Delta DVP-ES2 Manual do Utilizador descarregar pdf (Página 659)

100

101

7 CANopen Function and Operation

7-3

Storage Data type

64-bit LINT ULINT LREAL LWORD

¾ If the CAN port functions as a slave, it has the following functions.

 It supports the standard CANopen protocol DS301 V4.02.

 It supports the NMT (network management object) service.

 It supports the NMT state control.

The state of DVP-ES2-C in the CANopen network is controlled by a master.

 It supports the NMT error control.

Heartbeat is supported, but Node Guarding is not supported.

 It supports the PDO (process data object) service.

 The PDO message is used to transmit the immediate input data and output data.

 It supports 8 TxPDO at most, and 8 RxPDO at most.

 The PDO transmission type: The synchronous mode, and the asynchronous mode

 It supports the service of reading the emergency from a slave.

If an error or an alarm occurs in DVP-ES2-C, the master is notified through the emergency.

7.1.2 The Input/Output Mapping Areas

DVP-ES2-C as a master supports 16 slaves at most, and the slave node ID range from 1 to 16. The

output mapping areas are D6250-D6476, and the input mapping areas are D6000-D6226.

Device in the PLC Mapping area

Mapping

length

D6250~D6281

SDO request information, NMT service information, and

Emergency request information

64 bytes

D6000~D6031

SDO reply information, and Emergency reply

information

64 bytes

D6282~D6476 RxPDO mapping area 390 bytes

D6032~D6226 TxPDO mapping area 390 bytes

7.2 The Installation and the Network Topology

This section introduces the dimensions of DVP-ES2-C, the CAN interface, the CANopen network

framework, and the communication distance.

7.2.1 The Dimensions

106

L 78

61.5

110

Unit: millimeter

1 2 ... 654 655 656 657 658 659 660 661 662 663 664 ... 701 702

Delta DVP-ES2 Manual do Utilizador Página 659

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