AS S e r i e s O p e r a t i o n M a n u a l1 0 - 2 210The following table shows the data format of the NMT Response message.PLC device Response messageHigh byte Low byteD24000 MessageheaderResID Status codeD24001 Reserved ReservedD24002 Reserved Node ID When status code is 1, the NMT operation has succeeded. When status code is not equal to1, theNMT operation has failed and you should verify that the data in NMT request message is correct. Node ID: the node address for the target equipment on the CANopen network.Example 1: Stop slave of No. 3 through NMT Request data:PLC device Request messageHigh byte(Hex) Low byte(Hex)D25000MessageheaderReqID =01 Command =01D25001 Reserved =0 Size =04D25002 Type =03 Node ID =03D25003 MessagedataReserved NMT service code =02D25004 Reserved Node ID =03 Response data:10.4.3 Data Structure of EMERGENCY Request MessageThe Emergency request message communicates the slave error and alarm information.The following table shows the data format of the Emergency request message.PLC device Request messageHigh byte Low byteD25000 MessageheaderReqID Command (Fixed to 1)D25001 Reserved Size (Fixed to 0)D25002 Type (Fixed to 04) Node IDD25003~D25031 Messagedata Reserved Command: Fixed to 01. ReqID: the request ID. Whenever an Emergency message is sent, the message is given a ReqID forthe CANopen master to identify. Before another Emergency request message is sent out, the originalID number must be changed. In other words, change the value of ReqID. The ReqID range isbetween 00–FF (Hex) to trigger the sending the Emergency request message.PLC device Response messageHigh byte(Hex) Low byte(Hex)D24000 MessageheaderResID=01 Status code =01D24001 Reserved =0 Reserved =0D24002 Reserved =0 Node ID =03
