Dvpcopm-Sl Om en 20140305 PDF

DVPCOPM-SL
CANopen Communication Module

Operation Manual
DVP-0204420-02
CANopen Communication Module DVPCOPM-SL
Warning
 Please read this instruction carefully before use and follow this instruction to operate the device in order to prevent
damages on the device or injuries to staff.
 Switch off the power before wiring.

 DVPCOPM-SL is an OPEN TYPE device and therefore should be installed in an enclosure free of airborne dust,
humidity, electric shock and vibration. The enclosure should prevent non-maintenance staff from operating the
device (e.g. key or specific tools are required for operating the enclosure) in case danger and damage on the
device may occur.
 DVPCOPM-SL is to be used for controlling the operating machine and equipment. In order not to damage it, only
qualified professional staff familiar with the structure and operation of DVPCOPM-SL can install, operate, wire
and maintain it.
 DO NOT connect input AC power supply to any of the I/O terminals; otherwise serious damage may occur. Check
all the wirings again before switching on the power and DO NOT touch any terminal when the power is switched
on. Make sure the ground terminal is correctly grounded in order to prevent electromagnetic interference.
 Table of Contents
1 Introduction .........................................................................................................................................3
1.1 Features ..................................................................................................................................3
1.2 Functions.................................................................................................................................4
1.3 Explanation of Output/Input Mapping Area of DVPCOPM-SL.................................................5
2 Product Profile & Outline ...................................................................................................................6
2.1 Dimension ...............................................................................................................................6
2.2 Product Profiles .......................................................................................................................7
2.3 CANopen Connection Port ......................................................................................................7
2.4 CAN Network Endpoint and Topology Structure......................................................................8
2.5 Address Switch........................................................................................................................8
2.6 Function Switch .......................................................................................................................9
2.7 Digital Indicator........................................................................................................................9
3 Basic Operation ................................................................................................................................10
3.1 Connecting DVPCOPM-SL to DVP-SV CPU.........................................................................10
3.2 Installing DVPCOPM-SL and DVP-SV CPU on DIN Rail ......................................................10
3.3 Connecting to CANopen Connection Port............................................................................. 11
4 Constructing CANopen Network .....................................................................................................11
4.1 How to Construct a CANopen Network ................................................................................. 11
4.2 Data Mapping in CANopen Network .....................................................................................13
4.3 How to Configure Network by Delta CANopen Builder Software ..........................................14
DVP-PLC Operation Manual 1

4.4 Saving the Configuration Data.............................................................................................. 26

4.5 CANopen Network Control ................................................................................................... 26
5 Sending SDO, NMT and Reading Emergency by Ladder Diagram .............................................. 28
5.1 Principle ................................................................................................................................ 28
5.2 Structure of SDO Request Message..................................................................................... 28
5.3 Structure of NMT Service Message ...................................................................................... 30
5.4 Structure of Emergency Request Message .......................................................................... 30
5.5 Application Examples ........................................................................................................... 31
6 Network Node Status Display.......................................................................................................... 39
6.1 Slave State of CANopen Network......................................................................................... 39
6.2 Master Status of CANopen Network ..................................................................................... 40
6.3 CANopen Network Status ..................................................................................................... 41
6.4 Data Structure of SDO Request Message ............................................................................ 41
6.5 Application Examples ........................................................................................................... 43
7 LED Indicator & Trouble-shooting .................................................................................................. 44
7.1 POWER LED ........................................................................................................................ 44
7.2 RUN LED .............................................................................................................................. 45
7.3 ERR LED .............................................................................................................................. 45
7.4 Codes in Digital Display........................................................................................................ 46
2 DVP-PLC Operation Manual

1 Introduction
1. To ensure correct installation and operation of DVPCOPM-SL, please read this chapter carefully before using your
DVPCOPM-SL.
2. This chapter only provides introductory information on DVPCOPM-SL. For more detailed information on CANopen
protocol, please refer to relevant references or literatures.
3. DVPCOPM-SL is a CANopen module operating on the left side of PLC CPU. PLC CPU can have maximum 8
DVPCOPM-SL modules connected to its left side. DVPCOPM-SL master module is responsible for the data
exchange between PLC and other slaves on the bus when PLC CPU is connected to the CANopen network via
DVPCOPM-SL. To achieve data exchange, DVPCOPM-SL master module is used for transmitting the data in PLC
to slaves on the bus and meanwhile returns the data in slaves to PLC.
4. PLC connected to the right side of DVPCOPM-SL includes DVP-SV, DVP-SX2, DVP-SA2, DVP10MC11T,
DVP-EH3-L, and DVP-EH2-L.
1.1 Features
DVPCOPM-SL can be used as the master in CANopen network, as well as the slave for other masters.
As a master, DVPCOPM-SL features:
 Complying with CANopen standard protocol DS301v4.02.
 Supporting NMT Master Service.
 Error control: Supporting Heartbeat/Node Guarding Protocol.
 Supporting PDO Service.
Max. 200 RxPDOs and 390 bytes of data
Max. 200 TxPDOs and 390 bytes of data
Each slave can be allocated maximum 8 TxPDOs and 8 RxPDOs.
 PDO transmission type: Supporting event trigger, time trigger, synchronous cycle, and synchronous non-cycle.
 PDO mapping: Every PDO is able to map maximum 32 parameters.
Type of mapping data supported:
Storage space Data type
1 bit BOOL
8 bits SINT USINT BYTE
16 bits INT UINT WORD
32 bits DINT UDINT REAL DWORD
64 bits LINT ULINT LREAL LWORD
 Supporting SDO Service.
Number of server: 0
Number of user: 3
 Supporting standard expedited SDO transmission mode.
 Supporting Auto SDO function. Able to execute maximum 20 Auto SDOs to each slave.
 Supporting reading/writing of data in slave by using SDO Service in the ladder diagram in PLC.
 Supporting Emergency Protocol:
Able to store 5 latest Emergency messages for each slave.
Able to indicate Emergency messages in slave from digital display.

Able to read Emergency message through the ladder diagram in PLC.

 SYNC producer; Range: 0 ~ 65,535ms.
 As the interface between Delta CANopen Builder software and CANopen network. The software can configure the
network directly through DVPCOPM-SL.
 In the auto data exchange with PLC, the user only has to program the D register mapped in PLC without applying
FROM/TO instructions. When connected to PLC, registers after D6000 will be adopted temporarily.
As a slave, DVPCOPM-SL features:
 Complying with CANopen standard protocol DS301v4.02
 Supporting NMT Slave Service
 Error control: Supporting Heartbeat Protocol
 Supporting PDO Service: Each slave can be allocated maximum 8 TxPDOs and 8 RxPDOs.
 PDO transmission type: Supporting event trigger, time trigger, synchronous cycle, synchronous non-cycle.
 Supporting SDO Service.
Number of server: 1
Number of user: 0
 Supporting standard expedited SDO transmission mode.
 Supporting Emergency Protocol.
Able to indicate Emergency event in slave through digital display.
 In the auto data exchange with DVP-SV, the user only has to program the D register mapped in DVP-SV without
applying FROM/TO instructions.
1.2 Functions
 CANopen connection
Transmission method CAN
Electrical isolation 500VDC
Interface Removable connector (5.08mm)
Transmission cable 2-wire twister shielded cable with 2-wire bus power and drain
 Communication
Message type PDO, SDO, SYNC (synchronous object), Emergency (Emergency object), NMT
Baud rates 10k, 20k, 50k, 125k, 250k, 500k, 800k, 1M bps (bit/sec)
 Electrical specification
Power voltage 24VDC, supplied by internal bus from PLC CPU (-15% ~ 20%)
Power consumption 1.7W
Isolation voltage 500V
 Environment
ESD (IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge, 4KV Contact Discharge
EFT (IEC 61131-2, IEC 61000-4-4): Power Line: 2KV, Digital I/O: 1KV
Noise immunity Analog & Communication I/O: 1KV
Damped-Oscillatory Wave: Power Line: 1KV, Digital I/O: 1KV
RS (IEC 61131-2, IEC 61000-4-3): 80MHz ~ 1,000MHz, 1.4GHz ~ 2.0GHz, 10V/m
Operation 0ºC ~ 55ºC (temperature); 50 ~ 95% (humidity); pollution degree 2

