Delta DVP-EX2 User Manual

7 CANopen Function and Operation
7-3
 If the CAN port functions as a slave, it has the following functions.
 It supports the standard CANopen protocol DS301 V4.02.
 It supports the NMT (network management object) service.
 It supports the NMT state control.
The state of DVP-ES2-C in the CANopen network is controlled by a master.
 It supports the NMT error control.
Heartbeat is supported, but Node Guarding is not supported.
 It supports the PDO (process data object) service.
 The PDO message is used to transmit the immediate input data and output data.
 It supports 8 TxPDO at most, and 8 RxPDO at most.
 The PDO transmission type: The synchronous mode, and the asynchronous mode
 It supports the emergency service.
If an error or an alarm occurs in DVP-ES2-C, the master is notified through the emergency.
7.1.2 The Input/Output Mapping Areas
DVP-ES2-C as a master supports 16 slaves at most, and the slave node ID range from 1 to 16. The
output mapping areas are D6250-D6476, and the input mapping areas are D6000-D6226.
Device in the PLC Mapping area
Mapping
length
D6250~D6281
SDO request information, NMT service information, and
Emergency request information
64 bytes
D6000~D6031
SDO reply information, and Emergency reply
information
64 bytes
D6282~D6476
RxPDO mapping area
390 bytes
D6032~D6226
TxPDO mapping area
390 bytes
If DVP-ES2-C functions as a slave station, the output mapping areas are D6282-D6313, and the
input mapping areas are D6032-D6063.
Device in the PLC Mapping area
Mapping
length
D6032~D6063
RxPDO mapping area
64 bytes
D6282~D6313
TxPDO mapping area
64 bytes
7.2 The Installation and the Network Topology
This section introduces the dimensions of DVP-ES2-C, the CAN interface, the CANopen network
framework, and the communication distance.
7.2.1 The Dimensions
106
98
L1
L 78
90
61.5
110
Unit: millimeter

Delta DVP-EX2 Specifications

General

Brand	Delta
Model	DVP-EX2
Category	Controller
Language	English