Delta Electronics PCI-DMC-A01 Programming Manual page 190

Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01
※Sample SDO Packet Format for CANopen2 – Index Read/Write failure
When index read is "Failed" (no such index), the return value is in the following format:
Field
Datatype Index low Index high
name:
Command 0x40
Return 0x80
Table description:
(1) Read an invalid index (Here CANopen's Index is set as 0x6059 and SubIdx as 0x00).
(2) Datatype is set as 0x40 to indicate read.
(3) There is no such index in the servo, so read fails. Datatype is then returned 0x80 to
indicate read failure.
(4) The field in the above table indicates that the returned data made up of Data1~Data4 is
0x06020000 indicating the [No Such Index] error.
(5) For a detailed explanation, please refer to Delta Electronics SDA-A2 CANopen Technical
Guide's section on SDO Abort Code.
When Index write "fail" (The value is out of the set range), the return value is in the following
format:
Field
Datatype
name:
Command 0x2f
Return 0x80
Table description:
(1) Write operation mode (Here CANopen's Index value is set as 0x6060 and SubIdx is set as
0x00).
(2) Datatype is set as 0x2f to indicate the data being written is 8 bit [Data1 is valid].
(3) As the operating range is between 0x00~0x07, this command is written as operation
failed / Subsequent datatype then returns a value of 0x80 to indicate write failed.
(4) The field in above table The above table shows that the data made up of Data1~Data4 is
the 0x06090030 [Write value out of range] error code.
(5) The Index data length is based on Delta Electronics' ASDA-A2 CANopen Technical
Guide.
For a detailed explanation, please refer to Delta Electronics SDA-A2 CANopen Technical
Guide's section on SDO Abort Code.
8-4
Table 8.4
0x59 0x60
0x59 0x60
Table 8.5
Index
Index high
low
0x60 0x60
0x60 0x60
Sub
Data1
index
0x00 0x00
0x00 0x00
Sub
Data1
index
0x00 0x0F
0x00 0x30
Data2 Data3
0x00 0x00
0x00 0x02
Data2 Data3
0x00 0x00
0x00 0x09
Revised March, 2012
Data4
0x00
0x06
Data4
0x00
0x06