IG35EC020 实际 SDO 读取记录节选
记录时间：2026-08-05 14:33 +0800
电机 Node-ID：0x01
CAN 波特率：500 kbit/s

说明：
- TX 和 RX 行来自硬件测试的串口原始记录。
- Decoded 行是测试程序根据对象定义、数据类型和小端序打印的解码结果。
- 电机的 CAN 响应只包含 RX 行中的 CAN-ID、DLC 和 DATA，不包含英文对象名。

TX ID=0x601 DLC=8 DATA=[40 00 10 00 00 00 00 00]
RX ID=0x581 DLC=8 DATA=[43 00 10 00 92 01 04 00]
Decoded: 0x1000:00 Device Type = 0x00040192

TX ID=0x601 DLC=8 DATA=[40 18 10 00 00 00 00 00]
RX ID=0x581 DLC=8 DATA=[4F 18 10 00 04 00 00 00]
Decoded: 0x1018:00 Identity Object entry count = 0x04

TX ID=0x601 DLC=8 DATA=[40 18 10 01 00 00 00 00]
RX ID=0x581 DLC=8 DATA=[43 18 10 01 CD 04 00 00]
Decoded: 0x1018:01 Vendor ID = 0x000004CD

TX ID=0x601 DLC=8 DATA=[40 18 10 02 00 00 00 00]
RX ID=0x581 DLC=8 DATA=[43 18 10 02 B9 5A 00 00]
Decoded: 0x1018:02 Product Code = 0x00005AB9

TX ID=0x601 DLC=8 DATA=[40 18 10 03 00 00 00 00]
RX ID=0x581 DLC=8 DATA=[43 18 10 03 34 12 90 78]
Decoded: 0x1018:03 Revision Number = 0x78901234

TX ID=0x601 DLC=8 DATA=[40 18 10 04 00 00 00 00]
RX ID=0x581 DLC=8 DATA=[43 18 10 04 12 90 78 56]
Decoded: 0x1018:04 Serial Number = 0x56789012

TX ID=0x601 DLC=8 DATA=[40 41 60 00 00 00 00 00]
RX ID=0x581 DLC=8 DATA=[4B 41 60 00 31 02 00 00]
Decoded: 0x6041:00 Statusword = 0x0231

TX ID=0x601 DLC=8 DATA=[40 61 60 00 00 00 00 00]
RX ID=0x581 DLC=8 DATA=[4F 61 60 00 01 00 00 00]
Decoded: 0x6061:00 Modes of Operation Display = 0x01

TX ID=0x601 DLC=8 DATA=[40 64 60 00 00 00 00 00]
RX ID=0x581 DLC=8 DATA=[43 64 60 00 AA 16 00 00]
Decoded: 0x6064:00 Position Actual Value = 0x000016AA (5802)