Siemens Simatic Operating Instructions Manual page 34

Functions
4.1 CANopen
WRREC: Write data record
Data record size: 7 bytes for SDO read access, 7 bytes + <data length> for SDO write
access
Table 4- 3
Byte
0
1
2 ... 3
4
5 ... 6
7 ... <END>
WRREC access can be successful or return one of the following error codes.
These are standardized error codes in PROFINET, which are used in adapted form for
transmission of SDOs.
Table 4- 4
Error code
(Hex)
DF80B200
DF80B000
DF80B100
DF80B800
DF80B800
DF80B800
DF80B500
DF80A900
DF80C300
DF80C200
When an error is recognized, SDO access is not even triggered.
32
Structure of the data to be written with WRREC (write data record)
Value for "Read SDO"
Command = 0x52 = 82 ("R")
Node ID
OD index (Big Endian, which means MSB of the value in byte 2 and LSB in byte 3)
OD subindex
Number of bytes to be read with SDO
(Big Endian), permitted are 1 ... 128
<missing>
Error codes
Meaning
Module is incorrect (data record must be called on "CANopen Manager" submodule)
Data record index is incorrect (not 0x200 ... 0x20F)
Written size of data record from S7 controller is too small
"Code" field not "R" or "W"
"NodeID" invalid (node not configured)
"Number of bytes" field invalid (permitted: 1 ... 128)
No completely and validly configured PROFINET connection (Application Relation) is
established
PN/CAN LINK is not "CANopen Manager"
Node not completely booted or heartbeat/node guarding error after booting
Communication channel (data record index) is already "busy". The PN/CAN LINK first
expects a RDREC before it permits a new WRREC.
Value for "Write SDO"
Command = 0x57 = 87 ("W")
Number of bytes to be written with SDO
(Big Endian)
Bytes to be written
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB