DVP-ES2-EX2-SS2-SA2-SX2-Operation Manual

DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming
Response data:
PLC device
Response message
High byte(Hex)
D6000 ResID =01 Command =01
D6001
Message
Header
Reserved =0 Size =8
D6002
Type =43 Node ID =03
Low byte(Hex)
D6003 Main index high byte =21 Main index low byte =09
D6004 Message Reserved =0 Subindex =0
D6005 data Datum 1=03 Datum 0=E8
D6006
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.
‣ The data format of the NMT request message:
PLC device
Request message
High byte
Low byte
D6250 ReqID Command (Fixed to 01)
D6251
Message
Header
Reserved Size (Fixed to 04)
D6252
Type (Fixed to 03) Node ID
D6253 Message Reserved NMT service code
D6254 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)
01 Start remote node
02 Stop remote node
80 Enter the pre-operational state
81 Reset application
82 Reset communication
‣ The data format of the NMT Response message:
PLC device
Function
Response message
High byte
D6000 ResID Status code
D6001
Message
header
Reserved Reserved
D6002
Reserved
Node ID
Low byte
When status code is 1, it indicates that NMT operation succeeds. When status code is not
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