ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 47)

Example:
The server replies to the command CA[1]=4, which is out of range: error code 21 (15h).
Byte 0 1 2 3 4 5 6 7
Hex value 43 41 01 40 15 0 0 0
9.1.2 Execute Command
These commands are used to instruct the drive to perform a sequence. The reply to these
commands is only an acknowledgement or an error code; there is no value for executing
command. Execute commands are a unique case of RPDO2, which can be used with a
DLC of either 4 or 8.
Example:
BG command, to start a motion.
DLC4:
Byte
0 1 2 3
Hex value 42 47 0 0
DL8:
Byte
0 1 2 7
Hex value 42 47 0 0
The reply is always eight bytes long and indicates either success or failure (error).
Success
Byte 0 1 2 3 4 5 6 7
Hex value 42 47 0 0 0 0 0 0
Failure: error code 58 (3Ah) for “Motor must be on”
Byte 0 1 2 3 4 5 6 7
Hex value 42 47 0 40 3A 0 0 0
CANopen DS 301 Implementation Guide Binary Interpreter Commands
MAN-CAN301IG (Ver. 2.1)
9-5