Delta DVP-ES3 Series, Operation Manual

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D V P - E S 3 S e r i e s O p e r a t i o n Ma n u a l
1 0 - 2 0
_10
PLC device
Response message
High byte Low byte
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.
Example 1: write 010203E8 (Hex) to (Index_subindex) 212D_0 in slave of No. 3 through SDO; the data type of
(Index_subindex) 212D_0 is double words (32 bits).

Request data:
PLC device
Request message
High byte(Hex) Low byte(Hex)
D25000
Message
Header
ReqID=01 Command =01
D25001
Reserved =0 Size =8
D25002
Type =02 Node ID =03
D25003
Message
data
Main index high byte =21 Main index low byte =2D
D25004
Reserved =0 Subindex =0
D25005
Datum 1=03 Datum 0=E8
D25006
Datum 3=01 Datum 2=02