Delta CANopen DVPCOPM-SL User Manual

CANopen Communication Module DVPCOPM-SL
Dat
a Format for SDO Response Message
Request Message PLC
Device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6000 Response ID Status code
D6001 Reserved Data Length
D6002
Message Header
Type Node address
D6003 Main index high byte Main 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
Message Data
Reserved
 Status Code
Status Code Explanation
0 No data transmission request
1 SDO message transmission succeeds.
2 SDO message is being transmitted.
3 Error – SDO message transmitting is time-out.
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
 Response ID: Normally, the Response ID is same as the Request ID in request message; in abnormal status, the
Response ID is 0.
 Data length: data length of message data; maximum value: 32; Unit: byte.
 Node address: node address of CANopen network master.
 Type: In SDO response message, 43 (Hex) represents that data of 4 bytes are read; 4B (Hex) represents that data
of 2 bytes are read; 4F (Hex) represents that data of 1 byte are read and 42(Hex) represents data longer than 4
bytes are read.
DVP-PLC Operation Manual
42

Delta CANopen DVPCOPM-SL Specifications

General

Brand	Delta
Model	CANopen DVPCOPM-SL
Category	Control Unit
Language	English