Delta DVP-ES2 User Manual

7 CANopen Function and Operation
7-19
Example 1: Stop slave of No. 3 through NMT
 Request data:
PLC device
Request message
High byte(Hex)
Low byte(Hex)
D6250
Message
header
ReqID =01
Command =01
D6251
Reserved =0
Size =04
D6252
Type =03
Node ID =03
D6253
Message
data
Reserved
NMT service code =02
D6254
Reserved
Node ID =03
 Response data:
7.4.3 Data Structure of EMERGENCY Request Message
Through reading Emergency, the slave error and alarm information can be read.
 The data format of the Emergency request message:
PLC device
Request message
High byte
Low byte
D6250
Message
header
ReqID
Command (Fixed to 1)
D6251
Reserved
Size (Fixed to 0)
D6252
Type (Fixed to 04)
Node ID
D6253~D6281
Message
data
Reserved
 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.
 The data format of the Emergency response message:
PLC device
Response message
High byte(Hex)
Low byte(Hex)
D6000
Message
header
ResID
Status code
D6001
Reserved
Size Fixed to 2A
D6002
Type (Fixed to 04)
Node 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
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
PLC device
Response message
High byte(Hex)
Low byte(Hex)
D6000
Message
header
ResID=01
Status code =01
D6001
Reserved =0
Reserved =0
D6002
Reserved =0
Node ID =03

Delta DVP-ES2 Specifications

General

Brand	Delta
Model	DVP-ES2
Category	Controller
Language	English