CANopen Communication Module DVPCOPM-SL l Response ID: the Response ID is same as the Request ID in request message normally; abnormally, the Response ID is 0. l Data length: The length of the message. Max.32 bytes. Unit: byte . l Node address: Master node address of CANopen network. l Type: In SDO response message, 43(Hex) refers to read 4 bytes of data , 4B(Hex) refers to read 2 bytes of data , 4F(Hex) refers to read 1 byte of data and 42(Hex) refers to read larger than 4 bytes of data. 6.5 Applications 【 Control Requirement 】 Edit ladder diagram to achieve monitor function of CANopen network as follows.
n Real time monitor the slave state in the node list of master module; n Real time monitor the state of master module; n Real time monitor the state of CANopen network. M1002 Clear the request message area and response message area M1000 Data length=04 Type=01 node address=7F ， Index=the value of D201 M1002 Sub index=01H DVP-PLC Application Manual 31 ZRST D6000 D6031 ZRST D6250 D6281 MOV D200 D6250 MOV H0004 D6251 MOV H017F D6252 MOV D201 D6253 MOV H0001 D6254 002 MOV H5002 D201 MOV H0101 D200