Delta AS218TX-A User Manual

Example 1: Stop slave of No. 3 through NMT
 Request data:
PLC device
Request message
High byte(Hex)
Low byte(Hex)
D25000
Message
header
ReqID =01
Command =01
D25001
Reserved =0
Size =04
D25002
Type =03
Node ID =03
D25003
Message
data
Reserved
NMT service code =02
D25004
Reserved
Node ID =03
 Response data:
10.4.3 Data Structure of EMERGENCY Request Message
The Emergency request message communicates the slave error and alarm information.
The following table shows the data format of the Emergency request message.
PLC device
Request message
High byte
Low byte
D25000
Message
header
ReqID
Command (Fixed to 1)
D25001
Reserved
Size (Fixed to 0)
D25002
Type (Fixed to 04)
Node ID
D25003~D25031
Message
data
Reserved
 Command: Fixed to 01.
 ReqID: the request ID. Whenever an Emergency message is sent, the message is 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, change the value of ReqID. The ReqID range is
between 00–FF (Hex) to trigger the sending the Emergency request message.
 Node ID: the node address of the target equipment on CANopen network.
The following table shows data format of the Emergency response message.
PLC device
Response message
High byte(Hex)
Low byte(Hex)
D24000
Message
header
ResID
Status code
D24001
Reserved
Size Fixed to 2A
D24002
Type (Fixed to 04)
Node ID
D24003
Message
data
Total number of data
Number of data stored
D24004
Datum 1 Datum 0
D24005
Datum 3 Datum 2
PLC device
Response message
High byte(Hex)
Low byte(Hex)
D24000
Message
header
ResID=01
Status code =01
D24001
Reserved =0
Reserved =0
D24002
Reserved =0
Node ID =03
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Delta AS218TX-A Specifications

General

Brand	Delta
Model	AS218TX-A
Category	Control Unit
Language	English