Delta AS Series Operation Manual page 535

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
3.
The CANopen network management conforms to the master/slave mode. Only one NMT master exists in
the CANopen network, and all other nodes are considered to be slaves. NMT includes three services:
module control, error control, and boot-up services.
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The following table shows the structures of the SDO requested message and reply message.
The format of the requested message:
COB-ID Byte 0
600（hex）
Requested
code
+Node-ID
The definition of the requested code in the requested message:
Request code (hex)
23
2B
2F
40
80
The format of the reply message:
COB-ID Byte 0 Byte 1
580（hex）
Object index
Reply
code
+Node-ID LSB
The definition of the reply code in the reply message:
Reply code (hex)
43
4B
4F
60
80
NMT (network management object)
Module control services
The master node in the CANopen network controls the slave by sending commands. The slave
receives and executes the command, and does not need to reply. All CANopen nodes have internal
NMT states. The slave node has four states: initialization, pre-operational, operational, and stop
states. The following diagram illustrates the device states.
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Byte 1 Byte 2 Byte 3
Object index
Object
subindex
LSB MSB
Description
Writing 4-byte data
Writing 2-byte data
Writing 1-byte data
Reading data
Stopping the current SDO function
Byte 2 Byte 3
Object
subindex
MSB
Description
Reading 4-byte data
Reading 2-byte data
Reading 1-byte data
Writing 1/2/4-byte data
Stopping the current SDO function
Byte 4 Byte 5 Byte 6
Requested data
bit7-0 bit15-8 bit23-16 bit31-24
Byte 4 Byte 5 Byte 6
Reply data
bit7-0 bit15-8 bit23-16
Byte 7
Byte 7
bit31-24