DVP- ES2/ EX2/ SS2/ SA2/ SX2/ SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng7- 12The format of the reply message:COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7580（hex）+Node-IDReplycodeObject index ObjectsubindexReply dataLSB MSB bit7-0 bit15-8 bit23-16 bit31-24The definition of the reply code in the reply message:Reply code (hex) Description43 Reading the 4-byte data4B Reading the 2-byte data4F Reading the 1-byte data60 Writing the 1/2/4-byte data80 Stopping the SDO function NMT (network management object)The CANopen network management conforms to the “master/slave” mode. Only one NMTmaster exists in the CANopen network, and other nodes are considered slaves. NMT realizedthree services. They are module control services, error control services, and boot-up services. Module control servicesThe master node in the CANopen network controls the slave by sending the command. Theslave executes the command after it received the command. It does not need to reply. AllCANopen nodes have internal NMT states. The slave node has four states. They are theinitialization state, the pre-operational state, the operational state, and the stop state. Thestate of the device is illustrated below.(1) After the power is supplied, the device automatically enters the initialization state.(2) After the initialization is complete, the device automatically enters the Pre-operationalstate.(3)(6) The remote node is started.(4)(7) The device enters the Pre-operational state.(5)(8) The remote node is stopped.(9)(10)(11) The application layer is rest.(12)(13)(14) The communication is reset.(15) After the initializing is complete, the device automatically enters the “reset application”state.(16) After the “reset application” state is complete, the device automatically enters theInitializingReset applicationReset communicationPre-operationalOperationalStopped(1)(15)(16)(2)(3) (4)(7)(5)(6)(8) (9)(10)(11)(12)(13)(14)Initialization
