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DVPCOPM-SL CANopen Communication Module Application Manual

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CANopen Communication Module DVPCOPM-SL Warning P 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. P Switch off the power before wiring. P 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. P 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. P 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 2 PRODUCT PROFILE & OUTLINE..................................................................................................... 5 2.1 Dimension ..............................................................................................................................

5 2.2 Product Profiles...................................................................................................................... 5 2.3 CANopen Connection Port ..................................................................................................... 6 2.4 Address Switch ...................................................................................................................... 6 2.5 Function Switch...................................................................................................................... 6 2.6 Digital Indicator.......................................................................................................................

7 3 BASIC OPERATION.......................................................................................................................... 7 3.1 Connecting DVPCOPM-SL to DVP-SV MPU.......................................................................... 7 3.2 Installing DVPCOPM-SL and DVP-SV MPU on DIN Rail........................................................ 7 3.3 Connecting to CANopen Connection Port .............................................................................. 8 4 CONSTRUCTING CANOPEN NETWORK........................................................................................

8 4.1 How to Construct a CANopen Network................................................................................... 8 4.2 Data Mapping in CANopen Network..................................................................................... 10 4.3 How to Configure Network by Delta CANopenBuilder Software.............................................11 4.4 Saving the Configuration Data.............................................................................................. 19 4.5 CANopen Network Control ................................................................................................... 19 DVP-PLC Application Manual 1

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CANopen Communication Module DVPCOPM-SL 5 SENDING SDO, NMT AND READING EMERGENCY BY LADDER DIAGRAM.............................. 20 5.1 The Principle......................................................................................................................... 20 5.2 Structure of SDO Request Message..................................................................................... 20 5.3 Structure of NMT Service Message ...................................................................................... 21 5.4 Structure of Emergency Request Message...........................................................................

22 5.5 Application Examples ........................................................................................................... 23 6 NETWORK NODE STATUS DISPLAY............................................................................................. 28 6.1 Slave State of CANopen Network ......................................................................................... 28 6.2 Slave State of CANopen Network ......................................................................................... 28 6.3 CANopen Network Status .....................................................................................................

29 6.4 The Data structure of SDO Request Messag........................................................................ 29 6.5 Applications.......................................................................................................................... 31 7 LED INDICATOR & TROUBLE-SHOOTING.................................................................................... 33 7.1 POWER LED........................................................................................................................ 33 7.2 RUN LED..............................................................................................................................

33 7.3 ERR LED.............................................................................................................................. 33 7.4 Codes in Digital Display........................................................................................................ 33 DVP-PLC Application Manual 2

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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 DVP-SV series PLC MPU. When DVP-SV is connected to CANopen network through DVPCOPM-SL, DVPCOPM-SL will serve as the data exchange interface between DVP-SV and other slaves on the bus.

DVPCOPM-SL is in charge of sending the data in DVP-SV to the slaves on the bus, and at the same time collecting the data returned from each slave and sending them back to DVP-SV. 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: l Complying with CANopen standard protocol DS301v4.02. l Supporting NMT Master Service. l Error control: Supporting Heartbeat/Node Guarding Protocol. l 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. l PDO transmission type:

Supporting event trigger, time trigger, synchronous cycle, and synchronous non-cycle. l PDO mapping: Every PDO is able to map maximum 32 parameters. Type of mapping data supported: l Supporting SDO Service. Number of server: 0 Number of user: 3 l Supporting standard expedited SDO transmission mode. l Supporting Auto SDO function. Able to execute maximum 20 Auto SDOs to each slave. l Supporting reading/writing of data in slave by using SDO Service in the ladder diagram in PLC. l Supporting Emergency Protocol: Able to store 5 latest Emergency messages for each slave. Able to indicate Emergency messages in slave from digital display.

Able to read Emergency message through the ladder diagram in PLC. l SYNC producer; Range: 0 ~ 65,535ms. DVP-PLC Application 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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