Delta DVP-ES2/EX2/SS2/SA2/SX2/SE Data Structure of NMT Message, NMT service code Hex Function

DVP - ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming

‹Response data:

PLC device		Response message
		High byte(Hex)	Low byte(Hex)
D6000	Message	ResID =01	Command =01
D6001		Reserved =0	Size =8
	Header
D6002		Type =43	Node ID =03
D6003		Main index high byte =21	Main index low byte =09
D6004	Message	Reserved =0	Subindex =0
D6005	data	Datum 1=03	Datum 0=E8
D6006		Datum 3=01	Datum 2=02

7.4.2 Data Structure of NMT Message

NMT service can be used managing the CANopen network such as start, operation, reset of nodes and etc.

¾The data format of the NMT request message:

PLC device		Request message
		High byte	Low byte
D6250	Message	ReqID	Command (Fixed to 01)
D6251		Reserved	Size (Fixed to 04)
	Header
D6252		Type (Fixed to 03)	Node ID
D6253	Message	Reserved	NMT service code
D6254	data	Reserved	Node ID

—Command: Fixed to 01.

—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. Before another NMT request message is sent out, the original ID number must be changed. In other words, to send out the NMT request message is triggered by changing of the value of “ReqID”. ReqID range: 00 (Hex) ~ FF (Hex).

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

—NMT service code:

NMT service code (Hex)	Function
01	Start remote node
02	Stop remote node
80	Enter the pre-operational state
81	Reset application
82	Reset communication

¾The data format of the NMT Response message:

PLC device		Response message
		High byte	Low byte
D6000	Message	ResID	Status code
D6001		Reserved	Reserved
	header
D6002		Reserved	Node ID

—When status code is 1, it indicates that NMT operation succeeds. When status code is not

7 - 18