Delta Electronics manual Introduction, Features, CANopen Communication Module DVPCOPM-SL

CANopen Communication Module DVPCOPM-SL

1Introduction

1.To ensure correct installation and operation of DVPCOPM-SL, please read this chapter carefully before using your DVPCOPM-SL.

2.This chapter only provides introductory information on DVPCOPM-SL. For more detailed information on CANopen protocol, please refer to relevant references or literatures.

3.DVPCOPM-SL is a CANopen module operating on the left side of DVP-SV series PLC MPU. When DVP-SV is connected to CANopen network through DVPCOPM-SL, DVPCOPM-SL will serve as the data exchange interface between DVP-SV and other slaves on the bus. DVPCOPM-SL is in charge of sending the data in DVP-SV to the slaves on the bus, and at the same time collecting the data returned from each slave and sending them back to DVP-SV.

1.1Features

DVPCOPM-SL can be used as the master in CANopen network, as well as the slave for other masters. As a master, DVPCOPM-SL features:

zComplying with CANopen standard protocol DS301v4.02.

zSupporting NMT Master Service.

zError control: Supporting Heartbeat/Node Guarding Protocol.

zSupporting PDO Service.

Max. 200 RxPDOs and 390 bytes of data Max. 200 TxPDOs and 390 bytes of data

Each slave can be allocated maximum 8 TxPDOs and 8 RxPDOs.

zPDO transmission type: Supporting event trigger, time trigger, synchronous cycle, and synchronous non-cycle.

zPDO mapping: Every PDO is able to map maximum 32 parameters. Type of mapping data supported:

Storage space	Data type
1 bit	BOOL
8 bits	SINT USINT BYTE
16 bits	INT UINT WORD
32 bits	DINT UDINT REAL DWORD
64 bits	LINT ULINT LREAL LWORD

zSupporting SDO Service. Number of server: 0 Number of user: 3

zSupporting standard expedited SDO transmission mode.

zSupporting Auto SDO function. Able to execute maximum 20 Auto SDOs to each slave.

zSupporting reading/writing of data in slave by using SDO Service in the ladder diagram in PLC.

zSupporting Emergency Protocol:

Able to store 5 latest Emergency messages for each slave.

Able to indicate Emergency messages in slave from digital display. Able to read Emergency message through the ladder diagram in PLC.

zSYNC producer; Range: 0 ~ 65,535ms.

DVP-PLC Application Manual 3