7 CANopen Function and Operation
Error: Equipment to be sent messages is busy.
Error: Incorrect node address
Error message (See the error code for SDO response message)
ResID: Same as the request ID in the request message.
Size: The length of the message data. Max. 20 bytes. Unit: byte. When writing, it is 4; 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 SDO response message, 43 (Hex) refers to reading 4 bytes of data; 4B (Hex) refers
to reading 2 bytes of data; 4F (Hex) refers to reading 1 byte of data; 60 (Hex) refers to
writing 1/2/4 byte(s) of data; 80 (Hex) refers to stopping SDO command.
Example 1: Write 010203E8 (hex) to (Index_subindex) 2109_0 of slave of No. 3 through SDO
and the data type of (Index_subindex) 2109_0 is double words (32 bits).
Request data:
PLC device
High byte(Hex) Low byte(Hex)
Message
Header
D6253
Message
data
Main index high byte =21 Main index low byte =09
D6254 Reserved =0 Subindex =0
Response data:
PLC device
Message
Header
Message
data
D6004 Reserved =0 Subindex =0
D6005 Datum 1=00 Datum 0=00
Example 2: Read the value of (Index_subindex) 2109_0 of slave of No. 3 through SDO and
the data type of (Index_subindex) 2109_0 is double words (32 bits).
Request data:
PLC device
Message
Header
Message
data
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