Delta DVP-ES3 Series Hardware Manual

Chapter 10 CANopen Function and Operation
Table of Contents
10.1 Introduction to CANopen ................................................................. 10-2
10.1.1 CANopen Function Descriptions ..................................................... 10-2
10.1.2 The Input/Output Mapping Areas ................................................... 10-3
10.1.3 Refreshing Mechanism in the Input/Output Mapping Areas ................ 10-4
10.2 Installation and Network Topology .................................................. 10-8
10.2.1 CANopen Communication Port ....................................................... 10-8
10.2.2 Configure the DVP-ES3 Series PLC with HWCONFIG ......................... 10-8
10.2.3 The CAN Interface and Network Topology ..................................... 10-10
10.3 The CANopen Protocol ................................................................... 10-15
10.3.1 Introduction to the CANopen Protocol ........................................... 10-15
10.3.2 The CANopen Communication Object ........................................... 10-16
10.3.3 The Predefined Connection Set .................................................... 10-22
10.4 Sending SDO, NMT and Reading Emergency Message through the
Ladder Diagram ............................................................................. 10-23
10.4.1 Data Structure of SDO Request Message ...................................... 10-23
10.4.2 Data Structure of NMT Message .................................................. 10-25
10.4.3 Data Structure of EMERGENCY Request Message ........................... 10-27
10.4.4 Example of Sending SDO through the Ladder Diagram ................... 10-29
10.5 Troubleshooting ............................................................................ 10-31
10.5.1 CANopen Network Node State Display ........................................... 10-31
10.6 Application Example ...................................................................... 10-34
10.7 Object Dictionary ........................................................................... 10-43
8 10

Delta DVP-ES3 Series Specifications

General

Brand	Delta
Model	DVP-ES3 Series
Category	Controller
Language	English