Delta Electronics CANopen Communication Module DVPCOPM-SL Applications Manual Download

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CANopen Communication Module DVPCOPM-SL

DVP-PLC Application Manual

Response Message

PLC device

15 14 13 12 11 10

D6020~ D6023

Emergency5

D6024~ D6031

Reserved

Command: Fixed to “01Hex”.

ReqID: The request ID. Whenever an Emergency message is sent out, the message will be given a ReqID for

the CANopen master to identify. For the next Emergency message to be sent out, you have to change the ID

number. Range of ReqID: 00Hex ~ FFHex.

MAC ID: The node address of the target equipment on CANopen network.

Total number of data: The total number of Emergency messages CANopen master receives.

Number of data stored: The latest number of Emergency messages CANopen master receives. (Every slave

gives less than 5 messages.)

Note:

CANopen master can only send out 1 SDO, NMT or Emergency request message to one equipment at a

time.

When you use WPL program to send out SDO, NMT or Emergency request messages, we recommend you

clear the “request message editing area” and “response message editing area” to 0.

5.5 Application

Examples

In this section, we will illustrate how to compile a WPL program to send out SDO and NMT messages or

readEmergency request messages.

Example

Target:

When M0 = On, read the content of index 2021, sub index 4 (i.e. actual output value of AC motor

drive) in IFD9503.

DVPCOPM

DVP28SV

RUN

STOP

Master

CANopen

RJ12

VFD-B

RS-485

IFD9503

C A N+

C A N-

S H LD

G N D

Node 1

Node 2

Summary of Contents for CANopen Communication Module DVPCOPM-SL

Page 1: ...DVPCOPM SL CANopen Communication Module Application Manual ...

Page 2: ......

Page 3: ...PM 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 1 INTRODUCTION 3...

Page 4: ...BY LADDER DIAGRAM 20 5 1 The Principle 20 5 2 Structure of SDO Request Message 20 5 3 Structure of NMT Service Message 21 5 4 Structure of Emergency Request Message 22 5 5 Application Examples 23 6 LED INDICATOR TROUBLE SHOOTING 27 6 1 POWER LED 28 6 2 RUN LED 28 6 3 ERR LED 28 6 4 Codes in Digital Display 28 ...

Page 5: ...n standard protocol DS301v4 02 z Supporting NMT Master Service z Error control Supporting Heartbeat Node Guarding Protocol z 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 z PDO transmission type Supporting event trigger time trigger synchronous cycle and synchronous non cycle z PDO mapping ...

Page 6: ...ndard expedited SDO transmission mode z Supporting Emergency Protocol Able to indicate Emergency event in slave through digital display z In the auto data exchange with DVP SV the user only has to program the D register mapped in DVP SV without applygin FROM TO instructions 1 2 Functions CANopen connection Transmission method CAN Electrical isolation 500VDC Interface Removable connector 5 08mm Tra...

Page 7: ...s IEC 61131 2 UL508 2 Product 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 IN 0 SHLD GND CAN DVPCOPM SL ERR NODE ADDRESS 0 DR 2 DR 1 DR 0 x16 x16 1 POWER RUN 2 2 Product Profiles 3 4 7 5 8 2 9 6 6 6 1 2 IN 0 SHLD GND CAN DVPCOPM SL ERR NODE ADDRESS 0 DR 2 DR 1 DR 0 ...

Page 8: ...alid CANopen node address NODE ADDRESS x16 0 x16 1 Example If you need to set the node address of DVPCOPM SL to 26 1AH simply switch the corresponding switch of x161 to 1 and the corresponding switch of x160 to A Note z Use slotted screwdriver to rotate the switch carefully in case you scratch the switch z Please set up the node address when the power is switched off After the setup is completed r...

Page 9: ...Open the fixing clip on top and bottom of DVP SV Meet the extension port of DVPCOPM SL with DVP SV as 1 z Press the fixing clips on top and bottom of DVP SV and check is the connection is fine as 2 DVP28SV RUN STOP 2 2 1 1 G ND S HLD CA N NODE ADDRESS DR 1 IN 0 DR 0 DR 2 x16 0 x16 1 ERR RUN POWER DVPCOPM CA N 3 2 Installing DVPCOPM SL and DVP SV MPU on DIN Rail z Use 35mm DIN rail z Open the DIN r...

