The Data Format Of The Nmt Response Message; Data Structure Of Emergency Request Message - Delta DVP-ES2 Operation Manual

is sent out, the original ID number must be changed. In other words, to send out the NMT
request message is triggered by changing of the value of "ReqID". ReqID range: 00 (Hex) ~
FF (Hex).

Node ID: The node address of the target equipment on CANopen network. (0: Broadcast)

NMT service code:
NMT service code (Hex)
01
02
80
81
82


The data format of the NMT Response message:

PLC device
D6000
Message
D6001
header
D6002

When status code is 1, it indicates that NMT operation succeeds. When status code is not
equal to1, it indicates that NMT operation fails and in the meantime, you should check if the
data in NMT request message are correct.

Node ID: The node address of the target equipment on CANopen network.
Example 1: Stop slave of No. 3 through NMT

Request data:
PLC device
D6250
Message
D6251
header
D6252
D6253
Message
data
D6254

Response data:
PLC device
D6000
Message
D6001
header
D6002

7.4.3 Data Structure of EMERGENCY Request Message

Through reading Emergency, the slave error and alarm information can be read.

The data format of the Emergency request message:
PLC device
D6250
D6251
D6252
D6253~D6281

Command: Fixed to 01.

ReqID: The request ID. Whenever an Emergency message is sent out, the message will be
given a ReqID for the CANopen master to identify. Before another Emergency request
Start remote node
Stop remote node
Enter the pre-operational state
Reset application
Reset communication
Response message
High byte
ResID
Reserved
Reserved
Request message
High byte(Hex)
ReqID =01
Reserved =0
Type =03
Reserved
Reserved
Response message
High byte(Hex)
ResID=01
Reserved =0
Reserved =0
Request message
High byte
ReqID
Message
Reserved
header
Type (Fixed to 04)
Message
data
7 CANope n Func t i on a nd O pe r a t i on
Function
Low byte
Status code
Reserved
Node ID
Low byte(Hex)
Command =01
Size =04
Node ID =03
NMT service code =02
Node ID =03
Low byte(Hex)
Status code =01
Reserved =0
Node ID =03
Low byte
Command (Fixed to 1)
Size (Fixed to 0)
Node ID
Reserved
7 - 1 9