Руководство по эксплуатации DVPCOPM-SL CANopen Communication Module (EN)

DVPCOPM-SL CANopen Communication Module Operation Manual DVP-0204420-02

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CANopen Communication Module DVPCOPM-SL Warning  Please read this instruction carefully before use and follow this instruction to operate the device in order to prevent damages on the device or injuries to staff.  Switch off the power before wiring.  DVPCOPM-SL is an OPEN TYPE device and therefore should be installed in an enclosure free of airborne dust, humidity, electric shock and vibration. The enclosure should prevent non-maintenance staff from operating the device (e.g. key or specific tools are required for operating the enclosure) in case danger and damage on the device may occur.  DVPCOPM-SL is to be used for controlling the operating machine and equipment.

In order not to damage it, only qualified professional staff familiar with the structure and operation of DVPCOPM-SL can install, operate, wire and maintain it.  DO NOT connect input AC power supply to any of the I/O terminals; otherwise serious damage may occur. Check all the wirings again before switching on the power and DO NOT touch any terminal when the power is switched on. Make sure the ground terminal is correctly grounded in order to prevent electromagnetic interference.

 Table of Contents 1 Introduction .........................................................................................................................................3 1.1 Features ..................................................................................................................................3 1.2 Functions.................................................................................................................................4 1.3 Explanation of Output/Input Mapping Area of DVPCOPM-SL.................................................5 2 Product Profile & Outline ...................................................................................................................6 2.1 Dimension ...............................................................................................................................6 2.2 Product Profiles.......................................................................................................................7 2.3 CANopen Connection Port......................................................................................................7 2.4 CAN Network Endpoint and Topology Structure......................................................................8 2.5 Address Switch........................................................................................................................8 2.6 Function Switch.......................................................................................................................9 2.7 Digital Indicator........................................................................................................................9 3 Basic Operation ................................................................................................................................10 3.1 Connecting DVPCOPM-SL to DVP-SV CPU.........................................................................10 3.2 Installing DVPCOPM-SL and DVP-SV CPU on DIN Rail ......................................................10 3.3 Connecting to CANopen Connection Port.............................................................................11 4 Constructing CANopen Network .....................................................................................................11 4.1 How to Construct a CANopen Network.................................................................................11 4.2 Data Mapping in CANopen Network .....................................................................................13 4.3 How to Configure Network by Delta CANopen Builder Software ..........................................14 DVP-PLC Operation Manual 1

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CANopen Communication Module DVPCOPM-SL 4.4 Saving the Configuration Data.............................................................................................. 26 4.5 CANopen Network Control ................................................................................................... 26 5 Sending SDO, NMT and Reading Emergency by Ladder Diagram .............................................. 28 5.1 Principle................................................................................................................................ 28 5.2 Structure of SDO Request Message.....................................................................................

28 5.3 Structure of NMT Service Message...................................................................................... 30 5.4 Structure of Emergency Request Message .......................................................................... 30 6 Network Node Status Display.......................................................................................................... 39 5.5 Application Examples ........................................................................................................... 31 6.1 Slave State of CANopen Network.........................................................................................

39 6.2 Master Status of CANopen Network..................................................................................... 40 6.3 CANopen Network Status..................................................................................................... 41 6.4 Data Structure of SDO Request Message............................................................................ 41 6.5 Application Examples ........................................................................................................... 43 7 LED Indicator & Trouble-shooting ..................................................................................................

44 7.1 POWER LED ........................................................................................................................ 44 7.2 RUN LED.............................................................................................................................. 45 7.3 ERR LED .............................................................................................................................. 45 7.4 Codes in Digital Display........................................................................................................ 46 DVP-PLC Operation Manual 2

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1.1 Features

CANopen Communication Module DVPCOPM-SL 1 Introduction 1. To ensure correct installation and operation of DVPCOPM-SL, please read this chapter carefully before using your DVPCOPM-SL. 2. This chapter only provides introductory information on DVPCOPM-SL. For more detailed information on CANopen protocol, please refer to relevant references or literatures. 3. DVPCOPM-SL is a CANopen module operating on the left side of PLC CPU. PLC CPU can have maximum 8 DVPCOPM-SL modules connected to its left side. DVPCOPM-SL master module is responsible for the data exchange between PLC and other slaves on the bus when PLC CPU is connected to the CANopen network via DVPCOPM-SL.

To achieve data exchange, DVPCOPM-SL master module is used for transmitting the data in PLC to slaves on the bus and meanwhile returns the data in slaves to PLC. 4. PLC connected to the right side of DVPCOPM-SL includes DVP-SV, DVP-SX2, DVP-SA2, DVP10MC11T, DVP-EH3-L, and DVP-EH2-L. 1.1 Features DVPCOPM-SL can be used as the master in CANopen network, as well as the slave for other masters. As a master, DVPCOPM-SL features:  Complying with CANopen standard protocol DS301v4.02.  Supporting NMT Master Service.  Error control: Supporting Heartbeat/Node Guarding Protocol.  Supporting PDO Service. Max. 200 RxPDOs and 390 bytes of data Max.

200 TxPDOs and 390 bytes of data Each slave can be allocated maximum 8 TxPDOs and 8 RxPDOs.  PDO transmission type: Supporting event trigger, time trigger, synchronous cycle, and synchronous non-cycle.  PDO mapping: Every PDO is able to map maximum 32 parameters. Type of mapping data supported:  Supporting SDO Service. Number of server: 0 Number of user: 3  Supporting standard expedited SDO transmission mode.  Supporting Auto SDO function. Able to execute maximum 20 Auto SDOs to each slave.  Supporting reading/writing of data in slave by using SDO Service in the ladder diagram in PLC.  Supporting Emergency Protocol: Able to store 5 latest Emergency messages for each slave.

Able to indicate Emergency messages in slave from digital display. DVP-PLC Operation Manual 3 Storage space Data type 1 bit BOOL 8 bits SINT USINT BYTE 16 bits INT UINT WORD 32 bits DINT UDINT REAL DWORD 64 bits LINT ULINT LREAL LWORD

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