Delta AS Series Operation Manual page 369

PLC device
D24006
D24007
D24008-D24011
D24012-D24015
D24016-D24019
D24020-D24023
D24024-D24031

Command: Fixed to 01(Hex).

When status code is 1, reading the Emergency message has succeeded. When status code is not
equal to1, reading the Emergency message has failed and you should verify that the data in the
Emergency message is correct.

Node ID: the node address for the target equipment on the CANopen network.

Total number of data: the total number of Emergency messages CANopen master receives from the
slave.

Number of data stored: the latest number of Emergency messages CANopen master receives from the
slave (5 messages at most).

An Emergency 1 consists of the data in D6004-D6007 and every Emergency message consists of 8
bytes of data.
The following table shows the data format of Emergency messages on the CAN bus. Datum 0–datum
7 in Emergency response message correspond to byte 0–byte 7 respectively.
COB-ID Byte 0
80（hex）
Emergency error
+Node-ID
Example 1: read the Emergency message from the slave No.2, and the Emergency messages the slave
sends out successively.
COB-ID Byte 0
82（hex）
43
COB-ID Byte 0
82（hex）
42

Request data:
PLC device
D25000
Message
D25001
header
D25002
C h a p t e r 1 0 C A N o p e n F u n c t i o n a n d O p e r a t i o n
Response message
High byte(Hex)
Datum 5
Datum 7
Byte 1 Byte 2
Error storage
code register
Byte 1 Byte 2 Byte 3
54 20 14
Byte 1 Byte 2 Byte 3
54 20 15
Request message
High byte
ReqID=01
Reserved
Type =04
Low byte(Hex)
Datum 4
Datum 6
Emergency2
Emergency3
Emergency4
Emergency5
Reserved
Byte 3 Byte 4 Byte 5
Vendor custom error code
Byte 4 Byte 5 Byte 6
0 0
Byte 4 Byte 5 Byte 6
0 0
Low byte
Command =01
Size =0
Node ID =03
Byte 6 Byte 7
Byte 7
0 0
Byte 7
0 0
10
1 0 - 2 5