Delta CANopen DVPCOPM-SL User Manual

CANopen Communication Module DVPCOPM-SL
 PLC
program
MOV H0101 D6250
M1002
ZRST D6250 D6281
M0
MOV H0006 D6251
MOV
H0202
D6252
MOV
H2047
D6253
MOV
H0002 D6254
ZRST D6000 D6031
END
MOV
H0401 D6255
Reset response message editing area
and request message editing area.
ReqID = 01, Command = 01
Size = 06
Type = 02, MAC ID = 02
Index = 2047H
Sub index = 02
Target temperature for DTA: 0104H
 Program explanation
1. The program first reset the SDO request message editing area and SDO response message editing area
to 0.
2. When M0= On, CANopen master will send out SDO request message and write 0104Hex into index 2047,
sub index 2 of the target equipment (at node address 02). If the communication is successful, the slave will
return with the response message.
3. When M0 = On, CANopen master will send out request message only once. If you would like it to send out
messages again, you will have to change the ReqID.
4. The messages returned from the target equipment are stored in D6000 ~ D6004.
6 Network Node Status Display
All slave state of CANopen network can be read through reading 5002/1 (index/subindex) value by sending SDO via
ladder diagram; master state of CANopen network can be read through reading 5003/1 (index/subindex) value by
sending SDO via ladder diagram; CANopen network state can be read through reading 5004/1 (index/subindex) value
by sending SDO via ladder diagram.
6.1 Slave State of CANopen Network
User can read the content value for H’5002>>H’01 to acquire the slave status message of CANopen network by
sending SDO.
Index Subindex Object Name Data Type Access Permission Default
H’00 Entry Unsigned 16 bits RO ---
H’5002
H’01 Status word for node 1 ~ node 127 Unsigned 128 bits RO ---
DVP-PLC Operation Manual
39

Delta CANopen DVPCOPM-SL Specifications

General

Brand	Delta
Model	CANopen DVPCOPM-SL
Category	Control Unit
Language	English