Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Example 1 Stop slave of No through NMT

7 CANopen Function and Operation

equal to1, it indicates that NMT operation fails and in the meantime, you should check if the data in NMT request message are correct.

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

Example 1: Stop slave of No. 3 through NMT

‹Request data:

PLC device		Request message
		High byte(Hex)	Low byte(Hex)
D6250	Message	ReqID =01	Command =01
D6251		Reserved =0	Size =04
	header
D6252		Type =03	Node ID =03
D6253	Message	Reserved	NMT service code =02
D6254	data	Reserved	Node ID =03

‹Response data:

PLC device		Response message
		High byte(Hex)	Low byte(Hex)
D6000	Message	ResID=01	Status code =01
D6001		Reserved =0	Reserved =0
	header
D6002		Reserved =0	Node ID =03

7.4.3 Data Structure of EMERGENCY Request Message

Through reading Emergency, the slave error and alarm information can be read.

¾The data format of the Emergency request message:

PLC device		Request message
		High byte		Low byte
D6250	Message	ReqID		Command (Fixed to 1)
D6251		Reserved		Size (Fixed to 0)
	header
D6252		Type (Fixed to 04)		Node ID
D6253~D6281	Message		Reserved
	data

—Command: Fixed to 01.

—ReqID: The request ID. Whenever an Emergency message is sent out, the message will be given a ReqID for the CANopen master to identify. Before another Emergency request message is sent out, the original ID number must be changed. In other words, to send out the Emergency 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.

¾The data format of the Emergency response message:

PLC device		Response message
		High byte(Hex)	Low byte(Hex)
D6000	Message	ResID	Status code
D6001		Reserved	Size Fixed to 2A
	header
D6002		Type (Fixed to 04)	Node ID
D6003	Message	Total number of data	Number of data stored
	data

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