Delta DVP-SS2

iii
4.5.1 Command Code: 01, Read Status of Contact (Input point X is not
included) ...................................................................................... 4-13
4.5.2 Command Code: 02, Read Status of Contact (Input point X is
included) ..................................................................................... 4-14
4.5.3
Command Code: 03, Read Content of Register (T, C, D) .............. 4-15
4.5.4 Command Code: 05, Force ON/OFF single contact ...................... 4-16
4.5.5 Command Code: 06, Set content of single register ....................... 4-17
4.5.6 Command Code: 15, Force ON/OFF multiple contacts ................. 4-18
4.5.7 Command Code: 16, Set content of multiple registers .................. 4-19
5 Sequential Function Chart
5.1 Step Ladder Instruction [STL], [RET] .........................................................5-2
5.2 Sequential Function Chart (SFC) ..............................................................5-3
5.3 The Operation of STL Program .................................................................5-5
5.4 Points to Note for Designing a Step Ladder Program .............................. 5-12
5.5 Types of Sequences ................................................................................ 5-14
5.6 IST Instruction ......................................................................................... 5-25
6 Troubleshooting
6.1 Common Problems and Solutions .............................................................6-2
6.2 Error code Table (Hex) ..............................................................................6-5
6.3 Error Detection Devices .............................................................................6-9
6.4 Low Voltage Handling Procedures .......................................................... 6-10
7 CANopen Function and Operation
7.1 The Introduction of CANopen ................................................................... 7-2
7.1.1 The Description of the CANopen Functions .................................... 7-2
7.1.2 The Input/Output Mapping Areas..................................................... 7-3
7.2 The Installation and the Network Topology .............................................. 7-3
7.2.1 The Dimensions ............................................................................... 7-3
7.2.2 The Profile ....................................................................................... 7-4
7.2.3 The CAN Interface and the Network Topology ................................ 7-4
7.3 The CANopen Protocol ............................................................................. 7-9
7.3.1 The Introduction of the CANopen Protocol ...................................... 7-9
7.3.2 The CANopen Communication Object ........................................... 7-10
7.3.3 The Predefined Connection Set..................................................... 7-15
7.4 Sending SDO, NMT and Reading Emergency Message through the Ladder
Diagram .................................................................................................. 7-15
7.4.1 Data Structure of SDO Request Message ..................................... 7-16
7.4.2 Data Structure of NMT Message ................................................... 7-18
7.4.3 Data Structure of EMERGENCY Request Message ...................... 7-19
7.4.4 Example on Sending SDO through the Ladder Diagram ............... 7-20
7.5 Indicators and Troubleshooting .............................................................. 7-22
7.5.1 Description of Indicators ................................................................ 7-22
7.5.2 CANopen Network Node State Display ......................................... 7-23
7.6 Application Example ............................................................................... 7-25
7.7 Object Dictionary ..................................................................................... 7-33