Storage -25ºC ~ 70ºC (temperature); 5 ~ 95% (humidity)

Shock/vibration International standard: IEC 61131-2, IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC
immunity 68-2-27 (TEST Ea)
Certificates IEC 61131-2, UL508
1.3 Explanation of Output/Input Mapping Area of DVPCOPM-SL
When DVPCOPM-SL serves as the master of the CANopen network, the output/ input mapping areas in different
positions of the left side of PLC are shown as below table is.
Of the left side of PLC (except DVP10MC11T), the position where the first DVPCOPM-SL is equipped is 1; the
position where the second one is equipped is 2; and so on. Of the left side of DVP10MC11T, the position where the
first DVPCOPM-SL is equipped is 2; the position where the second one is equipped is 3; and so on.
Mapping Area
Output Mapping Area Input Mapping Area
Position
1 D6250~D6476 D6000~D6226
2 D6750~D6976 D6500~D6726
3 D7250~D7476 D7000~D7226
4 D7750~D7976 D7500~D7726
5 D8250~D8476 D8000~D8226
6 D8750~D8976 D8500~D8726
7 D9250~D9476 D9000~D9226
8 D9750~D9976 D9500~D9726
When DVPCOPM-SL is served as master of CANopen network, the mapping areas of SDO, NMT, Emergency and
PDO in the different positions of the left side of PLC are as below table is.
Of the left side of PLC (except DVP10MC11T), the position where the first DVPCOPM-SL is equipped is 1; the position
where the second one is equipped is 2; and so on. Of the left side of DVP10MC11T, the position where the first
DVPCOPM-SL is equipped is 2; the position where the second one is equipped is 3; and so on.
Mapping area Message Request Message Response
RxPDO Mapping TxPDO Mapping
Area of SDO, NMT, Area of SDO, NMT,
Area Area
Position Emergency Emergency
1 D6250~D6281 D6000~D6031 D6282~D6476 D6032~D6226
2 D6750~D6781 D6500~D6531 D6782~D6976 D6532~D6726
3 D7250~D7281 D7000~D7031 D7282~D7476 D7032~D7226
4 D7750~D7781 D7500~D7531 D7782~D7976 D7532~D7726
5 D8250~D8281 D8000~D8031 D8282~D8476 D8032~D8226
6 D8750~D8781 D8500~D8531 D8782~D8976 D8532~D8726
7 D9250~D9281 D9000~D9031 D9282~D9476 D9032~D9226
8 D9750~D9781 D9500~D9531 D9782~D9976 D9532~D9726

When DVPCOPM-SL serves as the slave of CANopen network, the input and output mapping areas in the different
positions of the left side of PLC are shown in below table.
Of the left side of PLC (except DVP10MC11T), the position where the first DVPCOPM-SL is equipped is 1; the position
where the second one is equipped is 2; and so on. Of the left side of DVP10MC11T, the position where the first
DVPCOPM-SL is equipped is 2; the position where the second one is equipped is 3; and so on.
Mapping area
Output Mapping Area Input Mapping Area
Position
1 D6282~D6476 D6032~D6226
2 D6782~D6976 D6532~D6726
3 D7282~D7476 D7032~D7226
4 D7782~D7976 D7532~D7726
5 D8282~D8476 D8032~D8226
6 D8782~D8976 D8532~D8726
7 D9282~D9476 D9032~D9226
8 D9782~D9976 D9532~D9726
2 Product Profile & Outline

DVPCOPM-SL is composed of CANopen connection port, address switch, function switch, and digital display.
2.1 Dimension
DVPCOPM-SL
POWER
RUN
ERR
1
NODE ADDRESS
x16
0
x16
90 [3.543]
DR 2
DR 1
DR 0
IN 0
63.4 [2.496]
SHLD
CAN-
GND
3 [0.118] 60 [2.362] 33.1 [1.303]

2.2 Product Profiles
6 1 5 2 6 2
DVPCOPM-SL
PO WER
RUN
3 ERR
NODE ADDRESS
x16
7 0
x16
DR 2
DR 1
DR 0
IN 0
8
SHLD
CAN-
9
GND
6 4
1. Model name 6. Fixing clip for I/O module

2. I/O module Interface 7. Address switch
3. POWER, RUN, ERR indicators 8. Function switch
4. DIN rail clip 9. CANopen connection port
5. Digital display
2.3 CANopen Connection Port
The connector is used on the connection to CANopen network. Wire by using the connector enclosed with
DVPCOPM-SL.
PIN Signal Content
1 GND 0 VDC 5
2 CAN_L Signal- CAN+ 4
SHLD 3
3 SHLD Shielded CAN- 2
4 CAN_H Signal+
GND 1
5 - Reserved

2.4 CAN Network Endpoint and Topology Structure
In order to make the CAN communication more stable, the two endpoints of the CAN network are connected to 120
ohm terminal resistors. The topology structure of the CAN network is illustrated below.
2.5 Address Switch
The switch is used on setting up the node address of DVPCOPM-SL on CANopen network. Range: 1 ~ 7F (0, 88 ~ FF
are forbidden).
Switch setting Content 1
NODE ADDRESS
x16
1 ~ 7F Valid CANopen node address

0
x16
0, 80 ~ FF Invalid CANopen node address
Example: If you need to set the node address of DVPCOPM-SL to 26 (1AH), simply switch the corresponding switch of
x161 to 1 and the corresponding switch of x160 to A.
Note:
 Use slotted screwdriver to rotate the switch carefully in case you scratch the switch.
 Please set up the node address when the power is switched off. After the setup is completed, re-poser
DVPCOPM-SL.

2.6 Function Switch
The switch is used on setting up the baud rate between DVPCOPM-SL and CANopen network (DR0 ~ DR2). See the
table below for the baud rate and its maximum communication distance.
DR2 DR1 DR0 Baud rate (bps) Max. communication distance (m)
OFF OFF OFF 10k 5,000
OFF OFF ON 20k 2,500
OFF ON OFF 50k 1,000
DR 2
OFF ON ON 125k 500 DR 1
ON OFF OFF 250k 250 DR 0
I N0
ON OFF ON 500k 100
ON ON OFF 800k 50
ON ON ON 1M 25
IN0 See the explanation below
Note:
If the firmware of DVPCOPM-SL is under V1.32, IN0 is invalid. But the function of IN0 is as below for the firmware of
V1.32 and above.
 When IN0=ON and the master and slave make the connection, the master sends the NMT message (0x82 or 0x80)
first and then the SDO message. The interval time is 100ms between the two messages. The timeout for SDO
sending is 100ms.
 When IN0=OFF and the master and slave make the connection, the master sends the NMT message (0x82 or
0x80) first and then the SDO message. The interval time is 1s between the two messages. The timeout for SDO
sending is 1s.
2.7 Digital Indicator
The digital indicator provides the following two functions:

 Displaying the node address of DVPCOPM-SL.
 Displaying the error message of slave.

