6 Troubleshooting 6.1 Common Problems and Solutions ............................................................ 6-2 6.2 Error code Table (Hex) ............................................................................. 6-4 6.3 Error Detection Devices ............................................................................ 6-6 7 CANopen Function and Operation 7.1 The Introduction of CANopen ................................................................... 7-2 7.1.1 The Description of the CANopen Functions ...................................... 7-2 7.1.2 The Input/Output Mapping Areas ......................................................
7-3 7.2 The Installation and the Network Topology .............................................. 7-3 7.2.1 The Dimensions ................................................................................ 7-3 7.2.2 The Profile ......................................................................................... 7-4 7.2.3 The CAN Interface and the Network Topology .................................. 7-4 7.3 The CANopen Protocol ............................................................................. 7-9 7.3.1 The Introduction of the CANopen Protocol ........................................
7-9 7.3.2 The CANopen Communication Object .............................................7-10 7.3.3 The Predefined Connection Set .......................................................7-15 7.4 Sending SDO, NMT and Reading Emergency Message through the Ladder Diagram ...................................................................................................7-15 7.4.1 Data Structure of SDO Request Message ........................................7-16 7.4.2 Data Structure of NMT Message ......................................................7-18 7.4.3 Data Structure of EMERGENCY Request Message .........................7-19 7.4.4 Example on Sending SDO through the Ladder Diagram ..................7-20 7.5 Indicators and Troubleshooting ...............................................................7-22 7.5.1 Description of Indicators ...................................................................7-22 7.5.2 CANopen Network Node State Display ............................................7-23 7.6 Application Example ................................................................................7-25 7.7 Object Dictionary .....................................................................................7-33 Appendix A A.1 Installing the USB Driver in Windows 7 ....................................................
A-2 A.2 Installing the USB in Windows 8 ............................................................... A-4 A.3 Installing the USB Driver in Windows 10 .................................................. A-7 Appendix B B.1 Specifications for an Ethernet PLC/Module .............................................. B-2 B.2 Ethernet Control Registers ....................................................................... B-2 B.2.1 Station Addresses of Ethernet Modules ............................................. B-2 B.2.2 DVP-SE Series PLC (Ethernet PLC) ................................................. B-3 B.2.3 DVPEN01-SL (Left-side Ethernet Communication Module) ..............
B-4 B.2.4 DVP-FEN01 (DVP-EH3 Series Ethernet Communication Card) ....... B-6 B.3 Searching for an Ethernet PLC ................................................................. B-7 B.3.1 Communication setting ...................................................................... B-7 B.3.2 Broadcast Search .............................................................................. B-8 B.3.3 Searching for a Model Specified ...................................................... B-10 iii