8
Reading of Obj. 6061_00
Return data: 01
Command
40
h
Answer
4F
h
UINT16/INT16 Reading of Obj. 6041_00
Return data: 1234
Command
40
h
Answer
4Bh 41
UINT32/INT32 Reading of Obj. 6093_01
Return data: 12345678
Command
40
h
Answer
43
h
Note
The acknowledgement from the motor controller must always be waited for!
Only when the motor controller has acknowledged the request may additional requests
be sent.
20
h
h
61
60
00
h
h
h
61
60
00
01
h
h
h
h
h
h
41
60
00
h
h
h
60
00
34
12
h
h
h
h
h
h
93
60
01
h
h
h
93
60
01
78
56
h
h
h
h
Writing of Obj. 1401_02
Data: EF
2F
01
h
60
01
h
Writing of Obj. 6040_00
Data: 03E8
2B
40
h
60
40
h
h
Writing of Obj. 6093_01
Data: 12345678
23
93
h
34
12
60
93
h
h
h
h
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
h
h
14
02
EF
h
h
h
h
14
02
h
h
h
h
h
60
00
E8
03
h
h
h
h
h
60
00
h
h
h
h
h
60
01
78
56
h
h
h
h
h
60
01
h
h
h
34
12
h
h
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