3 Basic Operation
3.1 Connecting DVPCOPM-SL to DVP-SV CPU
 Open the fixing clip on top and bottom of DVP-SV. Meet the extension port of DVPCOPM-SL with DVP-SV, as .
 Press the fixing clips on top and bottom of DVP-SV and check is the connection is fine, as .
2
DVPCOPM DVP28SV
POWE R
RUN
ERR
NODE ADDRESS
x16
0
x16
DR 2
DR 1
DR 0
IN 0 1
CA N+ RUN
S H LD
CA N-
STOP
G ND
3.2 Installing DVPCOPM-SL and DVP-SV CPU on DIN Rail
 Use 35mm DIN rail.

 Open the DIN rail clip on DVP-SV and DVPCOPM-SL. Insert DVP-SV and DVPCOPM-SL onto the DIN rail.
 Clip up the DIN rail clips on DVP-SV and DVPCOPM-SL to fix DVP-SV and DVPCOPM-SL on the DIN rail, as
shown below.
DVPCOPM DVP28SV
POWER
RUN
ERR
35mm DIN rail
1
NODE ADDRESS
x16
0
x16
DR 2
DR 1
DR 0
IN 0
CAN+ RUN
SHLD
CAN-
STOP
GND

3.3 Connecting to CANopen Connection Port
 Please wire following the PIN definition of the connection port.

 There are two communication interfaces on DVP-SV to communicate with the PC. COM1 is the standard RS-232
interface, and COM2 RS-485. Both interfaces comply with Modbus protocol. The PC communicates directly to PLC
through COM1.
 We recommend you also apply Delta’s power module in the connection.
RS-232
4 Constructing CANopen Network

In this section, we will introduce how to construct a complete CANopen network by using DVPCOPM-SL and other
slaves.
Before constructing a network, you have to first know clearly what the network is for and start a preliminary planning for
the data to be exchanged. The plan shall include the slaves to be used, type of transmission and the data to be
exchanged, total length of data to be exchanged, requirement on the response time for data exchange, and so on. The
information will decide whether the network you construct is a reasonable one, or if it satisfies your needs, and even
affect the later-on network sustainability and flexibility of network capacity upgrade.
In the example below, we will illustrate how to control RUN/STOP and speed of a Delta ASD-B servo drive by a Delta
digital I/O module DVP-08ST.
4.1 How to Construct a CANopen Network
Equipment and software required:

Equipment & software Function
DVP-PS02 24V power supply module, supplying CANopen network.
DVP-PS01 24V power supply module, supplying DVP-12SA and remote I/O DVP-08ST.
DVP-28SV DVP-SV PLC CPU
DVPCOPM-SL CANopen master
DVP-12SA DVP-SA PLC CPU
DVP-08ST Digital I/O module
IFD9503 CANopen bus adapter
ASD-B Delta B series servo drive
WPLSoft DVP series PLC programming software
Delta CANopen Builder CANopen configuration software for DVPCOM-SL master

 Set up DVPCOPM-SL and IFD9503 according to the table below. For how to operate IFD9503, please refer to
Chapter 13.
Module Node address Baud rate (bps)
DVPCOPM-SL 01 1M
IFD9503 02 (connected to ASD-B) 1M
IFD9503 03 (connected to DVP-12SA) 1M
Set up ASD-B as follows:
Parameter Set value Explanation
P1-01 02 Control mode: speed mode
P1-09 100 (rpm) Internal speed command 1 (SP1)
P2-10 101 Function of DI1: Servo on
P2-11 114 Function of DI2: SPD0
P2-12 115 Function of DI3: SPD1
P2-18 102 Function of DO1: Output when servo on
P3-00 1 Modbus communication address
P3-01 5 (115,200 bps) Modbus baud rate
P3-02 1 (7,E,1) Modbus data format
P3-06 3F DI1 ~ DI6 controlled by communication
 Constructing the CANopen network following the figure below.
DVP-PS02 DVPCOPM-SL DVP28SV
DVPCOPM DVP28SV
CANopen
network configuration tool
L
N
0V RUN
STOP
Node 1
RS-232
CANopen
Node 2 Node 3
P O RT1 P O RT2
P O RT1 P O RT2
L
N
DVP-08ST
D VP- 12SA
0V
IFD9503
ASD-B
DVP-12SA DVP-08ST
About the connection between IFD9503 and PLC, IFD9503 and ASD-B, or IFD9503 and other equipment, please refer
to Chapter 13. For the electrical specifications of ASD-B, please refer to ASD-B user manual.

4.2 Data Mapping in CANopen Network
 Data mapping in DVP-12SA

DVP-08ST, connected on the right hand side of DVP-12SA, offers 8 channels of digital input and 1 byte of input
data. In this example, we will use X0 and X1 on DVP-08ST to RUN/STOP ASD-B and select speed. Y0 is for the
output signal of ASD-B operational status. See the table below for more information.
Channel Function
X0 Controlling RUN/STOP of ASD-B
Selecting the speed of ASD-B:
X2 = 0, X1 = 1, selecting SP1
X1, X2
Operational status of ASD-B:
Y0 On: RUN
Off: STOP
Supposed IFD9503 is connected to DVP-12SA and exchanging data with DVPCOPM-SL master, the default length
of input data is 8 bytes and output data is 8 bytes. D256 in DVP-12SA is the start device for input data, and D0 is
the start device for output data. To realize the control function of X0, X1 and X2, we place the statuses of X0 ~ X2
to bit 0 ~ 2 of D256. That is, when X0 = On, bit 0 of D256 will become 1. When X1 = On, bit 1 of D256 will become 1.
In this way, we can realize the control of RUN, STOP and speed of ASD-B by the changes in D256 through
WPLSoft. The status word in ASD-B will then be sent to D0. That is, when bit 0 of D0 becomes 1, there will be
signals at Y0.
I/O data area for DVPCOPM-SL master:
D register 15 14 13 12 11 10 9 8 7 6 5 4 3u,3 2 1 0
D6032 D256 X2 X1 X0
D6033 D257
Input data
D6034 D258
D6035 D259
…
D6282 D0 Y0
Output data
D6283 D1
D6284 D2
D6285 D3
…

 Data mapping in ASD-B

In this example, IFD9503 is the interface between ASD-B and CANopen network. In default setting, IFD9503 offers
1 word of input data and 1 word of output data to exchange data with DVPCOPM-SL master. See the table below
for the relation between the parameters in ASD-B and the input and output data in DVPCOPM-SL master.
D register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Input data D6036 Multi-function digital output
Output data D6286 Multi-function digital input
4.3 How to Configure Network by Delta CANopen Builder Software
 Using CANopen Builder to scan the network

(1) Open CANopen Builder software, as below:

(2) Select ”Setup” => ”Communication Setting” => ”System Channel”, and the "Serial Port Setting” dialog box will
appear.
(3) Set up the communication parameters in the PC and DVP-SV, e.g. the communication port, address, baud rate
and communication format.
Item Function Default
COM port on the PC to be used to communicate
COM Port COM1
with DVP-SV
Address Communication address of DVP-SV 1
Communication speed between the PC and
Baud rate 9,600 (bps)
DVP-SV
Data Bits 7
Communication protocol between the PC and
Parity Even Parity
DVP-SV
Stop Bit 1
Communication mode between the PC and
Mode ASCII
DVP-SV
Click on “OK” and return to the main page.

