Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual PLC device Response message High byte Low byte, 0B~FF

DVP - ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming

PLC device	Request message
	High byte		Low byte
D6257 ~ D6281		Reserved

—Command: Fixed to “01”.

—ReqID: The request ID. Whenever an SDO request message is sent out, the message will be given a ReqID for CANopen master to identify. When reading/writing another SDO message, the original ID number must be changed. In other words, to read/write SDO is triggered by changing of the value of “ReqID”. ReqID range: 00 (Hex) ~ FF (Hex).

—Size: The length of the message data. The counting starts from D6253 with byte as the unit. When reading, it is fixed to 4 and when writing, it is 4 plus the byte number of data types of index and subindex and the maximum value is 8. But when writing, if the data type of index and subindex is word, the data length is 6 or it is 5 if byte.

—Node ID: The node address of the target equipment on CANopen network.

—Type: 01 indicates the read access; 02 indicates the write access.

¾The data format of the SDO response message:

PLC device		Response message
		High byte	Low byte
D6000	Message	ResID	Status code
D6001		Reserved	Size
	Header
D6002		Type	Node ID
D6003		High byte of main index	Low byte of main index
D6004		Reserved	Sub-index
D6005	Message Data	Datum 1	Datum 0
D6006		Datum 3	Datum 2
D6007 ~ D6031		Reserved

—Status code:

The indication of 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: Same as the request ID in the request message.

—Size: The length of the message data. Max. 20 bytes. Unit: byte. When writing, it is 4; 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.

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