Delta AS164P-A User Manual

 The following table shows the structures of the SDO requested message and reply message.
The format of the requested message:
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
600（hex）
+Node-ID
Requested
code
Object index
Object
subindex
Requested data
LSB
MSB
bit7-0
bit15-8
bit23-16
bit31-24
The definition of the requested code in the requested message:
Request code (hex)
Description
23 Writing 4-byte data
2B
Writing 2-byte data
2F
Writing 1-byte data
40
Reading data
80
Stopping the current SDO function
The format of the reply message:
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
580（hex）
+Node-ID
Reply
code
Object index
Object
subindex
Reply data
LSB
MSB
bit7-0
bit15-8
bit23-16
bit31-24
The definition of the reply code in the reply message:
Reply code (hex)
Description
43 Reading 4-byte data
4B
Reading 2-byte data
4F
Reading 1-byte data
60
Writing 1/2/4-byte data
80
Stopping the current SDO function
3. NMT (network management object)
The CANopen network management conforms to the master/slave mode. Only one NMT master exists in
the CANopen network, and all other nodes are considered to be slaves. NMT includes three services:
module control, error control, and boot-up services.
 Module control services
The master node in the CANopen network controls the slave by sending commands. The slave
receives and executes the command, and does not need to reply. All CANopen nodes have internal
NMT states. The slave node has four states: initialization, pre-operational, operational, and stop
states. The following diagram illustrates the device states.
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Delta AS164P-A Specifications

General

Brand	Delta
Model	AS164P-A
Category	Network Hardware
Language	English