ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 46)

Example 5:
CA[18] = 4096
(1000h) (18 in decimal - 12h in hex)
Byte 0 1 2 3 4 5 6 7
Hex value 43 41 12 0 0 10 0 0
Example 6:
In this example, the server replies to the command ET[992] (3E0h), assuming that the
value is 32121 (7D79h). This is done to query the DLC 8 format (bit 6 in byte 3 is set):
ET[992]
(3E0h)
Byte 0 1 2 3 4 5 6 7
Hex value 45 54 E0 43 0 0 0 0
The server replies as follows:
Byte
0 1 2 3 4 5 6 7
Hex value 45 54 E0 03 79 7D 0 0
9.1.1.1 TPDO2 Structure
The server (drive) replies (TPDO2) to query and set requests in eight bytes (DLC=8):
ƒ
Bytes 0 to 3 are the header, which includes the responding command, command
index (when needed) and data type (float or integer). It also indicates whether the
response data is true data or an error code.
ƒ Bytes 4 to 7 are data, which is either a reflection of the host Set command or an error
code according to the EC command.
Byte 0 1 2 3 4 - 7
Bits 0…7 0…7 0…7 0…5 6 7
Description First
character
Second
character Index for array
parameter. 0 for
scalar command See
note. 0:
Integer
1: Float Valid data or
error code. Little
endian format.
The server replies as follows:
Byte
0 1 2 3 4 5 6 7
Hex value 45 54 E0 03 79 7D 0 0
Note: Bytes 0 and 1 represent the command character and must be uppercase.
Byte 3, bit 6:
When this byte is 1 for TPDO, the data in bytes 4 to 7 should be interpreted as an error
code. Refer to the EC command section in the SimplIQ Command Reference Manual for
details.
Note: In array commands in which the index is used (as in ET[100]), the lowest
significant bits are in byte 2 (bits 0 to 7) and the most significant bits are in byte 3.
CANopen DS 301 Implementation Guide Binary Interpreter Commands
MAN-CAN301IG (Ver. 2.1)
9-4