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DVP-SA2
Delta DVP-SA2 User Manual
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7
CANopen
Function and Operation
7
-
5
The data f
rame format is shown bel
ow
.
T
he CAN nodes tran
smit
the
CAN messages to the
network
from left
to right, as the dat
a frame
format
below shows.

The CAN n
et
work
end
point and the topology structure
I
n order to make the CAN
communication mor
e stable,
the two endpoi
nts of the CAN net
work are
connected to 120 ohm
terminal resistors.
The topology structure of
the CAN network is illustrat
ed
below
.
887
889
Table of Contents
DELTA_IA-PLC_ES2-EX2-EC5-SS2-SA2-SX2-SE&TP
1
Revision History
2
Contents
11
CH1 PLC Concepts
17
1.1 PLC Scan Method
18
1.2 Current Flow
19
1.3 NO Contact, NC Contact
19
1.4 PLC Registers and Relays
19
1.5 Ladder Logic Symbols
20
1.5.1 Creating a PLC Ladder Program
21
1.5.2 LD / LDI (Load NO contact / Load NC contact)
22
1.5.3 LDP / LDF (Load Rising edge trigger/ Load Falling edge trigger)
22
1.5.4 AND / ANI (Connect NO contact in series / Connect NC contact in series)
22
1.5.5 ANDP / ANDF (Connect Rising edge in series/ Connect Falling edge in series)
22
1.5.6 OR / ORI (Connect NO contact in parallel / Connect NC contact in parallel)
22
1.5.7 ORP / ORF (Connect Rising edge in parallel/ Connect Falling edge in parallel)
22
1.5.8 ANB (Connect block in series)
22
1.5.9 ORB (Connect block in parallel)
23
1.5.10 MPS / MRD / MPP (Branch instructions)
23
1.5.11 STL (Step Ladder Programming)
23
1.5.12 RET (Return)
24
1.6 Conversion between Ladder Diagram and Instruction List Mode
25
1.7 Fuzzy Syntax
26
1.8 Correcting Ladder Diagram
27
1.9 Basic Program Design Examples
29
CH2 Programming Concepts
37
2.1 ES2/EX2/EC5 Memory Map
38
2.2 SS2 Memory Map
41
2.3 SA2/SX2 Memory Map
43
2.4 SE Memory Map
46
2.5 Status and Allocation of Latched Memory
48
2.6 PLC Bits, Nibbles, Bytes, Words, etc
49
2.7 Binary, Octal, Decimal, BCD, Hex
49
2.8 M Relay
51
2.9 S Relay
65
2.10 T (Timer)
66
2.11 C (Counter)
67
2.12 High-speed Counters
69
2.13 Special Data Register
74
2.14 E, F Index Registers
88
2.15 Nest Level Pointer [N], Pointer [P], Interrupt Pointer [I]
89
2.16 Applications of Special M Relays and D Registers
92
CH3 Instruction Set
122
3.1 Basic Instructions (without API numbers)
124
3.2 Explanations to Basic Instructions
125
3.3 Pointers
141
3.4 Interrupt Pointers
142
3.5 Application Programming Instructions
143
3.6 Detailed Instruction Explanation
153
3.6.1 Loop Control
153
3.6.2 Transmission Comparison
172
3.6.3 Four Arithmetic Operations
195
3.6.4 Rotation and Displacement
217
3.6.5 Data Processing
229
3.6.6 High Speed Processing
246
3.6.6.1 Output Points for High Speed Instructions
246
3.6.7 Handy Instructions
293
3.6.8 External I/O Display
349
3.6.9 Serial I/O
366
3.6.10 Basic Instructions
430
3.6.11 Communication Instructions
444
3.6.12 Floating Point Operation
526
3.6.13 Additional Instruction
558
3.6.14 Positioning Control
592
3.6.14.1 Output Points for Positioning Instructions
592
3.6.15 Real Time Calendar
645
3.6.16 Gray Code
656
3.6.17 Matrix Operation
659
3.6.18 Contact Type Logic Operation
677
3.6.19 Contact Type Comparison
681
3.6.20 Specific Bit Control
709
3.6.21 Floating-Point Contact Type Comparison
719
3.6.22 Delta Special CANopen Communication Instructions
723
3.6.23 Module Instructions
780
CH4 Communications
824
4.1 Communication Ports
825
4.2 Communication Protocol ASCII mode
826
4.2.1 ADR (Communication Address)
826
4.2.2 CMD (Command code) and DATA
827
4.2.3 LRC CHK (checksum)
828
4.3 Communication Protocol RTU mode
830
4.3.1 Address (Communication Address)
830
4.3.2 CMD (Command code) and DATA
830
4.3.3 CRC CHK (check sum)
831
4.4 PLC Device Address
834
4.5 Command Code
836
4.5.1 Command Code: 01, Read Status of Contact (Input point X is not included)
836
4.5.2 Command Code: 02, Read Status of Contact (Input point X is included)
837
4.5.3 Command Code: 03, Read Content of Register (T, C, D)
838
4.5.4 Command Code: 05, Force ON/OFF single contact
