Delta AS Series - Page 545

PLC device
Response message
High byte(Hex)
Low byte(Hex)
D24006
Datum 5
Datum 4
D24007
Datum 7
Datum 6
D24008-D24011
Emergency2
D24012-D24015
Emergency3
D24016-D24019
Emergency4
D24020-D24023
Emergency5
D24024-D24031 Reserved
 Command: Fixed to 01(Hex).
 When status code is 1, reading the Emergency message has succeeded. When status code is not
equal to1, reading the Emergency message has failed and you should verify that the data in the
Emergency message is correct.
 Node ID: the node address for the target equipment on the CANopen network.
 Total number of data: the total number of Emergency messages CANopen master receives from the
slave.
 Number of data stored: the latest number of Emergency messages CANopen master receives from the
slave (5 messages at most).
 An Emergency 1 consists of the data in D6004-D6007 and every Emergency message consists of 8
bytes of data.
The following table shows the data format of Emergency messages on the CAN bus. Datum 0–datum
7 in Emergency response message correspond to byte 0–byte 7 respectively.
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
80（hex）
+Node-ID
Emergency error
code
Error storage
register
Vendor custom error code
Example 1: read the Emergency message from the slave No.2, and the Emergency messages the slave
sends out successively.
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
82（hex）
43 54 20 14 0 0 0 0
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
82（hex）
42
54
20
15
0
0
0
0
 Request data:
PLC device
Request message
High byte
Low byte
D25000
Message
header
ReqID=01 Command =01
D25001
Reserved
Size =0
D25002
Type =04
Node ID =03
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