CANopen Communication Module DVPCOPM-SL Data Format for SDO Response Message Status Code Response ID: Normally, the Response ID is same as the Request ID in request message; in abnormal status, the Response ID is 0. Data length: data length of message data; maximum value: 32; Unit: byte. Node address: node address of CANopen network master. Type: In SDO response message, 43 (Hex) represents that data of 4 bytes are read; 4B (Hex) represents that data of 2 bytes are read; 4F (Hex) represents that data of 1 byte are read and 42(Hex) represents data longer than 4 bytes are read.
DVP-PLC Operation Manual 42 PLC Request Message Device 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 D6000 Message Header Response ID Status code D6001 Reserved Data Length D6002 Type Node address D6003 Message Data Main index high byte Main index low byte D6004 Reserved Subindex D6005 Data 1 Data 0 D6006 Data 3 Data 2 D6007 Data 5 Data 4 D6008 Data 7 Data 6 D6009 Data 9 Data 8 D6010 Data 11 Data 10 D6011 Data 13 Data 12 D6012 Data 15 Data 14 D6013 ~ D6031 Reserved Status Code Explanation 0 No data transmission request 1 SDO message transmission succeeds. 2 SDO message is being transmitted. 3 Error – SDO message transmitting is time-out. 4 Error – Command code is invalid.
5 Error – The transmitted data length is invalid. 6 Error – Response data length is invalid. 7 Error – The device which is to be used for transmission is busy. 8 Error – Type code is invalid. 9 Error – Node address is wrong. 0A Error information ( refer to the error code in SDO response message) 0B~FF Reserved