Page 10: ...an shall include the slaves to be used type of transmiaaion and the data to be exchanged total length of data to be exchanged requirement on the response time for data exchange and so on These information will decide whether the network you construct is a reasonable one or if it satisfies your needs and even affect the later on network sustainability and flexibility of network capacity upgrade In ...

Page 11: ...09 100 rpm Internal speed command 1 SP1 P1 10 300 rpm Internal speed command 2 SP2 P1 11 500 rpm Internal speed command 3 SP3 P2 10 101 Function of DI1 Servo on P2 11 114 Functin of DI2 SPD0 P2 12 115 Functino of DI3 SPD1 P2 18 102 Function of DO1 Output when servo on P3 00 1 Modbus communication address P3 01 5 115 200 bps Modbus baud rate P3 02 1 7 E 1 Modbus data format P3 06 3F DI1 DI6 control...

Page 12: ...r the default length of input data is 8 bytes and output data is 8 bytes D256 in DVP 12SA is the start device for input data and D0 is the start device for output data To realize the control function of X0 X1 and X2 we place the statuses of X0 X2 to bit 0 2 of D256 That is when X0 On bit 0 of D256 will become 1 When X1 On bit 1 of D256 will become 1 In this way we can realize the control of RUN ST...

Page 13: ...Network by Delta CANopenBuilder Software z Using CANopenBuilder to scan the network 1 Open CANopenBuilder software as below 2 Select Setup Communication Setting System Channel and the Serial Port Setting dialog box will appear 3 Set up the communication parameters in the PC and DVP SV e g the communication port address baud rate and communication format Item Function Default COM Port COM port on t...

Page 14: ...unication Channel dialog box will appear In this example if the connection with DVP SV is in normal status you will see the screen as below If there are more than one DVPCOPM SL modules less than 8 connected to the left side of DVP SV and supposed there are two connected in this example after clicking on Online you will see the screen as below The DVPCOPM SL which is closest to DVP SV is regarded ...

Page 15: ...tion Manual 13 6 In normal condition after the scan is over you will find the master and all the slaves displayed in CANopen network as below z Setting up parameters in CANopen master Select Network Master Parameter and you will see the dialog box as below ...

Page 16: ...heartbeat time Time for DVPCOPM SL to send out heartbeat After all the parameters are set up click on OK z Setting up parameters in CANopen slave Take the parameter settings in ASD B for example 1 Double click on ASD B and you will see the dialog box as below 2 Relevant parameter settings Error Control Protocol In the Node Configuration page click on Error Control Protocol and you will see the dia...

Page 17: ...f 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 bel...

Page 18: ...ters added in each PDO cannot exceed 8 bytes After the configuration is completed click on OK In the Node Configuration page click on Properties to enter the PDO Properties page and modify COB ID and Transmit type After the configuration is completed click on OK In the Node Configuration page click on Define PDO to self define RxPDO ir TxPDO In this example we adopt the default configuration Final...

Page 19: ... this example first select DVP SS SA EH PLC at Node 003 and click on to add this node into the node list After this select Node 003 in the node list and you will be able to see how the I O data correspond to D registers in DVP SV from the Output Table and Input Table below 3 Add also Node 002 into the node list and you will be able to see how the I O data correspond to D ...

Page 20: ...download the configuration data to DVPCOPM SL master If the PLC is in RUN status at this moment you will be given a warning saying that you have to stop the operation before the download Click on OK to stop the PLC and start to download the data to the master After the download is completed you will be given another warning asking you if you would like to run the PLC again Click on OK to restart t...

Page 21: ...n the servo drive is running the signal LED on Slave 2 will be On 5 When the servo drive stops the signal LED on Slave 2 will be Off z The program in DVP SV MPU master M1002 MOV D6032 D6286 MOV D6282 SET M0 M0 END D6286 D6036 z Program explanations 1 The 2nd row of the program indicates sending the content of D256 in DVP SA mapped on D6032 of DVP SV to the control word Multi Function Digital Input...

