Delta DVP-SA2 User Manual

DVP-ES2/EX2/EC5/SS2/SA2/SX2/SE&TP Operation Manual - Programming
7-20
meantime, you should check if the data in Emergency message are correct.
 Node ID: The node address of the target equipment on CANopen network.
 Total number of data: The total number of Emergency messages CANopen master receives
from the slave.
 Number of data stored: The latest number of Emergency messages CANopen master
receives from the slave. (5 messages at most)
 The data in D6004-D6007 are the content of Emergency 1 and every Emergency message
consists of 8 bytes of data.
The data format of Emergency message on CAN bus is shown below. Datum 0~ datum 7 in
Emergency response message correspond to byte 0~ byte 7 respectively
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
80
（
hex
）
+Node-ID
Emergency error
code
Error storage
register
Vendor custom error code
Example 1: Read the Emergency message of slave of No.2 and the Emergency messages
the slave sends out successively are shown below.
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
82
（
hex
）
43
54
20
14
0
0
0
0
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
82
（
hex
）
42
54
20
15
0
0
0
0
 Request data:
PLC device
Request message
High byte
Low byte
D6250
Message
header
ReqID=01
Command =01
D6251
Reserved
Size =0
D6252
Type =04
Node ID =02
 Emergency response data
PLC device
Response message
High byte
Low byte
D6000
Message
header
ResID=01
Status code =01
D6001
Reserved =0
Size =2A (Hex)
D6002
Type =04
Node ID =02
D6003
Message
data
Total number of data =1
Number of data stored =1
D6004
Datum 1=54
Datum 0=42
D6005
Datum 3=15
Datum 2=20
D6006
Datum 5=0
Datum 4=0
D6007
Datum 7=0
Datum 6=0
D6004
Datum 1=54
Datum 0=43
D6005
Datum 3=14
Datum 2=20
D6006
Datum 5=0
Datum 4=0
D6007
Datum 7=0
Datum 6=0
7.4.4 Example on Sending SDO through the Ladder Diagram
 Control Requirement:
Read the value of P0-09 of servo in cycle through SDO.
 Hardware Connection:

Delta DVP-SA2 Specifications

General

Brand	Delta
Model	DVP-SA2
Category	Controller
Language	English