Delta DVP-ES3 Series Hardware Manual

DVP-ES3/EX3/SV3/SX3 Series Hardware and Operation Manual
10-20
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The following table shows the relation between the communication object and the state. You can only
execute the communication object service in the correct state. For example, you can only execute
SDO in the operational state and pre-operational states.
Initialization
Pre-operational
Operational
Stopped
PDO
X
SDO
X
X
SYNC
X
X
Time Stamp
X
X
EMCY
X
X
Boot-up
X
NMT
X
X
X
The control message format for the node state:
COB-ID
Byte 0
Byte 1
0 Command specifier (CS)
Slave address
(0: Broadcast)
The command specifiers:
Command specifier
(Hex)
Function
01
Start the remote node
02
Stop the remote node
80
Enter the pre-operational state
81
Reset the application layer
82
Reset the communication
 Error control services
The error control service detects the disconnection of a network node. The error control services are
classified into two types: Heartbeat and Node Guarding. The DVP-ES3/EX3/SV3/SX3 Series PLC only
supports Heartbeat. For example, the master can detect the disconnection of the slave only after the
slave enables the Heartbeat service.
The following illustrates the Heartbeat principle. The Heartbeat producer transmits the Heartbeat
message according to the set Heartbeat producing time. One or many Heartbeat consumers detect the
message transmitted by the Heartbeat producer. If the consumer does not receive the message
transmitted by the producer within the timeout period, there is a problem in the CANopen
communication or the producer is disconnected.

Delta DVP-ES3 Series Specifications

General

Brand	Delta
Model	DVP-ES3 Series
Category	Controller
Language	English