CANopen Communication Module DVPCOPM-SL l Command: Fixed to “ 01Hex ” . l 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. l node address: The node address of the target equipment on CANopen network. l NMT service code l 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 node address 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 Application Manual 22 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) node address D6253 Message Data Reserved NMT service code D6254 Reserved node address 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) Node address 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) node address D6003 Message Data Total number of data Number of data stored D6004 Data 1 Data 0 D6005 Data 3 Data 2 D6006 Data 5 Data 4 D6007 Data 7 Data 6 D6008 ~ D6011 Emergency2 D6012 ~ D6015 Emergency3 D6016 ~ D6019 Emergency4