Communication extension card
-32-
Note:
The data domain of PDO1 Rx must be six bytes. Otherwise, the communication card reports an
emergency packet.
3.5.2.2
PDO1 Tx
⚫
Command
Response: Slave station -> master station
COB-ID
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x180+NODEID
Response
code
Error code
Response
data
0x00
0x00
0x2000.00
0x2000.01
0x2000.02
-
-
⚫
Description
Byte6 and Byte7 are reserved and both are 0x00.
A response code is two bytes. Byte0 is the LSB, and Byte1 is the MSB.
the response codes.
Table 3-15 Response codes
Response code
Function
0
No response
1
Reading or writing succeeds
3
A reading or writing error occurs. Table 3-16 describes the
error codes.
A piece of response data is four bytes. Byte4 is the LSB, and Byte7 is the MSB. When a write command is
responded, the response data is the data to be modified; and when a read command is responded, the
response data is the data to be read.
An error code is two bytes. Byte2 is the LSB, and Byte3 is the MSB. Error codes are valid only when the
response code is 3. An error code indicates the reason why it fails to respond to PDO1 Rx.
describes the definitions of the error codes.
Table 3-16 Error codes
Code
Name
Definition
00H
No error
/
01H
Invalid command
The operation corresponding to the request code is
not allowed to be executed. The possible causes are
as follows:
• The function code is applicable only on new devices
and is not implemented on this device.
• The slave
station is in the faulty state when
processing this request.
02H
Invalid data
address
For a slave device, the data address in the request of
the master station is not allowed. In particular, the
combination of the register address and the number
of the to-be-transmitted bytes is invalid.
03H
Invalid data value
The received data domain contains a value that is not
allowed. The value indicates the error of the
