Delta CANopen DVPCOPM-SL, Руководство по эксплуатации

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CANopen Communication Module DVPCOPM-SL
See the table below for the format of SDO request message:
Request Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 ReqID Command
D6251 Reserved Size
D6252
Message Header
Type MAC ID
D6253 High byte of main index Low byte of main index
D6254 Reserved Sub index
D6255 Datum 1 Datum 0
D6256 Datum 3 Datum 2
D6257 ~ D6281
Message Data
Reserved

Command: Fixed to “01Hex”.

ReqID: The request ID. Whenever an SDO request message is sent out, the message will be given a ReqID for
CANopen master to identify. For the next request message to be sent out, you have to change the ID number.
Range of ReqID: 00Hex ~ FFHex.

Size: The length of the message. Max. 8 bytes. Unit: byte.

MAC ID: The node address of the target equipment on CANopen network.

Type: In SDO request message, 01Hex refers to SDO read message service; 02Hex refers to SDO write message
service; 4FHex refers to read 1 byte of data; 60Hex refer to write 1/2/4 byte(s) of data; 80Hex refers to end SDO
command. For example, if the type is 02Hex in SDO request message, it will become 60Hex for SDO response
message when the writing of data is successful.

Status code:
Status code Explanation
0 No data transmission request
1 SDO data transmission is successful.
2 SDO data is being transmitted.
3 Error: SDO transmission time-out
4 Error: Illegal command
5 Error: Size of request message is illegal.
6 Error: Size of response message 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
DVP-PLC Operation Manual 29