Structure Of Nmt Service Message - Delta Electronics CANopen Communication Module DVPCOPM-SL Applications Manual

PLC device
D6000 ~ D6031
D6250 ~ D6281
See the table below for the format of SDO request message:
PLC device
D6250
D6251
D6252
D6253
D6254
D6255
D6256
D6257 ~ D6281
Command: Fixed to "01Hex".
ReqID: 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.
Size: The length of the message. Max. 8 bytes. Unit: byte.
MAC ID: The node address of the target equipment on CANopen network.
Type: 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.
Status code:
Status code
0
1
2
3
4
5
6
7
8
9
0A
0B ~ FF
5.3

Structure of NMT Service Message

You can send the NMT request message to D6250 ~ D6281, and the slave will not respond with a message.
DVP-PLC Application Manual
CANopen Communication Module DVPCOPM-SL
SDO response message and Emergency response message
SDO request message, NMT service message and Emergency
request message
15 14 13 12 11 10 9
Message Header
Message Data
No data transmission request
SDO data transmission is successful.
SDO data is being transmitted.
Error: SDO transmission time-out
Error: Illegal command
Error: Size of request message is illegal.
Error: Size of response message 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
Editing area
Request Message
ReqID
Reserved
Type
High byte of main index
Reserved
Datum 1
Datum 3
Reserved
Explanation
Editing length
64 bytes
64 bytes
8 7 6 5 4 3
Command
Size
MAC ID
Low byte of main index
Sub index
Datum 0
Datum 2
2 1 0
21