CANopen Firmware
CAN-CBX-AI420
Manual • Doc.-No.: C.3030.21 / Rev. 1.4
Page 43 of 103
The CAN-CBX-module responds to every received telegram with a response telegram. This can contain
the following command codes:
43
h
= 67
dec
:
Read Response with 32 bit data, this telegram contains the parameter requested
60
h
= 96
dec
:
Write Response, i.e. a parameter has been set successfully
80
h
= 128
dec
: Error Response, i.e. the CAN-CBX-module reports a communication error
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 [1].
Command
Number of data
bytes
Command code
Write Request
(Initiate Domain Download)
1
2
3
4
2F
h
2B
h
27
h
23
h
Write Response
(Initiate Domain Download)
-
60
h
Read Request
(Initiate Domain Upload)
-
40
h
Read Response
(Initiate Domain Upload)
1
2
3
4
4F
h
4B
h
47
h
43
h
Error Response
(Abort Domain Transfer)
-
80
h
Index, Sub-Index
Index and sub-index will be described in the chapters “Device Profile Area” and “Manufacturer Specific
Objects” of this manual.
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’.
