Delta DVP-SS2 User Manual

7 CANopen Function and Operation
7-13
“reset communication” state.
The relation between the communication object and the state is shown below. The
communication object service can be executed only in a proper state. For example, SDO
can be executed only in the operational state and in the pre-operational state.
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 format of the control message for the node state:
COB-ID
Byte 0
Byte 1
0 Command specifier (CS)
Slave address
(0: Broadcast)
The command specifiers are listed below.
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 is used to detect the disconnection of the node in the network. The
error control services can be classified into two types, i.e. Heartbeat and Node Guarding.
The PLC only supports Heartbeat. For example, the master can detect the disconnection of
the slave only after the slave enables the Heartbeat service.
The Heartbeat principle is illustrated as follows. The Hearbeat producer transmits the
Heartbeat message according to the Heartbeat producing time which is set. 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, the CANopen communication is abnormal.

Delta DVP-SS2 Specifications

General

Brand	Delta
Model	DVP-SS2
Category	Controller
Language	English