Structure Of Nmt Service Message; Structure Of Emergency Request Message - Delta CANopen DVPCOPM-SL Operation Manual

CANopen Communication Module DVPCOPM-SL

5.3 Structure of NMT Service Message

You can send the NMT request message to D6250 ~ D6281, and the slave will not respond with a message.
PLC device
D6250
Message Header
D6251
D6252
D6253
Message Data
D6254
 Command: Fixed to "01Hex".
 ReqID: The request ID. Whenever an NMT request message is sent out, the message will be given a ReqID for the
CANopen master to identify. For the next NMT request message to be sent out, you have to change the ID number.
Range of ReqID: 00Hex ~ FFHex.
 MAC ID: The node address of the target equipment on CANopen network.

NMT service code
 01Hex: Enable remote node; 02Hex: Disable remote node; 80Hex: Enter pre-operational status; 81Hex: Reset
application; 82Hex: Reset communication
Example: If you would like to stop node 03 equipment on CANopen network, you have to set NMT service code to
"02Hex" and MAC ID to "03".

5.4 Structure of Emergency Request Message

See the table below for the format of Emergency request message:
PLC device
D6250
D6251 Message Header
D6252
D6253 ~ D6281 Message Data
See the table below for the format of Emergency response message:
PLC device
D6000
Message Header
D6001
D6002
D6003
D6004
D6005
Message Data
D6006
D6007
D6008 ~ D6011
30
Request Message
15 14 13 12 11 10 9
ReqID
Reserved
Type (fixed to 03Hex)
Reserved
Reserved
Request Message
15 14 13 12 11 10 9
ReqID
Reserved
Type (fixed to 04Hex)
Response Message
15 14 13 12 11 10 9
ReqID
Reserved
Type (04Hex)
Total number of data
Datum 1
Datum 3
Datum 5
Datum 7
8 7 6 5 4 3
Command
Size (fixed to 04Hex)
MAC ID
NMT service code
MAC ID
8 7 6 5 4 3
Command
Size (fixed to 0)
MAC ID
Reserved
8 7 6 5 4 3
Status
Size (2A Hex)
MAC ID
Number of data stored
Datum 0
Datum 2
Datum 4
Datum 6
Emergency2
DVP-PLC Operation Manual
2 1 0
2 1 0
2 1 0