CANopen Communication Module DVPCOPM-SL
DVP-PLC Operation Manual
31
Response Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6012 ~ D6015 Emergency3
D6016 ~ D6019 Emergency4
D6020~ D6023 Emergency5
D6024~ D6031
Message Data
Reserved
Command: Fixed to “01Hex”.
ReqID: The request ID. Whenever an Emergency message is sent out, the message will be given a ReqID for the
CANopen master to identify. For the next Emergency message to be sent out, you have to change the ID number.
Range of ReqID: 00Hex ~ FFHex.
MAC ID: The node address of the target equipment on CANopen network.
Total number of data: The total number of Emergency messages CANopen master receives.
Number of data stored: The latest number of Emergency messages CANopen master receives. (Every slave gives
less than 5 messages.)
Note:
CANopen master can only send out 1 SDO, NMT or Emergency request message to one piece of equipment at a
time.
When you use WPL program to send out SDO, NMT or Emergency request messages, we recommend you clear
the “request message editing area” and “response message editing area” to 0.
5.5 Application Examples
In this section, we will illustrate how to compile a WPL program to send out SDO and NMT messages or read
Emergency request messages.
Example I
Target:
When M0 turns OFF to ON, read the content of index 2021, sub index 4 (i.e. actual output value of AC motor
drive) in IFD9503.
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