ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 50)

Server acknowledges that the RSDO was received OK:
TSDO
20 00 00 00 00 00 00 00
Client gets PX value from OS interpreter (assuming OS was already defined as “Evaluate
Immediately”:
RSDO
Object 0x1023 Sub 1 P X
23 23 10 01 50 58 00 00
Server acknowledges that the RSD0 was received OK:
TSDO
Object 0x1023
60 23 10 01 00 00 00 00
Client queries status of command:
RSDO Object
0x1023 Sub-index
40 23 10 02 00 00 00 00
Server replies that command was executed and that the result is waiting:
TSDO Object
0x1023 Sub-index Execute OK
42 23 10 02 01 00 00 00
Client queries for reply value:
RSDO Object
0x1023 Sub-index
42 23 10 03 00 00 00 00
Server replies with value of valid PX:
TSDO Object
0x1023 Sub-index 1 2 3 4
43 23 10 03 31 32 33 34
CANopen DS 301 Implementation Guide The OS Prompt Interpreter
MAN-CAN301IG (Ver. 2.1)
10-2