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7-1

CANopen Function and Operation

This chapter explains the functions of CANopen and the usage.

Table of Contents

7.1 The Introduction of CANopen ............................................................................................. 7-2

7.1.1 The Description of the CANopen Functions .............................................................. 7-2

7.1.2 The Input/Output Mapping Areas .............................................................................. 7-3

7.2 The Installation and the Network Topology ....................................................................... 7-3

7.2.1 The Dimensions ......................................................................................................... 7-3

7.2.2 The Profile ................................................................................................................. 7-4

7.2.3 The CAN Interface and the Network Topology .......................................................... 7-4

7.3 The CANopen Protocol ........................................................................................................ 7-9

7.3.1 The Introduction of the CANopen Protocol ................................................................ 7-9

7.3.2 The CANopen Communication Object .................................................................... 7-10

7.3.3 The Predefined Connection Set .............................................................................. 7-15

7.4 Sending SDO, NMT and Reading Emergency Message through the Ladder Diagram 7-15

7.4.1 Data Structure of SDO Request Message ............................................................... 7-16

7.4.2 Data Structure of NMT Message ............................................................................. 7-18

7.4.3 Data Structure of EMERGENCY Request Message ............................................... 7-19

7.4.4 Example on Sending SDO through the Ladder Diagram ........................................ 7-20

7.5 Indicators and Troubleshooting ........................................................................................ 7-22

7.5.1 Description of Indicators .......................................................................................... 7-22

7.5.2 CANopen Network Node State Display ................................................................... 7-23

7.6 Application Example .......................................................................................................... 7-25

7.7 Object Dictionary ................................................................................................................ 7-33

Delta DVP-SS2 User Manual

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