Delta Electronics PCI-DMC-A01 Programming Manual page 191

※Sample SDO Packet Format for CANopen 3 – Read/Write ASDA-A2 Parameter
When reading the ASDA-A2 parameter, the return value is in the following format:
Field
Datatype Index low
name:
Command 0x40
Return 0x4b
Table description:
(1) Can use the standard CANopen SDO format to read from A2 parameter.
(2) P3-00[Node ID] (CANopen's Index is set as 0x2300 and SubIdx is set as 0x00).
Format: P- [Servo parameter] ←→ 0x2 [Index value] (Expressed as
hexadecimal).
hexadecimal notation for 45)
(3) SubIdx are all set to 0x00.
To write to ASDA-A2 parameter, the return value is in the following format:
Field
Datatype Index low Index high
name:
Command 0x2b
Return 0x60
Table description:
(1) Can use the standard CANopen SDO format to write to A2 parameter.
(2) P3-00[Node ID] (CANopen's Index is set as 0x2300 and SubIdx is set as 0x00).
Format: P- [Servo parameter] ←→ 0x2 [Index value] (Expressed as
hexadecimal).
(3) SubIdx are all set to 0x00.
(4) ASDA-A2 parameter's data length is 16bit or 32bit
(5) You may refer to the ASDA-A2 EDS file to find the DataType for the corresponding
parameter Index.
If DataType 3, data length is 16 bit and the DataType for command write should be 0x2b
If DataType 4, data length is 32 bit and the DataType for command write should be 0x23b
Revised March, 2012
Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Index high
0x00
0x00
If Index is set as 0x2300 this means read parameter at P3-00
If Index is set as 0x212D this means read parameter at P1-45 (2D is the
0x00
0x00
Table 8.6
Sub index
0x23 0x00
0x23 0x00
Table 8.7
Sub
index
0x23 0x00
0x23 0x00
Data1 Data2
0x00 0x00
0x7F 0x00
Data1 Data2
0x7F 0x00
0x00 0x00
Data3 Data4
0x00 0x00
0x00 0x00
Data3 Data4
0x00 0x00
0x00 0x00
8-5