Delta DVP-ES2/EX2/SS2/SA2/SX2/SE Installation and the Network Topology, Lint Ulint Lreal Lword

7 CANopen Function and Operation

Storage	Data type
64-bit	LINT ULINT LREAL LWORD

¾If the CAN port functions as a slave, it has the following functions.

—It supports the standard CANopen protocol DS301 V4.02.

—It supports the NMT (network management object) service.

‹It supports the NMT state control.

The state of DVP-ES2-C in the CANopen network is controlled by a master.

‹It supports the NMT error control.

Heartbeat is supported, but Node Guarding is not supported.

—It supports the PDO (process data object) service.

‹The PDO message is used to transmit the immediate input data and output data.

‹It supports 8 TxPDO at most, and 8 RxPDO at most.

‹The PDO transmission type: The synchronous mode, and the asynchronous mode

—It supports the service of reading the emergency from a slave.

If an error or an alarm occurs in DVP-ES2-C, the master is notified through the emergency.

7.1.2 The Input/Output Mapping Areas

DVP-ES2-C as a master supports 16 slaves at most, and the slave node ID range from 1 to 16. The output mapping areas are D6250-D6476, and the input mapping areas are D6000-D6226.

Device in the PLC	Mapping area	Mapping
		length
D6250~D6281	SDO request information, NMT service information, and	64 bytes
	Emergency request information
D6000~D6031	SDO reply information, and Emergency reply	64 bytes
	information
D6282~D6476	RxPDO mapping area	390 bytes
D6032~D6226	TxPDO mapping area	390 bytes

7.2The Installation and the Network Topology

This section introduces the dimensions of DVP-ES2-C, the CAN interface, the CANopen network framework, and the communication distance.

7.2.1 The Dimensions

90 98 106

110

L1	61.5
L	78

Unit: millimeter

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