Delta Electronics DVPCOPM-SL Manual De Usuario
CANopen Communication Module DVPCOPM-SL
DVP-PLC Application Manual
21
PLC device
Editing area
Editing length
D6000 ~ D6031
SDO response message and Emergency response message
64 bytes
D6250 ~ D6281
SDO request message, NMT service message and Emergency
request message
request message
64 bytes
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
z Command: Fixed to “01Hex”.
z 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.
z Size: The length of the message. Max. 8 bytes. Unit: byte.
z MAC ID: The node address of the target equipment on CANopen network.
z 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.
z 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
5.3
Structure of NMT Service Message
You can send the NMT request message to D6250 ~ D6281, and the slave will not respond with a message.