CANopen Firmware
Frequently Used Command Codes
The following table summarizes frequently used command codes. The
command frames must always contain 8 data bytes. Notes on the syntax and
further command codes can be found in CiA 301 [2], chapter “Service Data
Object”.
Command
Number of
data bytes
Command
code
Write Request
(Initiate Domain Download)
1
2
3
4
0x2F
0x2B
0x27
0x23
Write Response
(Initiate Domain Download)
-
0x60
Read Request
(Initiate Domain Upload)
-
0x40
Read Response
(Initiate Domain Upload)
1
2
3
4
0x4F
0x4B
0x47
0x43
Error Response
(Abort Domain Transfer)
-
0x80
Index, Sub-Index ... Index and sub-index address the parameters in the object directory.
Data field ...
The data field has got a size of a maximum of 4 bytes and is always
structured ‘LSB first, MSB last’.
The least significant byte is always in ‘Data 1’. With 16-bit values the most
significant byte (bits 8...15) is always in ‘Data 2’, and with 32-bit values the
MSB (bits 24...31) is always in ‘Data 4’.
CANopen-PN
Manual • Doc. No.: C.2921.21 / Rev. 1.6
Page 91 of 105
