Delta Electronics CANopen Communication Module DVPCOPM-SL Applications Manual page 17

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 Cosumer 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.
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.
PDO mapping: In the "Node Configuration..." page, select a TxPDO or RxPDO in "Configured
DVP-PLC Application Manual
CANopen Communication Module DVPCOPM-SL
15