Chapter 10 CANopen Function and Operation
Table of Contents
10.1 Introduction to CANopen ...................................................................... 10-2
10.1.1 CANopen Function Descriptions .......................................................... 10-2
10.1.2 The Input/Output Mapping Areas ........................................................ 10-3
10.2 Installation and Network Topology ...................................................... 10-4
10.2.1 The Dimensions of DVP-ES3 Series PLC ............................................... 10-4
10.2.2 CANopen Communication Port ............................................................ 10-5
10.2.3 Configure the DVP-ES3 Series PLC with HWCONFIG .............................. 10-5
10.2.4 The CAN Interface and Network Topology ............................................ 10-6
10.3 The CANopen Protocol ........................................................................ 10-11
10.3.1 Introduction to the CANopen Protocol ................................................. 10-11
10.3.2 The CANopen Communication Object ................................................. 10-12
10.3.3 The Predefined Connection Set .......................................................... 10-17
10.4 Sending SDO, NMT and Reading Emergency Message through the Ladder
Diagram ............................................................................................. 10-19
10.4.1 Data Structure of SDO Request Message ............................................ 10-19
10.4.2 Data Structure of NMT Message ......................................................... 10-21
10.4.3 Data Structure of EMERGENCY Request Message ................................. 10-23
10.4.4 Example of Sending SDO through the Ladder Diagram ......................... 10-25
10.5 Troubleshooting ................................................................................. 10-27
10.5.1 CANopen Network Node State Display ................................................ 10-27
10.6 Application Example ........................................................................... 10-30
10.7 Object Dictionary ............................................................................... 10-38
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