Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual PLC device Request message High byteHex Low byteHex

7 CANopen Function and Operation

—Type: In SDO response message, 43 (Hex) refers to reading 4 bytes of data; 4B (Hex) refers to reading 2 bytes of data; 4F (Hex) refers to reading 1 byte of data; 60 (Hex) refers to writing 1/2/4 byte(s) of data; 80 (Hex) refers to stopping SDO command.

Example 1: Write 010203E8 (hex) to (Index_subindex) 2109_0 of slave of No. 3 through SDO and the data type of (Index_subindex) 2109_0 is double words (32 bits).

‹Request data:

	PLC device		Request message
			High byte(Hex)	Low byte(Hex)
	D6250	Message	ReqID=01	Command =01
	D6251		Reserved =0	Size =8
		Header
	D6252		Type =02	Node ID =03
	D6253		Main index high byte =21	Main index low byte =09
	D6254	Message	Reserved =0	Subindex =0
	D6255	data	Datum 1=03	Datum 0=E8
	D6256		Datum 3=01	Datum 2=02
‹ Response data:

PLC device		Response message
		High byte(Hex)	Low byte(Hex)
D6000	Message	ResID =01	Command =01
D6001		Reserved =0	Size =4
	Header
D6002		Type =60	Node ID =03
D6003		Main index high byte =21	Main index low byte =09
D6004	Message	Reserved =0	Subindex =0
D6005	data	Datum 1=00	Datum 0=00
D6006		Datum 3=00	Datum 2=00

Example 2: Read the value of (Index_subindex) 2109_0 of slave of No. 3 through SDO and the data type of (Index_subindex) 2109_0 is double words (32 bits).

‹Request data:

PLC device		Request message
		High byte(Hex)	Low byte(Hex)
D6250	Message	ReqID =01	Command =01
D6251		Reserved =0	Size =4
	Header
D6252		Type =01	Node ID =03
D6253		Main index high byte =21	Main index low byte =09
D6254	Message	Reserved =0	Subindex =0
D6255	data	Datum 1=0	Datum 0=0
D6256		Datum 3=0	Datum 2=0

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