Delta DVP-ES2 User Manual download pdf (Page 674)

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

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 Response data:

Response message

PLC device

High byte(Hex) Low byte(Hex)

D6000 ResID =01 Command =01

D6001 Reserved =0 Size =8

D6002

Message

Header

Type =43 Node ID =03

D6003 Main index high byte =21 Main index low byte =09

D6004 Reserved =0 Subindex =0

D6005 Datum 1=03 Datum 0=E8

D6006

Message

data

Datum 3=01 Datum 2=02

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.

¾ The data format of the NMT request message:

Request message

PLC device

High byte Low byte

D6250 ReqID Command (Fixed to 01)

D6251 Reserved Size (Fixed to 04)

D6252

Message

Header

Type (Fixed to 03) Node ID

D6253 Reserved NMT service code

D6254

Message

data

Reserved Node ID

 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.

 NMT service code:

NMT service code (Hex) Function

01 Start remote node

02 Stop remote node

80 Enter the pre-operational state

81 Reset application

82 Reset communication

¾ The data format of the NMT Response message:

Response message

PLC device

High byte Low byte

D6000 ResID Status code

D6001 Reserved Reserved

D6002

Message

header

Reserved Node ID

 When status code is 1, it indicates that NMT operation succeeds. When status code is not

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