839
4.5.5 Command Code: 06, Set content of single register
840
4.5.6 Command Code: 15, Force ON/OFF multiple contacts
841
4.5.7 Command Code: 16, Set content of multiple registers
842
CH5 Sequential Function Chart
844
5.1 Step Ladder Instruction [STL], [RET]
845
5.2 Sequential Function Chart (SFC)
846
5.3 The Operation of STL Program
848
5.4 Points to Note for Designing a Step Ladder Program
855
5.5 Types of Sequences
857
5.6 IST Instruction
868
CH6 Troubleshooting
874
6.1 Common Problems and Solutions
875
6.2 Error code Table (Hex)
878
6.3 Error Detection Devices
882
6.4 Low Voltage Handling Procedures
883
CH7 CANopen Function and Operation
884
7.1 The Introduction of CANopen
885
7.1.1 The Description of the CANopen Functions
885
7.1.2 The Input/Output Mapping Areas
886
7.2 The Installation and the Network Topology
886
7.2.1 The Dimensions
886
7.2.2 The Profile
887
7.2.3 The CAN Interface and the Network Topology
887
7.3 The CANopen Protocol
892
7.3.1 The Introduction of the CANopen Protocol
892
7.3.2 The CANopen Communication Object
893
7.3.3 The Predefined Connection Set
898
7.4 Sending SDO, NMT and Reading Emergency Message through the Ladder Diagram
898
7.4.1 Data Structure of SDO Request Message
899
7.4.2 Data Structure of NMT Message
901
7.4.3 Data Structure of EMERGENCY Request Message
902
7.4.4 Example on Sending SDO through the Ladder Diagram
903
7.5 Indicators and Troubleshooting
905
7.5.1 Description of Indicators
905
7.5.2 CANopen Network Node State Display
906
7.6 Application Example
908
7.7 Object Dictionary
916
Appendix A
924
A.1 Installing the USB Driver in Windows 7
925
A.2 Installing the USB in Windows 8
927
A.3 Installing the USB Driver in Windows 10
930
A.4 Notes on Utilizing USB Communication
932
Appendix B
934
B.1 Specifications for an Ethernet PLC/Module
935
B.2 Ethernet Control Registers
936
B.2.1 Station Addresses of Ethernet Modules
936
B.2.2 DVP-SE / ES2-E Series PLC (Ethernet PLC)
936
B.2.3 DVPEN01-SL (Left-side Ethernet Communication Module)
937
B.2.4 DVP-FEN01 (DVP-EH3 Series Ethernet Communication Card)
939
B.3 Searching for an Ethernet PLC
941
B.3.1 Communication setting
941
B.3.2 Broadcast Search
942
B.3.3 Searching for a Model Specified
943
B.3.4 Searching by an IP Address
944
B.4 Data Exchange
946
B.5 EtherNet/IP List
947
B.5.1 EtherNet/IP Information Supported by DVP-SE / ES2-E Series PLCs
947
B.5.2 EtherNet/IP Objects Supported by DVP-SE / ES2-E Series PLCs
948
B.6 RTU Mapping
954
B.6.1 Setting the RTU Mapping
954
B.6.2 Application of the RTU Mapping
955
Appendix C
958
C.1 TP Memory Map
959
C.2 Special Data Register
961
C.2.1 PLC CPU Built-in Inputs and Outputs
969
C.3 Special Auxiliary Relay
972
C.4 Instructions applicable to TP
982
C.4.1 Basic Instructions
982
C.4.2 Numerical List of Instructions
982
C.4.3 Additional Remarks on High-speed Instructions
987
C.5 Definitions of TP04P Communication Ports
988
C.6 Example of Setting up the Communication
989
C.6.1 Communication with AH/AS Series PLC
989
Appendix D
992
D.1 Current Consumption of a Slim PLC/an Extension Module
993
D.1.1 Current supply and current consumption of a PLC (+24VDC)
993
D.1.2 Current supply and current consumption of a digital input/output module (+24VDC)
994
D.1.3 Current consumption of a special input/output module (+24VDC)
994
D.1.4 Current consumption of a left-side high-speed special module (+24VDC)
995
D.1.5 Calculating the maximum current consumed by a system
995
Appendix E
996
E.1 DVP Series Slim Type Special Modules
997
E.2 Connections of a Slim Type Special Module (Work alone)
997
E.3 Using WPL Editor
997
Appendix F
1000
F.1 ES2 and EX2 Series - General Specifications
1001
F.2 SA2, SS2, SX2, SE Series - General Specifications
1002
F.3 EC5 Series - General Specifications
1003
F.4 TP Series - General Specifications
1004
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Delta DVP-SA2 Specifications
General
Brand
Delta
Model
DVP-SA2
Category
Controller
Language
English
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