Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual CANopen Function and Operation

CANopen Function and Operation

This chapter explains the functions of CANopen and the usage.

Chapter 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		7-8
	7.3.1	The Introduction of the CANopen Protocol	7-8
	7.3.2	The CANopen Communication Object	7-9
	7.3.3	The Predefined Connection Set	7-14

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

	7.4.1 Data Structure of SDO Request Message	7-15
	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	7-21
7.5	Indicators and Troubleshooting	7-23
	7.5.1 Description of Indicators	7-23
	7.5.2 CANopen Network Node State Display	7-24
7.6	Application Example	7-27
7.7	Object Dictionary	7-35

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