CANopen Communication Module DVPCOPM-SL l Command code: fixed 01 ( Hex ) . l Request ID: Whenever a SDO request message is sent out, the message will be given a Request ID for the CANopen master to identify. For the next SDO request message to be sent out, you have to change the ID number. Range of Request ID : 00Hex ~ FFHex . l Data length: the data length of message data is fixed as 4 bites l Node address: Master node address of CANopen network l Type: it is fixed as 1 in SDO request message which indicates SDO data reading service. See the table below for the format of SDO response message:
l Status Code DVP-PLC Application Manual 30 Request Message PLC device 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 D6000 Message Head Response ID Status code D6001 Reserved Data Length D6002 Type Node address D6003 Message Data index high byte 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 Code Code Explanation 0 No data transmission request 1 SDO message transmission succeeds. 2 SDO message is being transmitted. 3 Error – SDO information transmitting is overtime. 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