CANopen Communication Module
PLC device |
|
|
|
| Response Message |
|
|
|
|
|
|
|
|
|
| |||||
| 15 | 14 | 13 | 12 | 11 | 10 | 9 |
| 8 | 7 |
| 6 | 5 | 4 | 3 | 2 | 1 | 0 |
| |
|
|
|
|
| ||||||||||||||||
D6020~ D6023 |
|
|
|
|
|
|
| Emergency5 |
|
|
|
|
|
|
| |||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| |||
D6024~ D6031 |
|
|
|
|
|
|
|
| Reserved |
|
|
|
|
|
|
|
| |||
zCommand: Fixed to “01Hex”.
zReqID: The request ID. Whenever an Emergency message is sent out, the message will be given a ReqID for the CANopen master to identify. For the next Emergency message to be sent out, you have to change the ID number. Range of ReqID: 00Hex ~ FFHex.
zMAC ID: The node address of the target equipment on CANopen network.
zTotal number of data: The total number of Emergency messages CANopen master receives.
zNumber of data stored: The latest number of Emergency messages CANopen master receives. (Every slave gives less than 5 messages.)
Note:
zCANopen master can only send out 1 SDO, NMT or Emergency request message to one equipment at a time.
zWhen you use WPL program to send out SDO, NMT or Emergency request messages, we recommend you clear the “request message editing area” and “response message editing area” to 0.
5.5Application Examples
In this section, we will illustrate how to compile a WPL program to send out SDO and NMT messages or readEmergency request messages.
Example I z Target:
When M0 = On, read the content of index 2021, sub index 4 (i.e. actual output value of AC motor drive) in IFD9503.
DVPCOPMDVP28SV
Node 1
C A N+RUN
S H LD
C A N-STOP
GN D
Master
CANopen
Node 2 
RJ12
RS-485
IFD9503VFD-B
23 |
