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CANopen Communication Module DVPCOPM-SL
DVP-PLC Application Manual
23
Response Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6020~ D6023 Emergency5
D6024~ D6031 Reserved
z Command: Fixed to “01Hex”.
z 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.
z MAC ID: The node address of the target equipment on CANopen network.
z Total number of data: The total number of Emergency messages CANopen master receives.
z Number of data stored: The latest number of Emergency messages CANopen master receives. (Every slave
gives less than 5 messages.)
Note:
z CANopen master can only send out 1 SDO, NMT or Emergency request message to one equipment at a
time.
z 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
readEmergency request messages.
Example I
z Target:
When M0 = On, read the content of index 2021, sub index 4 (i.e. actual output value of AC motor
drive) in IFD9503.
DVPCOPM DVP28SV
RUN
STOP
Master
CANopen
RJ12
VFD-B
RS-485
IFD9503
CAN+
CAN-
SHLD
GND
Node 1
Node 2