DVP - ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming
7.1The Introduction of CANopen
¾Due to the simple wiring, immediate communication, strong debugging ability, stable communication, and low cost, the CANopen network is widely used in fields such as industrial automation, automotive industry, medical equipment industry, and building trade.
¾The CAN port, which conforms to the basic communication protocol of CANopen DS301, is built in the PLC, can work in a master mode or a slave mode.
¾This chapter explains the functions of CANopen. The functions are mainly controlled by the special auxiliary relay M1349. If M1349 is ON, the CANopen functions are enabled. If M1349 is OFF, the CANopen functions are disabled. In a master mode, the CANopen functions can support slave 1~slave 16.
¾The CANopen network configuration software for
¾This chapter mainly focuses on the CANopen functions. If users do not understand the professional terms mentioned in the introduction of the functions, they can refer to section 7.3 for more information.
7.1.1 The Description of the CANopen Functions
¾If the CAN port functions as a master, it has the following functions.
It support the standard CANopen protocol DS301 V4.02.
It supports the NMT (network management object) service.
It supports the NMT state control.
The NMT state control can be used to control the state of a slave in the CANopen network.
It supports the NMT error control.
The NMT error control is used to detect the disconnection of a slave. The NMT error control can be classified into two types, i.e. Heartbeat and Node Guarding. The PLC supports Heartbeat, but do not support Node Guarding.
It supports the PDO (process data object) service.
The PDO message is used to transmit the immediate input data and output data.
It supports 128 RxPDO at most, and 390 bytes at most.
It supports 128 TxPDO at most, and 390 bytes at most.
The PDO transmission type: The synchronous mode, and the asynchronous mode
It supports the SDO (service data object) service.
The SDO can be used to read the parameter from a slave, write the parameter into a slave, or configure the parameter for a slave.
It supports the standard SDO transmission mode.
It supports the automatic SDO functions. Twenty pieces of data at most can be written into a slave.
It supports the use of the SDO service in a PLC ladder diagram to read the data from a slave or write the data into a slave.
It supports the service of reading the emergency from a slave.
The service of reading the emergency from a slave can be used to read an error or an alarm from a slave.
Five emergencies can be stored in a slave.
The emergency can be read through a PLC ladder diagram.
It supports the SYNC object (synchronous object) service.
Several devices can operate synchronously through the synchronous object service
The CANopen communication rates which are supported are 20K, 50K, 125K, 250K, 500K, 1Mbps.
The mapping data types which are supported:
Storage | Data type |
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SINT USINT BYTE | |
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INT UINT WORD | |
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DINT UDINT REAL DWORD | |
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