CANopen Communication Module DVPCOPM-SL
M0
MOV | H0101 | D6250 | ReqID = 01, Command = 01 |
MOV | H0004 | D6251 | Size = 04 |
MOV | H0102 | D6252 | Type = 01, MAC ID = 02 |
MOV | H2021 | D6253 | Index = 2021 |
MOV | H0004 | D6254 | Sub index = 04 |
END |
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zProgram explanation
1.The program first reset the SDO request message editing area and SDO response message editing area to 0.
2.When M0 = On, CANopen master will send out SDO request message and read the contents in index 2021, sub index 4 of the target equipment (at node address 02). If the communication is successful, the slave will return with the response message.
3.When M0 = On, CANopen master will send out request message only once. If you would like it to send out messages again, you will have to change the ReqID.
4.The messages returned from the target equipment are stored in D6000 ~ D6005.
Example II
zTarget:
When M0 = On, set the content in index 2047, sub index 2 (i.e. the control word of the target temperature) in IFD9503 to 0104Hex (i.e. 26.0°C). Please note that you have to write 0401Hex into D6255 of the PLC.
DVPCOPMDVP28SV
Node 1
CAN+RUN
SHLD
CAN-STOP
GND
Master
CANopen
Node 2 
P V |
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| °C |
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| °F |
S V |
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AT | OUT | ALM1 | ALM2 |
SET |
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| DTA4848 |
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IFD9503 |
| DTA | |
25 |