Delta ASDA-A3 Series User Manual page 958

ASDA-A3
The following figure shows the packet format returned by the servo drive when the controller
sends the SDO for writing data:
Command
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 (493E0h) to the servo parameter P7.001 (OD 2701h).
The write-in format is as follows:
Command
Object index
code
Byte 0 Byte 1
23h 01
The returned packet is as follows:
Command
Object index
code
Byte 0 Byte 1
60h 01
Object
sub-
index
Byte 2 Byte 3
- - -
- - -
Object
sub-
index
Byte 2 Byte 3
27 0
Object
sub-
index
Byte 2 Byte 3
27 0
Data
Byte 4 Byte 5 Byte 6
SDO abort codes
Data
Byte 4 Byte 5 Byte 6
E0 93 04
Data
Byte 4 Byte 5 Byte 6
CANopen Mode
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
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