Delta DVP-EX2 User Manual

DVP-ES2/EX2/EC5/SS2/SA2/SX2/SE&TP Operation Manual - Programming
7-12
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 the 4-byte data
4B
Reading the 2-byte data
4F
Reading the 1-byte data
60
Writing the 1/2/4-byte data
80
Stopping the SDO function
 NMT (network management object)
The CANopen network management conforms to the “master/slave” mode. Only one NMT
master exists in the CANopen network, and other nodes are considered slaves. NMT realized
three services. They are module control services, error control services, and boot-up services.
 Module control services
The master node in the CANopen network controls the slave by sending the command. The
slave executes the command after it received the command. It does not need to reply. All
CANopen nodes have internal NMT states. The slave node has four states. They are the
initialization state, the pre-operational state, the operational state, and the stop state. The
state of the device is illustrated below.
(1) After the power is supplied, the device automatically enters the initialization state.
(2) After the initialization is complete, the device automatically enters the Pre-operational
state.
(3)(6) The remote node is started.
(4)(7) The device enters the Pre-operational state.
(5)(8) The remote node is stopped.
(9)(10)(11) The application layer is rest.
(12)(13)(14) The communication is reset.
(15) After the initializing is complete, the device automatically enters the “reset application”
state.
(16) After the “reset application” state is complete, the device automatically enters the
Initializing
Reset application
Reset communication
Pre-operational
Operational
Stopped
(1)
(15)
(16)
(
2)
(3)
(4)
(7)
(5)
(6)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
Initialization

Delta DVP-EX2 Specifications

General

Brand	Delta
Model	DVP-EX2
Category	Controller
Language	English