CANopen Communication Module DVPCOPM-SL 5.3 Structure of NMT Service Message You can send the NMT request message to D6250 ~ D6281, and the slave will not respond with a message. Command: Fixed to “01Hex”. 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. For the next NMT request message to be sent out, you have to change the ID number. Range of ReqID: 00Hex ~ FFHex. MAC ID: The node address of the target equipment on CANopen network. NMT service code 01Hex: Enable remote node; 02Hex: Disable remote node; 80Hex: Enter pre-operational status; 81Hex: Reset application; 82Hex:
Reset communication Example: If you would like to stop node 03 equipment on CANopen network, you have to set NMT service code to “02Hex” and MAC ID to “03". 5.4 Structure of Emergency Request Message See the table below for the format of Emergency request message: See the table below for the format of Emergency response message:
DVP-PLC Operation Manual 30 Request Message PLC device 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 D6250 Message Header ReqID Command D6251 Reserved Size (fixed to 04Hex) D6252 Type (fixed to 03Hex) MAC ID D6253 Message Data Reserved NMT service code D6254 Reserved MAC ID Request Message PLC device 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 D6250 Message Header ReqID Command D6251 Reserved Size (fixed to 0) D6252 Type (fixed to 04Hex) MAC ID D6253 ~ D6281 Message Data Reserved Response Message PLC device 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 D6000 Message Header ReqID Status D6001 Reserved Size (2A Hex) D6002 Type (04Hex) MAC ID D6003 Message Data Total number of data Number of data stored D6004 Datum 1 Datum 0 D6005 Datum 3 Datum 2 D6006 Datum 5 Datum 4 D6007 Datum 7 Datum 6 D6008 ~ D6011 Emergency2