Delta CANopen DVPCOPM-SL - Sending SDO, NMT and Reading Emergency by Ladder Diagram; Principle; Structure of SDO Request Message

CANopen Communication Module DVPCOPM-SL

The program in DVP-SV CPU (master):
M1002
MOV D6032 D6286
MOV D6282
SET M0
M0
END
D6286
D6036
 Program explanations:
1. The 2
nd
row of the program indicates sending the content of D256 in DVP-SA (mapped on D6032 of DVP-SV)
to the control word (Multi-Function Digital Input, mapped on D6286 of DVP-SV) of the servo drive.
2. The 3
rd
row of the program indicates sending the output status of the servo drive (Multi-Function Digital Output,
mapped on D6036 of DVP-SV) to D0 in DVP-SA (mapped on D6282 of DVP-SV).
 The program in DVP-SA CPU (slave):
M1002
MOV H D1120
MOV K2M10
SET M1120
M0
END
D
D0
MOV K2X20 D256
C6
RST
M1143
SET M0
M10
Y0
 Program explanations:
1. The first 3 rows of the program set up the communication format between DVP-SA and IFD9503, which is
115,200bps, 7E1-ASCII; communication port is COM2.
2. When M0 = On, send the input status of X20 ~ X28 on DVP-08ST to D256, and send the data in b0 ~ b15 of D0
to M10 ~ M25.
3. When D0 = 1, M10 will be On, and Y0 on DVP-SA CPU will output.
DVP-PLC Operation Manual
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