Manual

Copyright © Roboteq Inc. 2018. All Rights Reserved. 9
2.3 SUPPORTED SDOS
Table 2 shows the SDOs described in DS402 standard and supported by Roboteq Motor
Controllers.
TABLE 2 - SUPPORTED SDO
O
O
b
b
j
j
e
e
c
c
t
t
D
D
e
e
s
s
c
c
r
r
i
i
p
p
t
t
i
i
o
o
n
n
R
R
o
o
b
b
o
o
t
t
e
e
q
q
C
C
o
o
m
m
m
m
a
a
n
n
d
d
P
P
r
r
o
o
f
f
i
i
l
l
e
e
P
P
o
o
s
s
i
i
t
t
i
i
o
o
n
n
V
V
e
e
l
l
o
o
c
c
i
i
t
t
y
y
P
P
r
r
o
o
f
f
i
i
l
l
e
e
V
V
e
e
l
l
o
o
c
c
i
i
t
t
y
y
T
T
o
o
r
r
q
q
u
u
e
e
P
P
r
r
o
o
f
f
i
i
l
l
e
e
6
6
0
0
4
4
0
0
0
0
0
0
C
C
o
o
n
n
t
t
r
r
o
o
l
l
W
W
o
o
r
r
d
d
C
C
W
W








6
6
0
0
4
4
1
1
0
0
0
0
S
S
t
t
a
a
t
t
u
u
s
s
W
W
o
o
r
r
d
d
S
S
W
W








6
6
0
0
4
4
2
2
0
0
0
0
T
T
a
a
r
r
g
g
e
e
t
t
v
v
e
e
l
l
o
o
c
c
i
i
t
t
y
y
(
(
v
v
l
l
)
)
S
S


6
6
0
0
4
4
3
3
0
0
0
0
v
v
l
l
v
v
e
e
l
l
o
o
c
c
i
i
t
t
y
y
d
d
e
e
m
m
a
a
n
n
d
d
R
R
M
M
P
P


6
6
0
0
4
4
4
4
0
0
0
0
v
v
l
l
v
v
e
e
l
l
o
o
c
c
i
i
t
t
y
y
a
a
c
c
t
t
u
u
a
a
l
l
v
v
a
a
l
l
u
u
e
e
F
F


6
6
0
0
4
4
6
6
X
X
X
X
v
v
l
l
v
v
e
e
l
l
o
o
c
c
i
i
t
t
y
y
m
m
i
i
n
n
m
m
a
a
x
x
a
a
m
m
o
o
u
u
n
n
t
t
S
S
P
P
L
L


6
6
0
0
4
4
8
8
X
X
X
X
v
v
l
l
v
v
e
e
l
l
o
o
c
c
i
i
t
t
y
y
a
a
c
c
c
c
e
e
l
l
e
e
r
r
a
a
t
t
i
i
o
o
n
n
S
S
A
A
C
C


6
6
0
0
4
4
9
9
X
X
X
X
v
v
l
l
v
v
e
e
l
l
o
o
c
c
i
i
t
t
y
y
d
d
e
e
c
c
e
e
l
l
e
e
r
r
a
a
t
t
i
i
o
o
n
n
S
S
D
D
C
C


6
6
0
0
6
6
0
0
0
0
0
0
M
M
o
o
d
d
e
e
s
s
o
o
f
f
O
O
p
p
e
e
r
r
a
a
t
t
i
i
o
o
n
n
R
R
O
O
M
M
6
6
0
0
6
6
1
1
0
0
0
0
M
M
o
o
d
d
e
e
s
s
o
o
f
f
O
O
p
p
e
e
r
r
a
a
t
t
i
i
o
o
n
n
D
D
i
i
s
s
p
p
l
l
a
a
y
y
A
A
O
O
M
M
6
6
0
0
6
6
4
4
0
0
0
0
P
P
o
o
s
s
i
i
t
t
i
i
o
o
n
n
a
a
c
c
t
t
u
u
a
a
l
l
v
v
a
a
l
l
u
u
e
e
F
F


6
6
0
0
6
6
C
C
0
0
0
0
V
V
e
e
l
l
o
o
c
c
i
i
t
t
y
y
a
a
c
c
t
t
u
u
a
a
l
l
v
v
a
a
l
l
u
u
e
e
F
F


6
6
0
0
7
7
1
1
0
0
0
0
T
T
a
a
r
r
g
g
e
e
t
t
t
t
o
o
r
r
q
q
u
u
e
e
T
T
C
C




6
6
0
0
7
7
7
7
0
0
0
0
T
T
o
o
r
r
q
q
u
u
e
e
a
a
c
c
t
t
u
u
a
a
l
l
v
v
a
a
l
l
u
u
e
e
A
A


6
6
0
0
7
7
A
A
0
0
0
0
T
T
a
a
r
r
g
g
e
e
t
t
p
p
o
o
s
s
i
i
t
t
i
i
o
o
n
n
P
P
O
O
S
S


6
6
0
0
8
8
1
1
0
0
0
0
P
P
r
r
o
o
f
f
i
i
l
l
e
e
v
v
e
e
l
l
o
o
c
c
i
i
t
t
y
y
P
P
S
S
P
P


6
6
0
0
8
8
3
3
0
0
0
0
P
P
r
r
o
o
f
f
i
i
l
l
e
e
a
a
c
c
c
c
e
e
l
l
e
e
r
r
a
a
t
t
i
i
o
o
n
n
P
P
A
A
C
C




6
6
0
0
8
8
4
4
0
0
0
0
P
P
r
r
o
o
f
f
i
i
l
l
e
e
d
d
e
e
c
c
e
e
l
l
e
e
r
r
a
a
t
t
i
i
o
o
n
n
P
P
D
D
C
C




6
6
0
0
8
8
7
7
0
0
0
0
T
T
o
o
r
r
q
q
u
u
e
e
s
s
l
l
o
o
p
p
e
e
T
T
S
S
L
L


6
6
0
0
F
F
F
F
0
0
0
0
T
T
a
a
r
r
g
g
e
e
t
t
v
v
e
e
l
l
o
o
c
c
i
i
t
t
y
y
(
(
p
p
v
v
)
)
S
S


6
6
5
5
0
0
2
2
0
0
0
0
S
S
u
u
p
p
p
p
o
o
r
r
t
t
e
e
d
d
D
D
r
r
i
i
v
v
e
e
M
M
o
o
d
d
e
e
s
s
S
S
D
D
M
M
6
6
7
7
F
F
E
E
0
0
0
0
V
V
e
e
r
r
s
s
i
i
o
o
n
n
N
N
u
u
m
m
b
b
e
e
r
r
V
V
N
N
M
M
2.4 PDS FSA
The standard requires the implementation of a specific finite state machine called FSA. The
FSA is designed not only to react to CANOpen commands (Controlword and Statusword), but
also to local commands (in this case the use of CW command and SW query). For backward
compatibility reasons, the FSA is not active by default. It can be activated by using a special
configuration command (^FSA 1, see Figure 1).