Delta Electronics DVPCOPM-SL manual Structure of Emergency Request Message

CANopen Communication Module DVPCOPM-SL

PLC device						Request Message
		15	14	13		12	11	10	9	8	7	6		5		4	3	2	1	0
D6250						ReqID									Command
D6251	Message Header				Reserved							Size (fixed to 04Hex)
D6252			Type (fixed to 03Hex)													MAC ID
D6253	Message Data				Reserved								NMT service code
D6254					Reserved											MAC ID

zCommand: Fixed to “01Hex”.

zReqID: 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.

zMAC ID: The node address of the target equipment on CANopen network.

zNMT service code

z01Hex: 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".

5.4Structure of Emergency Request Message

See the table below for the format of Emergency request message:

Request Message

PLC device

15

14

13

12

11

10

9

8

7

6

5

4

3

2

1

0

D6250

ReqID

Command

D6251

Message Header

Reserved

Size (fixed to 0)

D6252

Type (fixed to 04Hex)

MAC ID

D6253 ~ D6281

Message Data

Reserved

See the table below for the format of Emergency response message:

Response Message

PLC device

15

14

13

12

11

10

9

8

7

6

5

4

3

2

1

0

D6000

ReqID

Status

Message Header

D6001

Reserved

Size (2A Hex)

D6002

Type (04Hex)

MAC ID

D6003

Message Data

Total number of data

Number of data stored

D6004

Datum 1

Datum 0

D6005

Datum 3

Datum 2

D6006

Datum 5

Datum 4

D6007

Datum 7

Datum 6

D6008 ~ D6011

Emergency2

D6012 ~ D6015

Emergency3

D6016 ~ D6019

Emergency4

22 DVP-PLC Application Manual