(4) Select “Network” => ”Online”, and the “Select Communication Channel” dialog box will appear. In this example,
if the connection with DVP-SV is in normal status, you will see the screen as below.
If there are more than one DVPCOPM-SL module (less than 8) connected to the left side of DVP-SV and
supposed there are two connected in this example, after clicking on “Online”, you will see the screen as below.
The DVPCOPM-SL which is closest to DVP-SV is regarded as the first module, and so on.

(5) Select the DVPCOPM-SL which needs to establish the communication. Click on “OK” and start to scan all the
slaves in the network. If the network installation and power supply are normal, you will see the screen as
below.
(6) In normal condition, after the scan is over, you will find the master and all the slaves displayed in CANopen
network, as below.

 Setting up parameters in CANopen master

Select “Network” => ”Master Parameter”, and you will see the dialog box as below.
Work Mode: The work mode of DVPCOPM-SL. You can select either “Master Mode” or “Slave Mode”.
Cycle Period: The period of sending synchronous information.
Master’s heartbeat time: Time for DVPCOPM-SL to send out heartbeat.
After all the parameters are set up, click on “OK".
 Setting up parameters in CANopen slave
Take the parameter settings in ASD-B for example:
(1) Double click on ASD-B, and you will see the dialog box as below.

(2) Relevant parameter settings

Error Control Protocol: In the “Node Configuration…” page, click on “Error Control Protocol”, and you will see
the dialog box appearing as below.
In this page, you can set up parameters for error control, e.g. “Master Consumer Timeout” and “Node
Heartbeat Producer Time”. Please note that the value of “Master Consumer Timeout" shall be bigger than the
value of “Node Heartbeat Producer Time”. After you have set up the heartbeat function, and the slave turns
off-line and does not turn on-line within “Master Consumer Timeout”, the master will consider the slave off-line.
If “Heartbeat" is selected, you cannot select “Node Guarding”. In “Heartbeat consumer”, you can add devices
into the node list. Add a device A, and the slave will be able to monitor whether device A is on-line. Select a
device and click on “Edit…” to modify the “Consumer" and “Producer” value.
Explanation of Parameters for above table is as below.
Parameter Name Explanation Remark
Master sends the guard message to
Guard time
slave in cycle of “Guard Time”.
Life time=Guard Time x Life Time Factor. When “Heartbeat” is selected,
Node
Slave does not respond to the polling “Node Guarding” can not be
Guarding Life Time
from master within the period of Life selected.
Factor
Time and then master assumes the slave
is offline.

Parameter Name Explanation Remark

Node Slave sends the heartbeat message to
heartbeat master in cycle of “Node heartbeat
The time for “Master consumer
producer time producer time”
timeout” should be longer than
Heartbeat If master does not receive the heartbeat
Master that for “slave heartbeat
message from slave within the period of
consumer producer time”.
“master consumer timeout”, master
time-out
assumes the slave is offline.
All nodes configurated in CANopen
Node list --
network are all displayed in node list.
The node configurating “error control
setting” can monitor whether the nodes In”Heartbeat monitoring” is
Heartbeat consumer
in the window of “Heartbeat consumer” configurated only one node.
are offline.
Select some node in “Node list” and add
Icon it to the window of “heartbeat monitoring” --
by clicking the icon .
Select one node in “Heartbeat” and then
Icon delete the selected node by clicking the --
icon .
Select one node in “Heartbeat
“Edit” Button monitoring” and revise the monitoring --
time clicking “Edit…”
By clicking “OK” return to the dialogue
box of “Node configuration” and the
“OK” Button --
parameters set in “Error control setting”
are saved
By clicking “Cancel” return to the
dialogue box of “Node configuration” and
“Cancel” Button --
the parameters set in “Error control
setting” are invalid.

Auto SDO Configuration: In the “Node Configuration” page, click on “Auto SDO Configuration”, and you will
see the page as below.
Click on “Add” to edit Auto SDO. Click on “Edit” to modify the Auto SDO selected. Please note that the Auto
SDO cannot be longer than 8 bytes, and every slave is able to posses maximum 20 auto SDOs.
Below window pops up by clicking on “Add” button in above window. “Index (hex)”, “Sub-Index (hex)” are the
index and sub-index of the parameters to be visited; “Length (dec)” is determined by the data type of the
parameter to be visited with the unit: byte.
The data length of word type is 2. “Data (hex)” is the data of the parameter to be written with the data type of
hex, low byte in the left, high byte in the right and space between every two bytes. For data type: double words,
low word is in the left and high word is in the right.
“Index (hex)”, “Sub-Index (hex)” are the index and sub-index of the parameters to be visited;
“Length (dec)” is determined by the data type of the parameter to be visited with the unit: byte.
The data length of word type is 2. “Data (hex)” is the data of the parameter to be written with the data type of
hex, low byte in the left, high byte in the right and space between every two bytes. For data type: double words,
low word is in the left and high word is in the right.

PDO mapping: In the “Node Configuration…” page, select a TxPDO or RxPDO in “Configured PDO” and click
on “PDO Mapping”, and you will enter the “PDO Mapping…” page as below. You can add the parameters in
“Available Objects from EDS file” into “Mapped Objects”. The total length of the parameters added in each
PDO cannot exceed 8 bytes. After the configuration is completed, click on “OK”.
In the “Node Configuration…” page, click on “Properties” to enter the "PDO Properties” page and modify
COB-ID and Transmit type. After the configuration is completed, click on “OK”. In the “Node Configuration…”
page, click on “Define PDO” to self define RxPDO or TxPDO.
In this example, we adopt the default configuration. Finally, click “OK” in the “Node Configuration…” page.

PDO COB-ID setting rule is as follows.

RxPDO Number COB-ID(HEX) TxPDO Number COB-ID (HEX)
RxPDO1 200+slave node address TxPDO1 180+slave node address
Note:
COB-ID of RxPDO5~ RxPDO8, TxPDO5~ TxPDO8 can be the COB-ID of other slaves: RxPDO1~ RxPDO4,
TxPDO1~ TxPDO4 which has not been used in the network yet. COB-ID of every PDO must not be same.
PDO transmission type is as below;
Transmission Type Description Remark
Master transmits a SYNCH message to slave every
SYNCH cycle. When there is change for RxPDO data,
RxPDO data is transmitted to slave and the data that slave
RxPDO
receives is valid after receiving the next SYNCH message.
When there is no change for RxPDO data, master does not
transmit RxPDO data to slave.
0 SYNCH non-cycle
SYNCH cycle. When TxPDO data changes, slave sends
the TxPDO data to master after receiving SYNCH
TxPDO
message, TxPDO data that master receives is valid
immediately. When there is no change for TxPDO data,
master does not transmit TxPDO data to slave.
SYNCH cycle. Master sends out RxPDO data to slave
RxPDO once every SYNCH cycle. RxPDO data that slave receives
from master is valid after slave receives the next SYNCH
1 message. SYNCH Cycle
SYNCH cycle. Slave sends out TXPDO data to master
TxPDO
once after receiving one SYNCH message. And then the
TxPDO data master receives is valid immediately.
SYNCH cycle. Master transmits RxPDO data to slave
RxPDO every two SYNCH cycles. The RxPDO data slave receives
will be valid after slave receives the next SYNCH
2 message. SYNCH Cycle
SYNCH cycle. Slave sends out TxPDO data to master
TxPDO
once after receiving 2 SYNCH messages. And the TxPDO
data master receives is valid immediately.

