Chapter 10 CANopen Funciton and Operation 10.1 Introduction to CANopen ................................................................. 10-2 10.1.2 The Input/Output Mapping Areas .................................................... 10-3 10.1.1 CANopen Function Descriptions ...................................................... 10-2 10.2 Installation and Network Topology ................................................. 10-4 10.2.1 The Dimensions of DVP-ES3 Series PLC ........................................... 10-4 10.2.2 CANopen Communication Port ........................................................ 10-5 10.2.3 Configure the DVP-ES3 Series PLC with HWCONFIG ..........................
10-5 10.2.4 The CAN Interface and Network Topology ........................................ 10-6 10.3 The CANopen Protocol ................................................................... 10-11 10.3.1 Introduction to the CANopen Protocol ............................................ 10-11 10.3.2 The CANopen Communication Object ............................................ 10-12 10.3.3 The Predefined Connection Set ..................................................... 10-17 10.4 Sending SDO, NMT and Reading Emergency Message through the Ladder Diagram ........................................................................................
10-19 10.4.1 Data Structure of SDO Request Message ....................................... 10-19 10.4.2 Data Structure of NMT Message .................................................... 10-21 10.4.3 Data Structure of EMERGENCY Request Message ............................ 10-23 10.4.4 Example of Sending SDO through the Ladder Diagram .................... 10-25 10.5 Troubleshooting ............................................................................ 10-27 10.5.1 CANopen Network Node State Display ........................................... 10-27 10.6 Application Example ......................................................................
10-30 10.7 Object Dictionary........................................................................... 10-38 Chapter 11 CPU Module Operating Principles 11.1 CPU Module Operations ................................................................... 11-2 11.1.1 Procedure .................................................................................... 11-2 11.1.2 I/O Refreshing and Communication Service ...................................... 11-3 11.2 CPU Module Operating Modes .......................................................... 11-4 11.2.1 Operating Modes ..........................................................................
11-4 11.2.2 Status and Operation under Different Operating Modes ..................... 11-4 Chapter 12 Troubleshooting 12.1 Troubleshooting .............................................................................. 12-1 12.1.1 Basic troubleshooting steps ............................................................ 12-1 viii