Delta DVP-ES3 Series - 10.4.3 Data Structure of EMERGENCY Request Message

Chapter 10 CANopen Function and Operation
10-27
10
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
D24006
Datum 5
Datum 4
D24007
Datum 7
Datum 6
D24008-D24011
Emergency2
D24012-D24015
Emergency3
D24016-D24019 Emergency4
D24020-D24023
Emergency5
D24024-D24031
Reserved
 Command: Fixed to 01(Hex).
 When status code is 1, reading the Emergency message has succeeded. When status code is not
equal to1, reading the Emergency message has failed and you should verify that the data in the
Emergency message is correct.
 Node ID: the node address for the target equipment on the CANopen network.
 Total number of data: 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).