Transmission Type Description Remark

RxPDO To analogize on basis of transmission type 1 and 2
3～240 SYNCH Cycle
TxPDO To analogize on basis of transmission type 1 and 2
When there is any change for RxPDO, RxPDO data is
transmitted to slave and the PxPDO that slave receives is
RxPDO
valid immediately. When there is no change for RxPDO,
master does not send RxPDO data to slave.
When Event timer and inhibit timer are both 0, TxPDO data
is transmitted to master after TXPDO data changes and
the data that master receives will be invalid immediately;
when TxPDO data does not change, slave does not send
254 ASYNCH
out TxPDO data to master.
When neither of Event timer and inhibit timer are 0, slave
TxPDO
sends out TxPDO data to master once every a period of
Event timer. After TxPDO data is sent out once, no TxPDO
data is allowed to be sent out within the period of inhibit
timer and when TxPDO data changes, TxPDO data is
transmitted to master at once and the data that master
receives will be valid immediately.
RxPDO Same as transmission type: 254
255 ASYNCH
TxPDO Same as transmission type: 254
 Node List Setting
(1) Double click on “DVPCOPM Master” icon, and you will see the “Node List Setting” dialog box as below.

(2) In this example, first select DVP-SS/SA/EH PLC at Node 003 and click on > to add this node into the node
list. After this, select Node 003 in the node list, and you will be able to see how the I/O data correspond to D
registers in DVP-SV from the Output Table and Input Table below.
(3) Add also Node 002 into the node list, and you will be able to see how the I/O data correspond to D registers in
DVP-SV from the Output Table and Input Table below. Click on “OK” to complete setting up the node list.

 Downloading the data to the master

Select “Network“ => “Download” to download the configuration data to DVPCOPM-SL master. If the PLC is in RUN
status at this moment, you will be given a warning saying that you have to stop the operation before the download.
Click on “OK” to stop the PLC and start to download the data to the master.
After the download is completed, you will be given another warning, asking you if you would like to run the PLC
again. Click on “OK” to restart the PLC program, or click on “Cancel” to stop the PLC.
4.4 Saving the Configuration Data
Select “File” => "Save” to save the current configuration data.
4.5 CANopen Network Control
In this section, we will introduce how to compile WPL program and control CANopen network.
 Target:
1. When SW0 on Slave 3 is closed, the servo drive on Slave 2 will start to run.
2. When SW0 on Slave 3 is open, the servo drive on Slave 2 will stop.
3. When the status of SW1 and SW2 on Slave 3 is switched, the running speed of servo drive on Slave 2 can be
modified.
4. When the servo drive is running, the signal LED on Slave 2 will be On.
5. When the servo drive stops, the signal LED on Slave 2 will be Off.

 The program in DVP-SV CPU (master):

M1002
SET M0
M0
MOV D6032 D6286
MOV D6036 D6282
END
 Program explanations:
1. The 2nd row of the program indicates sending the content of D256 in DVP-SA (mapped on D6032 of DVP-SV)
to the control word (Multi-Function Digital Input, mapped on D6286 of DVP-SV) of the servo drive.
2. The 3rd row of the program indicates sending the output status of the servo drive (Multi-Function Digital Output,
mapped on D6036 of DVP-SV) to D0 in DVP-SA (mapped on D6282 of DVP-SV).
 The program in DVP-SA CPU (slave):
M1002
MOV HC6 D1120
D
SET M1120
RST M1143
SET M0
M0
MOV K2X20 D256
MOV D0 K2M10
M10
Y0
END
 Program explanations:
1. The first 3 rows of the program set up the communication format between DVP-SA and IFD9503, which is
115,200bps, 7E1-ASCII; communication port is COM2.
2. When M0 = On, send the input status of X20 ~ X28 on DVP-08ST to D256, and send the data in b0 ~ b15 of D0
to M10 ~ M25.
3. When D0 = 1, M10 will be On, and Y0 on DVP-SA CPU will output.

5 Sending SDO, NMT and Reading Emergency by Ladder Diagram
5.1 Principle
See the chart below for sending SDO by WPL program:

SDO request message A
(PLC -> COPM)
D
SDO response message
(COPM -> PLC)
DVPCOPM DVP28SV
RUN
STOP
DVPCOPM-SL DVP28SV
SDO request message from master
SDO response message from slave

B
C
P
O
R
T
1
P
O
R
T
2
IFD9503
VFD-B
A: DVP-SV sends out request message to DVPCOPM-SL (master).
B: DVPCOPM-SL (master) sends out request message to the target equipment.
C: The target equipment processes the request message and sends the response message to DVPCOPM-SL.
D: DVP-SV receives SDO, NMT and Emergency data.
5.2 Structure of SDO Request Message
You can edit SDO, NMT and Emergency in “request message editing area”. Take the first DVPCOPM-SL master
placed on the left hand side of DVP-SV for example. See the table below for the corresponding relation between
“request message editing area” and “response message editing area” and the devices in PLC.
PLC device Editing area Editing length
D6000 ~ D6031 SDO response message and Emergency response message 64 bytes
SDO request message, NMT service message and Emergency
D6250 ~ D6281 64 bytes
request message

See the table below for the format of SDO request message:
Request Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 ReqID Command
D6251 Message Header Reserved Size
D6252 Type MAC ID
D6253 High byte of main index Low byte of main index
D6254 Reserved Sub index
D6255 Message Data Datum 1 Datum 0
D6256 Datum 3 Datum 2
D6257 ~ D6281 Reserved
 Command: Fixed to “01Hex”.
 ReqID: The request ID. Whenever an SDO request message is sent out, the message will be given a ReqID for
CANopen master to identify. For the next request message to be sent out, you have to change the ID number.
Range of ReqID: 00Hex ~ FFHex.
 Size: The length of the message. Max. 8 bytes. Unit: byte.
 MAC ID: The node address of the target equipment on CANopen network.
 Type: In SDO request message, 01Hex refers to SDO read message service; 02Hex refers to SDO write message
service; 4FHex refers to read 1 byte of data; 60Hex refer to write 1/2/4 byte(s) of data; 80Hex refers to end SDO
command. For example, if the type is 02Hex in SDO request message, it will become 60Hex for SDO response
message when the writing of data is successful.
 Status code:
Status code Explanation
0 No data transmission request
1 SDO data transmission is successful.
2 SDO data is being transmitted.
3 Error: SDO transmission time-out
4 Error: Illegal command
5 Error: Size of request message is illegal.
6 Error: Size of response message is illegal.
7 Error: Equipment to be sent messages is busy.
8 Error: Illegal type
9 Error: Incorrect node address
0A Error message (See the error code for SDO response message)
0B ~ FF Reserved

5.3 Structure of NMT Service Message
You can send the NMT request message to D6250 ~ D6281, and the slave will not respond with a message.
Request Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 ReqID Command
D6251 Message Header Reserved Size (fixed to 04Hex)
D6252 Type (fixed to 03Hex) MAC ID
D6253 Reserved NMT service code
Message Data
D6254 Reserved MAC ID
 ReqID: The request ID. Whenever an NMT request message is sent out, the message will be given a ReqID for the
CANopen master to identify. For the next NMT request message to be sent out, you have to change the ID number.
 NMT service code
 01Hex: Enable remote node; 02Hex: Disable remote node; 80Hex: Enter pre-operational status; 81Hex: Reset
application; 82Hex: Reset communication
Example: If you would like to stop node 03 equipment on CANopen network, you have to set NMT service code to
“02Hex” and MAC ID to “03".
5.4 Structure of Emergency Request Message
See the table below for the format of Emergency request message:
Request Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 ReqID Command
D6251 Message Header Reserved Size (fixed to 0)
D6252 Type (fixed to 04Hex) MAC ID
D6253 ~ D6281 Message Data Reserved
See the table below for the format of Emergency response message:
Response Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6000 ReqID Status
D6001 Message Header Reserved Size (2A Hex)
D6002 Type (04Hex) MAC ID
D6003 Total number of data Number of data stored
Message Data
D6008 ~ D6011 Emergency2

