Delta MH300 Series - Page 985

Chapter 16 PLC Function ApplicationsMH300
16-122
Special D
Description of Function
R/W
D1070
Channel opened by CANopen initialization (bit0=Machine
code0 …….)
R
D1071
Error channel occurring in CANopen initialization process
(bit0=Machine code0 …….)
R
D1072
Reserved
-
D1073
CANopen break channel (bit0=Machine code0 …….)
R
D1074
Error code of master error
0: No error
1: Slave station setting error
2: Synchronizing cycle setting error (too small)
R
D1075
Reserved
-
D1076
SDO error message (main index value)
R
D1077
SDO error message (secondary index value)
R
D1078
SDO error message (error code L)
R
D1079
SDO error message (error code H)
R
The second area is for basic CANopen settings: (the PLC must have stopped when this area
is used to make settings)
We must set the information exchange time for the master and slave station,
Special D
Description of Function
Default:
R/W
D1090
Synchronizing cycle setting
4
RW
Use D1090 to perform settings; setting time relationships include:
For instance, when communications speed is 500K, TXPDO + RXPDO have 8 sets, and
synchronizing time will require more than 4 ms
We must also define how many slave stations will be opened. D1091 is the channel for defining
station opening, and D2000+100*n is the station number defining this channel. See the detailed
explanation below.
Slave station number n=0–3
Special D Description of Function R/W
D1091
Sets slave station On or Off (bit 0-bit 3 correspond to
slave stations number 0-3)
RW
D2000+100*n
Slave station number
RW