Delta CANopen DVPCOPM-SL User manual

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

1Introduction.........................................................................................................................................3

1.1 Features..................................................................................................................................3

1.2 Functions.................................................................................................................................4

1.3 Explanation of Output/Input Mapping Area of DVPCOPM-SL.................................................5

2Product 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

3Basic 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

4Constructing 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

CANopen Communication Module DVPCOPM-SL

DVP-PLC Operation Manual

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

4.5 CANopen Network Control ...................................................................................................26

5Sending 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

6Network 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

7LED 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

CANopen Communication Module DVPCOPM-SL

1Introduction

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.

DVP-PLC Operation Manual 3

CANopen Communication Module DVPCOPM-SL

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

Noise immunity

ESD (IEC 61131-2, IEC 61000-4-2): 8KVAir Discharge, 4KV Contact Discharge

EFT (IEC 61131-2, IEC 61000-4-4): Power Line: 2KV, Digital I/O: 1KV

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

DVP-PLC Operation Manual

CANopen Communication Module DVPCOPM-SL

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

Shock/vibration

immunity

International standard: IEC 61131-2, IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC

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

Position Output Mapping Area Input Mapping Area

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

Position

Message Request

Area of SDO, NMT,

Emergency

Message Response

Area of SDO, NMT,

Emergency

RxPDO Mapping

Area

TxPDO Mapping

Area

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

DVP-PLC Operation Manual 5

CANopen Communication Module DVPCOPM-SL

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

Position Output Mapping Area Input Mapping Area

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

2Product Profile & Outline

DVPCOPM-SL is composed of CANopen connection port, address switch, function switch, and digital display.

2.1 Dimension

90 [3.543]

60 [2.362]

63.4 [2.496]

33.1 [1.303]

3 [0.118]

IN0

SHLD

GND

CAN-

DVPCOPM-SL

ERR

NODE ADDRESS

DR 2

DR 1

DR 0

x16

POWER

RUN

DVP-PLC Operation Manual

CANopen Communication Module DVPCOPM-SL

2.2 Product Profiles

IN0

SHLD

GND

CAN-

DVPCOPM-SL

ERR

NODE ADDRESS

DR 2

DR 1

DR 0

x16

POWER

RUN

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

2 CAN_L Signal-

3 SHLD Shielded

4 CAN_H Signal+

5 - Reserved

GND

SHLD

CAN-

CAN+

DVP-PLC Operation Manual 7

CANopen Communication Module DVPCOPM-SL

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-SLon CANopen network. Range: 1 ~ 7F (0, 88 ~ FF

are forbidden).

Switch setting Content

1 ~ 7F Valid CANopen node address

0, 80 ~ FF Invalid CANopen node address

NODE ADDRESS

x16

Example: If you need to set the node address of DVPCOPM-SL to 26 (1AH), simply switch the corresponding switch of

x161to 1 and the corresponding switch of x160to 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.

DVP-PLC Operation Manual

CANopen Communication Module 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

OFF ON ON 125k 500

ON OFF OFF 250k 250

ON OFF ON 500k 100

ON ON OFF 800k 50

ON ON ON 1M 25

IN0 See the explanation below

DR 1

DR 0

DR 2

I N 0

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.

DVP-PLC Operation Manual 9

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