Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual PLC device Mapping area Mapping length

7 CANopen Function and Operation

¾The corresponding object in the predefined connection set

				Index of the
Object	Function code		COB-ID	communication
				parameter
Emergency	0001	129 (81h)–255 (FFh)		1014h, 1015h
PDO1 (TX)	0011	385	(181h)–511 (1FFh)	1800h
PDO1 (RX)	0100	513	(201h)–639 (27Fh)	1400h
PDO2 (TX)	0101	641 (281h)–767 (2FFh)		1801h
PDO2 (RX)	0110	769	(301h)–895 (37Fh)	1401h
PDO3 (TX)	0111	879 (381h)–1023 (3FFh)		1802h
PDO3 (RX)	1000	1025 (401h)–1151 (47Fh)		1402h
PDO4 (TX)	1001	1153 (481h)–1279 (4FFh)		1803h
PDO4 (RX)	1010	1281	(501h)–1407 (57Fh)	1403h
SDO (TX)	1011	1409 (581h)–1535 (5FFh)		1200h
SDO (RX)	1100	1537	(601h)–1663 (67Fh)	1200h
NMT Error	1110	1793	(701h)–1919 (77Fh)	1016h, 1017h
Control

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

Editing the request message mapping area can realize the transmission of SDO, NMT and Emergency message.The corresponding relations between the request message mapping area, response message mapping area and PLC device are shown below.

PLC device	Mapping area			Mapping length
D6250~D6281	SDO request message,	NMT	service message and	64 bytes
	Emergency request message
D6000~D6031	SDO response message	and	Emergency response	64 bytes
	message

1> CANopen master can only send one SDO, NMT or Emergency request message to the same equipment at a time.

2> We suggest the request message mapping area should be cleared to zero when sending SDO, NMT or Emergency request message through WPL program.

7.4.1 Data Structure of SDO Request Message

Sending SDO through the ladder diagram can read or write the slave parameter.

¾The data format of the SDO request message:

PLC device		Request message
		High byte	Low byte
D6250	Message	ReqID	Command (Fixed to 01)
D6251		Reserved	Size
	Header
D6252		Type	Node ID
D6253	Message Data	High byte of main index	Low byte of main index
D6254		Reserved	Sub-index
D6255		Datum 1	Datum 0
D6256		Datum 3	Datum 2

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