Data Structure Of Nmt Message - Delta AS Series Operation Manual

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10.4.2 Data Structure of NMT Message

Use the NMT service to manage the CANopen network such as start, operation, reset of nodes, etc.
The following table shows the data format of the NMT request message.
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The following table shows the data format of the NMT Response message.
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PLC device
D25000
Message
D25001
Header
D25002
D25003
Message
data
D25004
Command: Fixed to 01.
ReqID: the request ID. Whenever an NMT request message is sent, the message is given a ReqID for
the CANopen master to identify. Before another NMT 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 sending the NMA request message.
Node ID: the node address for the target equipment on the CANopen network (0: Broadcast).
NMT service code:
NMT service code (Hex)
01
02
80
81
82
PLC device
D24000
Message
D24001
header
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.
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Request message
High byte
ReqID
Reserved
Type (Fixed to 03)
Reserved
Reserved
Start remote node
Stop remote node
Enter the pre-operational state
Reset application
Reset communication
Response message
High byte
ResID
Reserved
Reserved
Low byte
Command (Fixed to 01)
Size (Fixed to 04)
Node ID
NMT service code
Node ID
Function
Low byte
Status code
Reserved
Node ID