CANopen Communication Module DVPCOPM-SL See the table below for the format of SDO request message: l Command: Fixed to “ 01Hex ” . l ReqID: The request ID. Whenever an SDO request message is sent out, the message will be given a ReqID for CANopen master to identify. For the next request message to be sent out, you have to change the ID number. Range of ReqID: 00Hex ~ FFHex. l Size: The length of the message. Max. 8 bytes. Unit: byte. l Node address: The node address of the target equipment on CANopen network. l Type:
In SDO request message, 01Hex refers to SDO read message service; 02Hex refers to SDO write message service; 4FHex refers to read 1 byte of data; 60Hex refer to write 1/2/4 byte(s) of data; 80Hex refers to end SDO command. For example, if the type is 02Hex in SDO request message, it will become 60Hex for SDO response message when the writing of data is successful. l Status code: 5.3 Structure of NMT Service Message You can send the NMT request message to D6250 ~ D6281, and the slave will not respond with a message.
DVP-PLC Application Manual 21 PLC device Editing area Editing length D6000 ~ D6031 SDO response message and Emergency response message 64 bytes D6250 ~ D6281 SDO request message, NMT service message and Emergency request message 64 bytes Request Message PLC device 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 D6250 Message Header ReqID Command D6251 Reserved Size D6252 Type node address D6253 Message Data High byte of main index Low byte of main index D6254 Reserved Sub index D6255 Data 1 Data 0 D6256 Data 3 Data 2 D6257 ~ D6281 Reserved Status code Explanation 0 No data transmission request 1 SDO data transmission is successful. 2 SDO data is being transmitted. 3 Error:
SDO transmission time-out 4 Error: Illegal command 5 Error: Size of request message is illegal. 6 Error: Size of response message is illegal. 7 Error: Equipment to be sent messages is busy. 8 Error: Illegal type 9 Error: Incorrect node address 0A Error message (See the error code for SDO response message) 0B ~ FF Reserved