DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming
7-20
Response message
PLC device
High byte(Hex) Low byte(Hex)
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
meantime, you should check if the data in Emergency message are correct.
Node ID: The node address of the target equipment on CANopen network.
Total number of data: The 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)
The data in D6004-D6007 are the content of Emergency 1 and every Emergency message
consists of 8 bytes of data.
The data format of Emergency message on CAN bus is shown below. Datum 0~ datum 7 in
Emergency response message correspond to byte 0~ byte 7 respectively
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
80（hex）
+Node-ID
Emergency error
code
Error storage
register
Vendor custom error code
Example 1: Read the Emergency message of slave of No.2 and the Emergency messages
the slave sends out successively are shown below.
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
82（hex）
43 54 20 14 0 0 0 0
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
82（hex）
42 54 20 15 0 0 0 0
Request data:
Request message
PLC device
High byte Low byte
D6250 ReqID=01 Command =01
D6251 Reserved Size =0
D6252
Message
header
Type =04 Node ID =02
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