Response Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Message Data
D6020~ D6023 Emergency5
D6024~ D6031 Reserved
 ReqID: The request ID. Whenever an Emergency message is sent out, the message will be given a ReqID for the
CANopen master to identify. For the next Emergency message to be sent out, you have to change the ID number.
 Total number of data: The total number of Emergency messages CANopen master receives.
 Number of data stored: The latest number of Emergency messages CANopen master receives. (Every slave gives
less than 5 messages.)
Note:
 CANopen master can only send out 1 SDO, NMT or Emergency request message to one piece of equipment at a
time.
 When you use WPL program to send out SDO, NMT or Emergency request messages, we recommend you clear
the “request message editing area” and “response message editing area” to 0.
5.5 Application Examples
In this section, we will illustrate how to compile a WPL program to send out SDO and NMT messages or read
Emergency request messages.
 Example I
 Target:
When M0 turns OFF to ON, read the content of index 2021, sub index 4 (i.e. actual output value of AC motor
drive) in IFD9503.

 Hardware Connection:
DVPCOPM DVP28SV
C A N+ RUN
S H LD
C A N- STOP
GN D
Node 1 Master
CANopen
Node 2
RJ12
RS-485
IFD9503 VFD-B
 Software operation:
Add a master and slave in the CANopen Builder software as below:

Right click the VFD icon and then click "Parameter Edit" on the menu which pops up.
The "Parameter Edit" dialog box appears subsequently.

From the following window, the VFD parameters and the corresponding index and subindex can be seen,
which will be used in the program.

Required settings in DVPCOPM-SL:

Parameter Setting Explanation
Node address 01 Set the node address of DVPCOPM-SL to “01”.
Set the communication speed between DVPCOPM-SL and
Baud rate 1 Mbps
bus to “1 Mbps”.
Required settings in IFD9503:
Node address 02 Set the node address of IFD9503 to “02”.
Set the communication speed between IFD9503 and bus to
Baud rate 1 Mbps
“1 Mbps”.
Required settings in VFD-B AC motor drive:
02-00 04 The main frequency is operated by RS-485 interface.
02-01 The running command is operated by communication
03
interface. Operation by keys is valid.
09-00 01 Communication address of VFD-B: 01
09-01 03 Baud rate: 38,400 bps
09-04 03 Modbus RTU mode, format <8, N, 2>
Devices in PLC:
Explanation
PLC device Content
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 0101Hex ReqID = 01Hex Command = 01Hex
SDO request D6251 0004Hex Reserved Size = 04Hex
message D6252 0102Hex Type = 01Hex MAC ID = 02Hex
editing area D6253 2021Hex High byte of index = 20Hex Low byte of index = 21Hex
D6254 0004Hex Reserved Sub index = 04Hex
D6000 0101Hex ReqID = 01Hex Status = 01Hex
D6001 0006Hex Reserved Size = 06Hex
SDO response
D6002 4B02Hex Type = 4BHex MAC ID = 02Hex
message
D6003 2021Hex High byte of index = 20Hex Low byte of index = 21Hex
editing area
D6005 0100Hex Datum 1= 01Hex Datum 0 = 00Hex
 0100Hex in D6005 refers to the actual output frequency of the AC motor drive is 2.56Hz.
 PLC program
M1002
ZRST D6000 D6031
Reset response message editing area
and request message editing area.
ZRST D6250 D6281

M0
MOV H0101 D6250 ReqID = 01, Command = 01
MOV H0004 D6251 Size = 04
MOV H0102 D6252 Type = 01, MAC ID = 02
MOV H2021 D6253 Index = 2021
MOV H0004 D6254 Sub index = 04
END
 Program explanation
1. The program first reset the SDO request message editing area and SDO response message editing area
to 0.
2. When M0 = On, CANopen master will send out SDO request message and read the contents in index
2021, sub index 4 of the target equipment (at node address 02). If the communication is successful, the
slave will return with the response message.
3. When M0 = On, CANopen master will send out request message only once. If you would like it to send out
messages again, you will have to change the ReqID.
4. The messages returned from the target equipment are stored in D6000 ~ D6005.
 Example II
 Target:
When M0 turns OFF to ON, set the content in index 2047, sub index 2 (i.e. the control word of the target
temperature) in IFD9503 to 0104Hex (i.e. 26.0°C). Please note that you have to write 0401Hex into D6255 of
the PLC.

 Hardware connection:
DVPCOPM DVP28SV
CAN+ RUN
SHLD
CAN- STOP
GND
Node 1 Master
CANopen
Node 2
PV
°C
°F
SV
AT OUT ALM1 ALM2
SET
DTA4848
RS-485
IFD9503 DTA
 Software operation:
Add a master and slave to the CANopen Builder software as below.

Right click the DTA icon and then click "Parameter Edit" on the menu which pops up.
The "Parameter Edit" dialog box appears subsequently.

From the following window, the DTA parameters and the corresponding index and subindex can be seen,
which will be used in the program.

 Master and slave parameters setting:

Required settings in DVPCOPM-SL:
Node address 01 Set the node address of DVPCOPM-SL to “01”.
Set the communication speed between DVPCOPM-SL and the bus
Baud rate 1 Mbps
to “1 Mbps”.
Required settings in IFD9503:
Node address 02 Set the node address of IFD9503 to “02”.
Set the communication speed between IFD9503 and the bus to “1
Baud rate 1 Mbps
Mbps”.
Required settings in DTA temperature controller:
On C WE: Enable/disable communication write-in
ASCII C-SL: Select ASCII or RTU format
1 C NO: Set up communication address
38400 BPS: Set up communication speed
7 LENGTH: Set up data length
E PARITY: Set up parity bit
1 STOP BIT: Set up stop bit
°C UNIT: Select temperature unit, °C or °F

Devices in PLC
Explanation
PLC Device Content
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 0101Hex ReqID = 01Hex Command = 01Hex
D6251 0006Hex Reserved Size = 06Hex
SDO request
D6252 0202Hex Type = 02Hex MAC ID = 02Hex
message
D6253 2047Hex High byte of index = 20Hex Low byte of index = 47Hex
editing area
D6255 0401 Hex Datum 1= 04Hex Datum 0= 01Hex
D6000 0101Hex ReqID = 01Hex Status = 01Hex
SDO response D6001 0004Hex Reserved Size = 04Hex
message D6002 6002Hex Type = 60Hex MAC ID = 02Hex
editing area D6003 2047Hex High byte of index = 20Hex Low byte of index = 47Hex

 PLC program
M1002
ZRST D6000 D6031
Reset response message editing area
and request message editing area.
ZRST D6250 D6281
M0
MOV H0101 D6250 ReqID = 01, Command = 01
MOV H0006 D6251 Size = 06
MOV H0202 D6252 Type = 02, MAC ID = 02
MOV H2047 D6253 Index = 2047H
MOV H0002 D6254 Sub index = 02
MOV H0401 D6255 Target temperature for DTA: 0104H
END
 Program explanation
1. The program first reset the SDO request message editing area and SDO response message editing area
to 0.
2. When M0= On, CANopen master will send out SDO request message and write 0104Hex into index 2047,
sub index 2 of the target equipment (at node address 02). If the communication is successful, the slave will
return with the response message.
3. When M0 = On, CANopen master will send out request message only once. If you would like it to send out
messages again, you will have to change the ReqID.
4. The messages returned from the target equipment are stored in D6000 ~ D6004.
6 Network Node Status Display

