Delta AS300N-A User Manual

Chapter 10 CANopen Function and Operation
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10
The following table shows the data format of the SDO response message.
PLC device
Response message
High byte
Low byte
D24000
Message Header
ResID
Status code
D24001
Reserved
Size
D24002 Type Node ID
D24003
Message Data
High byte of main index
Low byte of main index
D24004 Reserved Sub-index
D24005 Datum 1 Datum 0
D24006 Datum 3 Datum 2
D24007~D24031 Reserved
 Status code:
The following table lists the status code values in the response message.
Status code
Explanation
0 No data transmission request
1
SDO message transmission succeeds.
2
SDO message is being transmitted.
3
Error: SDO transmission time-out
4
Error: Illegal command code
5
Error: the length of the transmitted data is illegal.
6
Error: the length of the response data 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
 ResID: the same as the request ID in the request message.
 Size: the length of the message data, maximum of 20 bytes. The unit is bytes. When writing, the
maximum is four; the data length is decided by the data type of index and subindex when reading.
 Node ID: the node address of the target equipment on CANopen network.
 Type: in the SDO response message, 43 (Hex) refers to reading four bytes of data; 4B (Hex) refers to
reading two bytes of data; 4F (Hex) refers to reading one byte of data; 60 (Hex) refers to writing 1/2/4
byte(s) of data; 80 (Hex) refers to stopping SDO command.

Delta AS300N-A Specifications

General

Brand	Delta
Model	AS300N-A
Category	Control Unit
Language	English