Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual DVP32ES2-C, ¾ Hardware Connection

7 CANopen Function and Operation

‹Emergency response data

PLC device		Response message
		High byte	Low byte
D6000	Message	ReqID=01	Status code =01
D6001		Reserved =0	Size =2A (Hex)
	header
D6002		Type =04	Node ID =02
D6003		Total number of data =1	Number of data stored =1
D6004		Datum 1=54	Datum 0=42
D6005		Datum 3=15	Datum 2=20
D6006	Message	Datum 5=0	Datum 4=0
D6007		Datum 7=0	Datum 6=0
	data
D6004		Datum 1=54	Datum 0=43
D6005		Datum 3=14	Datum 2=20
D6006		Datum 5=0	Datum 4=0
D6007		Datum 7=0	Datum 6=0

7.4.4 Example on Sending SDO through the Ladder Diagram

¾Control Requirement:

Read the value of P0-09 of servo in cycle through SDO.

¾Hardware Connection:

DVP32ES2-C

PC

L N NC +24V 24G S/S X0 X1 X2 X3 X4 X5 X6 X7 X10 X11 X12 X13 X14 X15 X16 X17

RS-232

CAN+CAN- SG D+ D - UP0 ZP0 Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7 UP1 ZP1 Y10 Y11 Y12 Y13 Y14 Y15 Y16 Y17

ASDA-A2-xxxx-M

TAP-CN03

CANopen CANopen

¾The Corresponding Relation between Slave Parameter and Index/Subindex

The index_subindex corresponding to P0-09 of servo is 2009_0. On the interface of the network configuration software, right click the servo icon; select “Parameter Edit” and then the following dialog box will appear. You can see the index_subindex corresponding to the servo parameter in the dialog box.

For more details on how to operate the network configuration interface, please refer to section 11.1.1 of the help file of CANopen Builder software.

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