Delta DVP-ES2 - Manual (Page 674)

D V P - E S 2 / E X 2 / S S 2 / S A2 / S X 2 / S E O p e r a t i o n M a n u a l - P r o g r a m m i n g
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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.
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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
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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