Introduction; Features - Delta CANopen DVPCOPM-SL Operation Manual

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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
1 bit
8 bits
16 bits
32 bits
64 bits
 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.
DVP-PLC Operation Manual
CANopen Communication Module DVPCOPM-SL
Data type
BOOL
SINT USINT BYTE
INT UINT WORD
DINT UDINT REAL DWORD
LINT ULINT LREAL LWORD
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