Delta AS Series Operation Manual page 365

The following table shows the data format of the SDO response message.
PLC device
D24000
D24001
Message Header
D24002
D24003
D24004
D24005
Message Data
D24006
D24007~D24031

Status code:
The following table lists the status code values in the response message.
Status code
0
1
2
3
4
5
6
7
8
9
0A
0B-FF

ResID: the same as the request ID in the request message.

Size: the length of the message data, maximum of 20 bytes. The unit is bytes. When writing, the
maximum is four; 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.

Type: in the SDO response message, 43 (Hex) refers to reading four bytes of data; 4B (Hex) refers to
reading two bytes of data; 4F (Hex) refers to reading one byte of data; 60 (Hex) refers to writing 1/2/4
byte(s) of data; 80 (Hex) refers to stopping SDO command.
C h a p t e r 1 0 C A N o p e n F u n c t i o n a n d O p e r a t i o n
Response message
High byte
ResID
Reserved
Type
High byte of main index
Reserved
Datum 1
Datum 3
No data transmission request
SDO message transmission succeeds.
SDO message is being transmitted.
Error: SDO transmission time-out
Error: Illegal command code
Error: the length of the transmitted data is illegal.
Error: the length of the response data is illegal.
Error: Equipment to be sent messages is busy.
Error: Illegal type
Error: Incorrect node address
Error message (See the error code for SDO response message)
Reserved
Low byte
Status code
Size
Node ID
Low byte of main index
Sub-index
Datum 0
Datum 2
Reserved
Explanation
10
1 0 - 2 1