Delta CANopen DVPCOPM-SL User Manual

CANopen Communication Module DVPCOPM-SL
DVP-PLC Operation Manual
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Content Value Explanation Actions
FC
The storage space receiving data in
DVPCOPM-SL is full.
Check and ensure bus cable connection is normal and then
repower DVPCOPM-SL.
0 Master is in normal status --
6.3 CANopen Network Status
User can read the content value for H’5004>>H’01 to acquire CANopen network status message by editing ladder
diagram to send SDO. When all nodes of CANopen network are all at normal work, the content value for H’5004>>H’01
is 0; when any node of CANopen network is abnormal or initializing fails, the content value for H’5004>>H’01 is 1.
Index Subindex Object Name Data Type Access Permission Default
H’00 Entry Unsigned 16 bits RO ---
H’5004
H’01 CANopen network status Unsigned 16 bits RO ---
6.4 Data Structure of SDO Request Message
Here, SDO request message structure is for 5002/1 (index/ subindex), 5003/1 (index/ subindex), 5004/1 (index/
subindex) only and can be realized by editing information request mapping area. Take DVPCOPM-SL, the first master
module on the left of PLC as an example, below table shows the corresponding relations between message request/
response mapping area and PLC device.
PLC Device Mapping Area Mapping Length
D6000~D6031 SDO message response area 64 bytes
D6250~D6281 SDO message request area 64 bytes
Data Format of SDO Request Message
Request Message
PLC Device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 Request ID Command code
D6251 Reserved Data length
D6252
Message header
Type Node address
D6253 Main index high byte Main index low byte
D6254 Reserved Subindex
D6255 Data1 Data 0
D6256 Data 3 Data 2
D6257 ~ D6281
Message data
Reserved
 Command code: fixed to 01 ( Hex )
 Request ID: Every SDO request message sent out should be given a request ID. CANopen master recognizes
every request message via “Request ID number” which must be changed for the next communication after the
communication is finished. The value range for Request ID is 00 (Hex) ~ FF (Hex).
 Data length: the data length of message is fixed to 4 bits.
 Node address: node address of CANopen network master
 Type: it is fixed to 1 in SDO request message which indicates SDO data reading service.

Delta CANopen DVPCOPM-SL Specifications

General

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