Page 22: ...V RUN STOP IFD9503 VFD B DVP28SV DVPCOPM SL SDO response message COPM PLC SDO request message PLC COPM A D C B SDO request message from master SDO response message from slave A DVP SV sends out request message to DVPCOPM SL master B DVPCOPM SL master sends out request message to the target equipment C The target equipment processes the request message and sends the response message to DVPCOPM SL D...

Page 23: ...Hex z Size The length of the message Max 8 bytes Unit byte z MAC ID The node address of the target equipment on CANopen network z Type In SDO request message 01Hex refers to SDO read message service 02Hex refers to SDO write message service 4FHex refers to read 1 byte of data 60Hex refer to write 1 2 4 byte s of data 80Hex refers to end SDO command For example if the type is 02Hex in SDO request m...

Page 24: ...rational status 81Hex Reset application 82Hex Reset communication Example If you would like to stop node 03 equipment on CANopen network you have to set NMT service code to 02Hex and MAC ID to 03 5 4 Structure of Emergency Request Message See the table below for the format of Emergency request message Request Message PLC device 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 D6250 ReqID Command D6251 Reserv...

Page 25: ...ceives z Number of data stored The latest number of Emergency messages CANopen master receives Every slave gives less than 5 messages Note z CANopen master can only send out 1 SDO NMT or Emergency request message to one equipment at a time z When you use WPL program to send out SDO NMT or Emergency request messages we recommend you clear the request message editing area and response message editin...

Page 26: ...ddress of VFD B 01 09 01 03 Baud rate 38 400 bps 09 04 03 Modbus RTU mode format 8 N 2 Devices in PLC Explanation PLC device Content 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 D6250 0101Hex ReqID 01Hex Command 01Hex D6251 0004Hex Reserved Size 04Hex D6252 0102Hex Type 01Hex MAC ID 02Hex D6253 2021Hex High byte of index 20Hex Low byte of index 21Hex SDO request message editing area D6254 0004Hex Reserve...

Page 27: ...uipment at node address 02 If the communication is successful the slave will return with the response message 3 When M0 On CANopen master will send out request message only once If you would like it to send out messages again you will have to change the ReqID 4 The messages returned from the target equipment are stored in D6000 D6005 Example II z Target When M0 On set the content in index 2047 sub...

Page 28: ...ID 01Hex Command 01Hex D6251 0006Hex Reserved Size 06Hex D6252 0202Hex Type 02Hex MAC ID 02Hex D6253 2047Hex High byte of index 20Hex Low byte of index 47Hex D6254 0002Hex Reserved Sub index 02Hex SDO request message editing area D6255 0401 Hex Datum 1 04Hex Datum 0 01Hex D6000 0101Hex ReqID 01Hex Status 01Hex D6001 0004Hex Reserved Size 04Hex D6002 6002Hex Type 60Hex MAC ID 02Hex D6003 2047Hex Hi...

Page 29: ...send out SDO request message and write 0104Hex into index 2047 sub index 2 of the target equipment at node address 02 If the communication is successful the slave will return with the response message 3 When M0 On CANopen master will send out request message only once If you would like it to send out messages again you will have to change the ReqID 4 The messages returned from the target equipment...

Page 30: ...nnection and operation are normal Red light steady on Bus off Check if the bus connection is normal and re power DVPCOPM SL 6 4 Codes in Digital Display z DVPCOPM SL as master Code Indication How to correct 0 7F The node address of DVPCOPM SL when in normal operation F1 No slave configured in node list Re configure the node list and download it to DVPCOPM SL F2 The data are being downloaded to DVP...

Page 31: ...n key parameter setting Make sure all the slaves connected are consistentwith the slaves set E6 The slave does not exist in the network E7 The slave s error control is timed out Make sure the power of the slave and the network connection work normally E8 Master slave node address is repeated Reset the node address and make sure the new address is not a repeated one z DVPCOPM SL as slave Code Indic...

Page 32: ...CANopen Communication Module DVPCOPM SL DVP PLC Application Manual 30 MEMO ...

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