CANopen Communication Module
PLC device | Editing area | Editing length | |
D6000 ~ D6031 | SDO response message and Emergency response message | 64 bytes | |
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D6250 ~ D6281 | SDO request message, NMT service message and Emergency | 64 bytes | |
request message | |||
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See the table below for the format of SDO request message:
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| Request Message |
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| 15 | 14 | 13 | 12 | 11 |
| 10 | 9 |
| 8 | 7 | 6 | 5 |
| 4 | 3 |
| 2 | 1 | 0 |
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D6250 |
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| ReqID |
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| Message Header |
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D6251 |
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| Reserved |
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| Size |
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D6252 |
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| Type |
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| MAC ID |
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D6253 |
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| High byte of main index |
| Low byte of main index |
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D6254 |
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| Reserved |
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| Sub index |
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| Message Data |
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D6255 |
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| Datum 1 |
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D6256 |
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| Datum 3 |
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D6257 ~ D6281 |
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| Reserved |
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zCommand: Fixed to “01Hex”.
zReqID: 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.
zSize: The length of the message. Max. 8 bytes. Unit: byte.
zMAC ID: The node address of the target equipment on CANopen network.
zType: 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.
zStatus code:
Status code | Explanation |
0 | No data transmission request |
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1 | SDO data transmission is successful. |
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2 | SDO data is being transmitted. |
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3 | Error: SDO transmission |
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4 | Error: Illegal command |
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5 | Error: Size of request message is illegal. |
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6 | Error: Size of response message is illegal. |
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7 | Error: Equipment to be sent messages is busy. |
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8 | Error: Illegal type |
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9 | Error: Incorrect node address |
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0A | Error message (See the error code for SDO response message) |
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0B ~ FF | Reserved |
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5.3Structure of NMT Service Message
You can send the NMT request message to D6250 ~ D6281, and the slave will not respond with a message.
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