Delta AS16AN01R-A - Data Structure of NMT Message

Chapter 10 CANopen Function and Operation
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10.4.2 Data Structure of NMT Message
Use the NMT service to manage the CANopen network such as start, operation, reset of nodes, etc.
The following table shows the data format of the NMT request message.
PLC device
Request message
High byte Low byte
D25000
Message
Header
ReqID Command (Fixed to 01)
D25001
Reserved Size (Fixed to 04)
D25002
Type (Fixed to 03) Node ID
D25003
Message
data
Reserved NMT service code
D25004
Reserved Node ID
 Command: Fixed to 01.
 ReqID: the request ID. Whenever an NMT request message is sent, the message is 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, change the value of ReqID. The ReqID range is between
00–FF (Hex) to trigger sending the NMA request message.
 Node ID: the node address for the target equipment on the CANopen network (0: Broadcast).
 NMT service code:
NMT service code (Hex)
Function
01
Start remote node
02
Stop remote node
80
Enter the pre-operational state
81
Reset application
82 Reset communication
The following table shows the data format of the NMT Response message.
PLC device
Response message
High byte
Low byte
D24000
Message
header
ResID
Status code
D24001
Reserved
Reserved
D24002 Reserved Node ID
 When status code is 1, the NMT operation has succeeded. When status code is not equal to1, the
NMT 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.