DVP-ES2/EX2/EC5/SS2/SA2/SX2/SE&TP Operation Manual - Programming
Response data:
PLC device
Message
Header
D6001 Reserved =0 Size =8
D6002 Type =43 Node ID =03
Message
data
7.4.2 Data Structure of NMT Message
NMT service can be used managing the CANopen network such as start, operation, reset of nodes
and etc.
The data format of the NMT request message:
PLC device
Message
Header
Message
data
Command: Fixed to 01.
ReqID: The request ID. Whenever an NMT request message is sent out, the message will
be given a ReqID for the CANopen master to identify. Before another NMT request message
is sent out, the original ID number must be changed. In other words, to send out the NMT
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. (0: Broadcast)
NMT service code:
Enter the pre-operational state
The data format of the NMT Response message:
PLC device
Message
header
When status code is 1, it indicates that NMT operation succeeds. When status code is not
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.
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