Delta AH500 - Sending an NMT Command

Chapter 15 CANopen Communication Module AH10COPM
15-27
 Status codes
Status code
Description
0
No request for data transmission
1
The sending of the SDO is successful.
2
The SDO is being transmitted.
3
Error: SDO transmission timeout
4 Error: Illegal command
5
Error: The request message is illegal.
6
Error: The response message is illegal.
7
Error: The equipment which will send a message is busy.
8
Error: Illegal type
9
Error: Incorrect node address
0A
Error message (Please see the error code in the SDO response
message.)
15.5.3 Sending an NMT Command
1. Function block
The AH10COPM-5A module which functions as a master station in a slot on the main backplane
used can send an NMT command by means of the function block CANopen_NMT in ISPSoft.
2. Input pins/Output pins
Input pin
Name Function
Data
type
Setting value Time when a value is valid
SID Slot number WORD K0~K11
The value of the SID input
pin is valid when there is a
transition in the Execute
input pin’s signal from low to
high.
Execute
The function
block is executed
when there is a
transition in the
Execute input
pin’s signal from
low to high.
BOOL True/False -
NodeID
Node address
WORD
K1~K127
-
Service Service type WORD
01 (Hex):
Enabling a
remote node
02 (Hex):
Stopping a
remote node
80 (Hex): Ready
to operate
81 (Hex):
-