Data Structure Of Emergency Request Message - Delta AS Series Operation Manual

AS S e r i e s O p e r a t i o n M a n u a l
The following table shows the data format of the NMT Response message.
PLC device
D24000
D24001
D24002

When status code is 1, the NMT operation has succeeded. When status code is not equal to1, the
NMT operation has failed and you should verify that the data in NMT request message is correct.

Node ID: the node address for the target equipment on the CANopen network.
Example 1: Stop slave of No. 3 through NMT

Request data:
PLC device
D25000
D25001
D25002
D25003
D25004

Response data:
PLC device
D24000
D24001
D24002

10.4.3 Data Structure of EMERGENCY Request Message

The Emergency request message communicates the slave error and alarm information.
The following table shows the data format of the Emergency request message.
PLC device
D25003~D25031

Command: Fixed to 01.

ReqID: the request ID. Whenever an Emergency message is sent, the message is given a ReqID for
the CANopen master to identify. Before another Emergency request message is sent out, the original
_10
ID number must be changed. In other words, change the value of ReqID. The ReqID range is
between 00–FF (Hex) to trigger the sending the Emergency request message.
1 0 - 2 2
ResID
Message
Reserved
header
Reserved
ReqID =01
Message
Reserved =0
header
Type =03
Reserved
Message
data
Reserved
ResID=01
Message
Reserved =0
header
Reserved =0
D25000
Message
D25001
header
D25002
Message
data
Response message
High byte
Status code
Reserved
Node ID
Request message
High byte(Hex)
Command =01
Size =04
Node ID =03
NMT service code =02
Node ID =03
Response message
High byte(Hex)
Status code =01
Reserved =0
Node ID =03
Request message
High byte
ReqID
Reserved
Type (Fixed to 04)
Reserved
Low byte
Low byte(Hex)
Low byte(Hex)
Low byte
Command (Fixed to 1)
Size (Fixed to 0)
Node ID