Network Node Status Display; Slave State Of Canopen Network - Delta CANopen DVPCOPM-SL Operation Manual

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PLC program
M1002
M0
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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.
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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
H'00 Entry
H'5002
H'01 Status word for node 1 ~ node 127
DVP-PLC Operation Manual
CANopen Communication Module DVPCOPM-SL
ZRST D6000 D6031
ZRST D6250 D6281
MOV H0101 D6250
MOV H0006 D6251
MOV H0202 D6252
MOV H2047 D6253
MOV H0002 D6254
H0401 D6255
MOV
END
Object Name
Reset response message editing area
and request message editing area.
ReqID = 01, Command = 01
Size = 06
Type = 02, MAC ID = 02
Index = 2047H
Sub index = 02
Target temperature for DTA: 0104H
Data Type Access Permission
Unsigned 16 bits
Unsigned 128 bits
Default
RO ---
RO ---
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