All slave state of CANopen network can be read through reading 5002/1 (index/subindex) value by sending SDO via
ladder diagram; master state of CANopen network can be read through reading 5003/1 (index/subindex) value by
sending SDO via ladder diagram; CANopen network state can be read through reading 5004/1 (index/subindex) value
by sending SDO via ladder diagram.
6.1 Slave State of CANopen Network
User can read the content value for H’5002>>H’01 to acquire the slave status message of CANopen network by
sending SDO.
Index Subindex Object Name Data Type Access Permission Default
H’00 Entry Unsigned 16 bits RO ---
H’5002
H’01 Status word for node 1 ~ node 127 Unsigned 128 bits RO ---

The corresponding relations between index H”5002>> subindex H’01 and network nodes are as follows.
Corresponding Network Node
H’5002>>H’01
b15 b14 b13 …… b1 b0
Word 0 Node 15 Node 14 Node 13 …… Node 1 Reserved
Word 1 Node 31 Node 30 Node 29 …… Node 17 Node 16

The corresponding bit is in off status when the nodes in the node list of master module are normal; the corresponding
bit is in on status when the nodes in the node list of master module are abnormal, e.g. Initializing fails or other
abnormality causes slave offline.
6.2 Master Status of CANopen Network
User can read the content value for H’5003>>H’01 to acquire the master module status message of CANopen network
by sending SDO. When master module is at normal work, the content value for H’5003>>H’01 is 0; when there is any
error in master module, the content value for H’5003>>H’01 is the corresponding error code.
H’5003
H’01 Status of master module Unsigned 16 bits RO ---
Explanation of the Content value for H’5003>>H’01
Content Value Explanation Actions
Slave has not been added to node list of Add slave to node list and redownload configuration to
F1
CANopen Builder. DVPCOPM-SL
In process of downloading configuration
F2 Wait till the configuration is finished downloading.
to DVPCOPM-SL.
Redownload configuration and change into a new
F3 DVPCOPM-SL in error status
DVPCOPM-SL if the error still exists.
Check the wiring for all cables of CANopen network is
F4 Bus-off is detected proper; ensure all nodes in network are at same baud rate
and finally repower DVPCOPM-SL.
The setting for DVPCOPM-SL node The DVPCOPM-SL node address should be set in the
F5
address is incorrect range of 1~127.
Check and ensure the work power of DVPCOPM-SL is
F9 Low-voltage detection error
normal.
The inner part of DVPCOPM-SL
FA Repower DVPCOPM-SL.
firmware is in error state.
The storage space sending data in Check and ensure bus cable connection is normal and then
FB
DVPCOPM-SL is full. repower DVPCOPM-SL.

Content Value Explanation Actions

The storage space receiving data in Check and ensure bus cable connection is normal and then
FC
DVPCOPM-SL is full. repower DVPCOPM-SL.
0 Master is in normal status --
6.3 CANopen Network Status
User can read the content value for H’5004>>H’01 to acquire CANopen network status message by editing ladder
diagram to send SDO. When all nodes of CANopen network are all at normal work, the content value for H’5004>>H’01
is 0; when any node of CANopen network is abnormal or initializing fails, the content value for H’5004>>H’01 is 1.
H’5004
H’01 CANopen network status Unsigned 16 bits RO ---
6.4 Data Structure of SDO Request Message
Here, SDO request message structure is for 5002/1 (index/ subindex), 5003/1 (index/ subindex), 5004/1 (index/
subindex) only and can be realized by editing information request mapping area. Take DVPCOPM-SL, the first master
module on the left of PLC as an example, below table shows the corresponding relations between message request/
response mapping area and PLC device.
PLC Device Mapping Area Mapping Length
D6000~D6031 SDO message response area 64 bytes
D6250~D6281 SDO message request area 64 bytes
Data Format of SDO Request Message
Request Message
PLC Device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 Request ID Command code
D6251 Message header Reserved Data length
D6252 Type Node address
D6253 Main index high byte Main index low byte
D6254 Reserved Subindex
D6255 Message data Data1 Data 0
D6256 Data 3 Data 2
 Command code: fixed to 01 ( Hex )
 Request ID: Every SDO request message sent out should be given a request ID. CANopen master recognizes
every request message via “Request ID number” which must be changed for the next communication after the
communication is finished. The value range for Request ID is 00 (Hex) ~ FF (Hex).
 Data length: the data length of message is fixed to 4 bits.
 Node address: node address of CANopen network master
 Type: it is fixed to 1 in SDO request message which indicates SDO data reading service.

Data Format for SDO Response Message

PLC Request Message
Device 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6000 Response ID Status code
D6001 Message Header Reserved Data Length
D6002 Type Node address
D6003 Main index high byte Main index low byte
D6004 Reserved Subindex
D6005 Data 1 Data 0
D6006 Data 3 Data 2
D6007 Data 5 Data 4
D6008 Message Data Data 7 Data 6
D6009 Data 9 Data 8
D6010 Data 11 Data 10
 Status Code
Status Code Explanation
0 No data transmission request
1 SDO message transmission succeeds.
2 SDO message is being transmitted.
3 Error – SDO message transmitting is time-out.
4 Error – Command code is invalid.
5 Error – The transmitted data length is invalid.
6 Error – Response data length is invalid.
7 Error – The device which is to be used for transmission is busy.
8 Error – Type code is invalid.
9 Error – Node address is wrong.
0A Error information ( refer to the error code in SDO response message)
0B~FF Reserved
 Response ID: Normally, the Response ID is same as the Request ID in request message; in abnormal status, the
Response ID is 0.
 Data length: data length of message data; maximum value: 32; Unit: byte.
 Node address: node address of CANopen network master.
 Type: In SDO response message, 43 (Hex) represents that data of 4 bytes are read; 4B (Hex) represents that data
of 2 bytes are read; 4F (Hex) represents that data of 1 byte are read and 42(Hex) represents data longer than 4
bytes are read.

6.5 Application Examples
【Control Requirement】
Edit ladder diagram to achieve monitor function of CANopen network as follows.
 Real-time monitoring of the slave state in the node list of master module;
 Real-time monitoring of the state of master module;
 Real-time monitoring of the state of CANopen network.
M1 0 0 2
Z RS T D6 0 0 0 D6 0 3 1
Z RS T D6 2 5 0 D6 2 8 1
M1 0 0 0
MOV D2 0 0 D6 2 5 0
MOV H0 0 0 4 D6 2 5 1
MOV H0 1 7 F D6 2 5 2
MOV D2 0 1 D6 2 5 3
MOV H0 0 0 1 D6 2 5 4
M1 0 0 2
MOV H5 0 0 2 D2 0 1
MOV H0 1 0 1 D2 0 0

L D= D6 0 0 0 H0 1 0 1 B MOV D6 0 0 5 D1 K8
L D= D6 0 0 0 H0 1 0 3 MOV H5 0 0 3 D2 0 1
MOV H0 2 0 1 D2 0 0
L D= D6 0 0 0 H0 2 0 1 MOV D6 0 0 5 D9
L D= D6 0 0 0 H0 2 0 3 MOV H5 0 0 4 D2 0 1
MOV H0 3 0 1 D2 0 0
L D= D6 0 0 0 H0 3 0 1 MOV D6 0 0 5 D1 0
L D= D6 0 0 0 H0 3 0 3 MOV H5 0 0 2 D2 0 1
MOV H0 1 0 1 D2 0 0
7 LED Indicator & Trouble-shooting

