Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual 82（hex）

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

PLC device	Response message
	High byte(Hex)		Low byte(Hex)
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
D6020~ D6023		Emergency5
D6024~ D6031		Reserved

—Command: Fixed to 01(Hex).

—When status code is 1, it indicates that reading Emergency message succeeds. When status code is not equal to1, it indicates that reading Emergency message fails and in the meantime, you should check if the data in Emergency message are correct.

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

—Total number of data: The total number of Emergency messages CANopen master receives from the slave.

—Number of data stored: The latest number of Emergency messages CANopen master receives from the slave. (5 messages at most)

—The data in D6004-D6007 are the content of Emergency 1 and every Emergency message consists of 8 bytes of data.

The data format of Emergency message on CAN bus is shown below. Datum 0~ datum 7 in Emergency response message correspond to byte 0~ byte 7 respectively

COB-ID	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
80（hex）	Emergency error		Error storage		Vendor custom error code
+Node-ID	code		register

Example 1: Read the Emergency message of slave of No.2 and the Emergency messages the slave sends out successively are shown below.

COB-ID	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
82（hex）	43	54	20	14	0	0	0	0
COB-ID	Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
82（hex）	42	54	20	15	0	0	0	0

‹Request data:

PLC device		Request message
		High byte	Low byte
D6250	Message	ReqID=01	Command =01
D6251		Reserved	Size =0
	header
D6252		Type =04	Node ID =02

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