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Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manual

Page 191

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Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01

Revised March, 2012

8-5

※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:

Table 8.6

Field

name:

Datatype Index low Index high Sub index

Data1

Data2

Data3

Data4

Command 0x40

0x00

0x23

0x00 0x00

0x00

0x00 0x00

Return

0x4b

0x00

0x23

0x00

0x7F

0x00

0x00

0x00

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).

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
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:

Table 8.7

Field

name:

Datatype Index low Index high

Sub

index

Data1

Data2

Data3

Data4

Command 0x2b 0x00

0x23 0x00

0x7F

0x00 0x00 0x00

Return

0x60

0x00

0x23

0x00

0x00

0x00

0x00

0x00

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

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