DVPCOPM-SL has three LED indicators and a digital display on it. POWER LED displays whether the power supply of
DVPCOPM-SL is normal. RUN LED and ERR LED display the current operational status. The digital display shows the
node address of DVPCOPM-SL and error messages from the slave.
DVPCOPM
POWER
RUN
ERR
7.1 POWER LED
LED status Indication How to correct

On Power is abnormal. Check the power supply of DVPCOPM-SL.
Green light On Power is normal. --

7.2 RUN LED

Check the power of DVPCOPM-SL and make sure the
Off No power
connection is normal.
Green light Upper computer is downloading network configuration and
DVPCOPM-SL in STOP status
single flash DVPCOPM-SL is waiting till the download is finished.
1. Check the wiring for bus cables of CANopen network is
proper.
Green light DVPCOPM-SL in pre-operational 2. Check the baud rate of master and other slaves.
blinking status 3. Check if the configured slave has been connected to
network really.
4. Check if the slave is offline.
Green light DVPCOPM-SL is operational
--
steady on status
RUN LED green light single flash versus blinking:
7.3 ERR LED

Off Normal --
1. Check if CANopen bus is standard cable.
Red light double flash Slave is offline. 2. Check if both terminals of CANopen bus are connected
with terminal resistance.
2. Check if both terminals of CANopen bus is connected
Bus error exceeds the
Red light single flash with terminal resistance.
warning limit.
3. Check if the interference around CANopen bus is too
strong.
1. Check if connection for CANopen network bus cables is
proper.
Red light steady on Bus-off
2. Check if DVPCOPM-S and other slaves are at same
baud rate.

Error LED red light single flash versus double flashes:
7.4 Codes in Digital Display
 DVPCOPM-SL as master:
Code Indication How to correct
The node address of DVPCOPM-SL when
1 ~ 7F --
in normal operation.
Slave has not been added to node list of Add slave into the node list and then redownload it to
F1
CANopen builder software. DVPCOPM-SL.
The data are being downloaded to
F2 Wait till configuration is finished downloading
DVPCOPM-SL.
Redownload parameter configuration and change into a
F3 DVPCOPM-SL in error status
new DVPCOPM-SL if the error still exists.
Check if CANopen network bus cables are properly
F4 Bus-off is detected.
connected.
Incorrect node address of DVPCOPM-SL The node address for DVPCOPM-SL should be set in
F5
settings the range of 1~127.
F6 Internal error: manufacturing process
Repower DVPCOPM-SL. If the error still exists, change
F7 Internal error: GPIO check
to a new DVPCOPM-SL.
F8 Internal error: memory check
Check and make sure the power of DVPCOPM-SL works
F9 Low voltage is detected.
normally.
The firmware of DVPCOPM-SL is in error
FA Repower DVPCOPM-SL.
status.
The sending buffer in DVPCOPM-SL is Check and ensure CANopen network bus cables are
FB
full. properly connected and then repower DVPCOPM-SL
The receiving buffer in DVPCOPM-SL is Check and ensure CANopen network bus cables are
FC
full. properly connected and then repower DVPCOPM-SL.


DVPCOPM-SL receives Emergency Read relevant information through PLC CPU or Delta
E0
message sent by the slave. CANopen Builder software.
PDO data length returned from the slave
Reset the PDO data length in the slave and download
E1 is not consistent with the length set in the
the new setting to DVPCOPM-SL.
node list.
PDO message from the slave has not
E2 Check and make sure the setting is correct.
been received.
E3 Auto SDO download failed. Check and make sure auto SDO is correct.
E4 PDO parameter setting has failed. Make sure the PDO parameter setting is legal.
Make sure all the slaves connected are consistent with
E5 Error in key parameter setting.
the slaves set.
1. Make sure the power of the slave and the network
E6 Slave is offline. connection work normally.

3. Check if Both terminals of CANopen bus is
connected with terminal resistance.
E7 The slave's error control is timed-out. 4. Check if the interference around CANopen bus is
too strong.
Reset the node address and make sure the new address
E8 Master/slave node address is repeated.
is not a repeated one.
 DVPCOPM-SL as slave:
The node address of DVPCOPM-SL when
1 ~ 7F --
in normal operation.
The parameters in DVPCOPM-SL are
A0 Wait till initializing is finished.
being initialized.
DVPCOPM-SL is in pre-operational Check if the bus cables in CANopen network are
A1
status. connected properly.
The data are being downloaded to
A3 Wait till configuration is finished downloading.
DVPCOPM-SL.
Check if the bus cables in CANopen network are
B0 Heartbeat timed-out
connected properly.
PDO data length returned from the slave
Reset the PDO data length in the slave and download the
B1 is not consistent with the length set in the
new setting to DVPCOPM-SL.
node list.
Check if the bus cables in CANopen network are
connected properly; ensure all the nodes in the network
F4 Bus-off is detected
work are at the same baud rate. Repower
DVPCOPM-SL.


The sending buffer in DVPCOPM-SL is Make sure the bus works normally and repower
FB
full. DVPCOPM-SL.
The receiving buffer in DVPCOPM-SL is Check if the bus cables in CANopen network are
FC
full. connected properly and repower DVPCOPM-SL.

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DVPCOPM-SL

CANopen Communication Module

 Switch off the power before wiring.

DVP-PLC Operation Manual 1

4.4 Saving the Configuration Data.............................................................................................. 26

2 DVP-PLC Operation Manual

DVP-PLC Operation Manual 3

Able to read Emergency message through the ladder diagram in PLC.

4 DVP-PLC Operation Manual

Storage -25ºC ~ 70ºC (temperature); 5 ~ 95% (humidity)

1.3 Explanation of Output/Input Mapping Area of DVPCOPM-SL

DVP-PLC Operation Manual 5

2 Product Profile & Outline

3 [0.118] 60 [2.362] 33.1 [1.303]

6 DVP-PLC Operation Manual

2.2 Product Profiles

1. Model name 6. Fixing clip for I/O module

2.3 CANopen Connection Port

DVP-PLC Operation Manual 7

2.4 CAN Network Endpoint and Topology Structure

2.5 Address Switch

1 ~ 7F Valid CANopen node address

8 DVP-PLC Operation Manual

2.6 Function Switch

2.7 Digital Indicator

The digital indicator provides the following two functions:

DVP-PLC Operation Manual 9

3.1 Connecting DVPCOPM-SL to DVP-SV CPU

3.2 Installing DVPCOPM-SL and DVP-SV CPU on DIN Rail

 Use 35mm DIN rail.

10 DVP-PLC Operation Manual

3.3 Connecting to CANopen Connection Port

 Please wire following the PIN definition of the connection port.

4 Constructing CANopen Network

4.1 How to Construct a CANopen Network

Equipment and software required:

DVP-PLC Operation Manual 11

12 DVP-PLC Operation Manual

4.2 Data Mapping in CANopen Network

 Data mapping in DVP-12SA

DVP-PLC Operation Manual 13

 Data mapping in ASD-B

Output data D6286 Multi-function digital input

4.3 How to Configure Network by Delta CANopen Builder Software

 Using CANopen Builder to scan the network

14 DVP-PLC Operation Manual

DVP-PLC Operation Manual 15

16 DVP-PLC Operation Manual

DVP-PLC Operation Manual 17

 Setting up parameters in CANopen master

18 DVP-PLC Operation Manual

(2) Relevant parameter settings

DVP-PLC Operation Manual 19

Parameter Name Explanation Remark

20 DVP-PLC Operation Manual

DVP-PLC Operation Manual 21

22 DVP-PLC Operation Manual

PDO COB-ID setting rule is as follows.

DVP-PLC Operation Manual 23