CANopen Communication Module DVPCOPM-SL Work Mode: The work mode of DVPCOPM-SL. You can select either “ Master Mode ” or “ Slave Mode ” . Cycle Period: The period of sending synchronous information. Master ’ s heartbeat time: Time for DVPCOPM-SL to send out heartbeat. l Setting up parameters in CANopen slave After all the parameters are set up, click on “ OK". Take the parameter settings in ASD-B for example: (1) Double click on ASD-B, and you will see the dialog box as below. (2) Relevant parameter settings Error Control Protocol: In the “ Node Configuration …” page, click on “ Error Control Protocol ” , and you will see the dialog box appearing as below. DVP-PLC Application Manual 14