Introduction To Canopen; Canopen Function Descriptions - Delta AS Series Operation Manual

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10.1

Introduction to CANopen

1. Because of its simple wiring, immediate and stable communication, strong debugging ability, and low
cost, the CANopen network is widely used in fields such as industrial automation, the automotive
industry, the medical equipment industry, and the building trades.
2. The AS300 Series PLC is compatible with CANopen when using the AS-FCOPM function card for the
CAN port, and can work in master mode or slave mode. The CAN port conforms to the basic
communication protocol CANopen DS301. It supports master and slave modes.
3. AS200 Series PLC is built with CAN communication port. The CAN port conforms to the basic
communication protocol CANopen DS301. It supports master and slave modes.
4. This chapter explains the functions of CANopen. In master mode, CANopen can support up to 64 slaves,
station addresses 1~64.
5. CANopen Builder is the CANopen network configuration software for the AS Series. You set the
CANopen station address and the communication rate with this software. ISPSoft / DIADesigner is the
programming software for the AS Series.
6.
This chapter mainly focuses on the CANopen functions. Refer to Section 10.3 for more information.

10.1.1 CANopen Function Descriptions

The CAN port has the following functions when acting as a master.
1. It supports the standard CANopen protocol DS301 V4.02.
2. It supports the NMT (network management object) service.

It supports NMT state control.
Use NMT state control to control the state of a slave in the CANopen network.

It supports NMT error control.
Use NMT error control detect the disconnection of a slave. The NMT error control is classified into
two types; Heartbeat and Node Guarding. The AS Series PLC does not support Node Guarding.
3. It supports the PDO (Process Data Object) service.

Use PDO messaging to transmit immediate input and output data.

It supports up to 256 RxPDO and 1894 bytes.

It supports up to 256 TxPDO and 1894 bytes.

It supports synchronous and asynchronous modes for the PDO transmission type.
4. It supports the SDO (Service Data Object) service.

Use SDO to read, write, or configure the slave parameters.

It supports standard SDO transmission mode.

It supports automatic SDO functions. You can write up to 20 pieces of data to a slave.

It supports using the SDO service in a PLC ladder diagram to read the data from a slave or write
the data to a slave.
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