Data Structure Of Emergency Request Message - Delta DVP-ES3 Series Operation Manual

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
D25000
D25001
D25002
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
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.

Node ID: the node address of the target equipment on CANopen network.
The following table shows data format of the Emergency response message.
PLC device
D24000
D24001
D24002
D24003
D24004
D24005
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: 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).
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
Request message
High byte
ReqID
Message
Reserved
header
Type (Fixed to 04)
Message
data
Response message
High byte (Hex)
ResID
Message
Reserved
header
Type (Fixed to 04)
Total number of data
Datum 1
Datum 3
Datum 5
Datum 7
Message
data
Low byte
Command (Fixed to 1)
Size (Fixed to 0)
Node ID
Reserved
Low byte (Hex)
Status code
Size Fixed to 2A
Node ID
Number of data stored
Datum 0
Datum 2
Datum 4
Datum 6
Emergency2
Emergency3
Emergency4
Emergency5
Reserved
10
1 0 - 2 3