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