7 CANopen Function and Operation
7-17
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:
Request message
PLC device
High byte(Hex) Low byte(Hex)
D6250 ReqID=01 Command =01
D6251 Reserved =0 Size =8
D6252
Message
Header
Type =02 Node ID =03
D6253 Main index high byte =21 Main index low byte =09
D6254 Reserved =0 Subindex =0
D6255 Datum 1=03 Datum 0=E8
D6256
Message
data
Datum 3=01 Datum 2=02
Response data:
Response message
PLC device
High byte(Hex) Low byte(Hex)
D6000 ResID =01 Command =01
D6001 Reserved =0 Size =4
D6002
Message
Header
Type =60 Node ID =03
D6003 Main index high byte =21 Main index low byte =09
D6004 Reserved =0 Subindex =0
D6005 Datum 1=00 Datum 0=00
D6006
Message
data
Datum 3=00 Datum 2=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:
Request message
PLC device
High byte(Hex) Low byte(Hex)
D6250 ReqID =01 Command =01
D6251 Reserved =0 Size =4
D6252
Message
Header
Type =01 Node ID =03
D6253 Main index high byte =21 Main index low byte =09
D6254 Reserved =0 Subindex =0
D6255 Datum 1=0 Datum 0=0
D6256
Message
data
Datum 3=0 Datum 2=0
