Structure Of Emergency Request Message - Delta Electronics CANopen Communication Module DVPCOPM-SL Applications Manual

CANopen Communication Module DVPCOPM-SL
PLC device
D6250
D6251
D6252
D6253
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
D6252
D6253 ~ D6281
See the table below for the format of Emergency response message:
PLC device
D6000
D6001
D6002
D6003
D6004
D6005
D6006
D6007
D6008 ~ D6011
D6012 ~ D6015
D6016 ~ D6019
22
15 14 13 12 11 10 9
Message Header
Message Data
15 14 13 12 11 10 9
Message Header
Message Data
15 14 13 12 11 10 9
Message Header
Message Data
Request Message
ReqID
Reserved
Type (fixed to 03Hex)
Reserved
Reserved
Request Message
ReqID
Reserved
Type (fixed to 04Hex)
Reserved
Response Message
ReqID
Reserved
Type (04Hex)
Total number of data
Datum 1
Datum 3
Datum 5
Datum 7
Emergency2
Emergency3
Emergency4
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
8 7 6 5 4 3
Status
Size (2A Hex)
MAC ID
Number of data stored
Datum 0
Datum 2
Datum 4
Datum 6
DVP-PLC Application Manual
2 1 0
2 1 0
2 1 0