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Chapter 10 CANopen Funciton and Operation
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
10.2 Installation and Network Topology ................................................. 10-4
10.2.1 The Dimensions of DVP-ES3 Series PLC ........................................... 10-4
10.2.2 CANopen Communication Port ........................................................ 10-5
10.2.3 Configure the DVP-ES3 Series PLC with HWCONFIG .......................... 10-5
10.2.4 The CAN Interface and Network Topology ........................................ 10-6
10.3 The CANopen Protocol ................................................................... 10-11
10.3.1 Introduction to the CANopen Protocol ............................................ 10-11
10.3.2 The CANopen Communication Object ............................................ 10-12
10.3.3 The Predefined Connection Set ..................................................... 10-17
10.4 Sending SDO, NMT and Reading Emergency Message through the Ladder
Diagram ........................................................................................ 10-19
10.4.1 Data Structure of SDO Request Message ....................................... 10-19
10.4.2 Data Structure of NMT Message .................................................... 10-21
10.4.3 Data Structure of EMERGENCY Request Message ............................ 10-23
10.4.4 Example of Sending SDO through the Ladder Diagram .................... 10-25
10.5 Troubleshooting ............................................................................ 10-27
10.5.1 CANopen Network Node State Display ........................................... 10-27
10.6 Application Example ...................................................................... 10-30
10.7 Object Dictionary........................................................................... 10-38
Chapter 11 CPU Module Operating Principles
11.1 CPU Module Operations ................................................................... 11-2
11.1.1 Procedure .................................................................................... 11-2
11.1.2 I/O Refreshing and Communication Service ...................................... 11-3
11.2 CPU Module Operating Modes .......................................................... 11-4
11.2.1 Operating Modes .......................................................................... 11-4
11.2.2 Status and Operation under Different Operating Modes ..................... 11-4
Chapter 12 Troubleshooting
12.1 Troubleshooting .............................................................................. 12-1
12.1.1 Bas
ic troubleshooting steps ............................................................ 12-1
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