CANopen Communication Module DVPCOPM-SL 6.3 CANopen Network Status User can read the content value for H ’ 5004>>H ’ 01 to aquire CANopen network status message by editing ladder diagram to send SDO. When all nodes of CANopen network are all at normal work, the content value for H ’ 5004>>H ’ 01 is 0; when any node of CANopen network is abnormal or initializing fails, the content value for H ’ 5004>>H ’ 01 is 1. 6.4 The Data structure of SDO Request Messag Here, SDO request message structure is for 5002/1 (index/ subindex), 5003/1 (index/ subindex), 5004/1 (index/ subindex) only and can be achieved by editing information request mapping area.
Take DVPCOPM-SL, the first master module on the left of PLC as an example, below table shows the corresponding relationships between message request/ response mapping area and PLC device . See the table below for the format of SDO request message:
DVP-PLC Application Manual 29 Access Default Index Subindex Object Name Data Type Permission H’5003 H’00 Entry Unsigned 16bits RO --- H’01 Status of master module Unsigned 16bites RO --- Data Type Access Index Subindex Object Name Default Permission H’5004 H’00 Entry Unsigned RO --- H’01 CANopen network status Unsigned RO --- PLC device Editing area Editing length D6000~D6031 SDO message response area 64 bites D6250~D6281 SDO message request area 64 bites Request Message PLC device 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 D6250 Message head Request ID Command code D6251 Reserved Data length D6252 Type Node address D6253 Message data index high byte Major index low byte D6254 Reserved Subindex 子索引 D6255 Data1 Data 0 D6256 Data 3 Data 2 D6257 ~ D6281 Reserved