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DVPCOPM-SL

CANopen Communication Module
Operation Manual

DVP-0204420-02

Summary of Contents for CANopen DVPCOPM-SL

Page 1: ...DVPCOPM SL CANopen Communication Module Operation Manual DVP 0204420 02...

Page 2: ...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 s...

Page 3: ...e 28 5 3 Structure of NMT Service Message 30 5 4 Structure of Emergency Request Message 30 5 5 Application Examples 31 6 Network Node Status Display 39 6 1 Slave State of CANopen Network 39 6 2 Master...

Page 4: ...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 Hea...

Page 5: ...n 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 S...

Page 6: ...00 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 diff...

Page 7: ...quipped 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...

Page 8: ...dule 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 connec...

Page 9: ...SL on 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 0 x16 1 Example If you need to set t...

Page 10: ...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 0x...

Page 11: ...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 CPU on DIN Rail Use 35mm DIN rail Open the DIN rail clip on DVP SV and D...

Page 12: ...ata to be exchanged total length of data to be exchanged requirement on the response time for data exchange and so on The information will decide whether the network you construct is a reasonable one...

Page 13: ...of DI2 SPD0 P2 12 115 Function 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...

Page 14: ...nd exchanging data with DVPCOPM SL master 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 outp...

Page 15: ...SL master See the table below for the relation between the parameters in ASD B and the input and output data in DVPCOPM SL master D register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Input data D6036 Mul...

Page 16: ...te and communication format Item Function Default COM Port COM port on the PC to be used to communicate with DVP SV COM1 Address Communication address of DVP SV 1 Baud rate Communication speed between...

Page 17: ...is in normal status you will see the screen as below If there are more than one DVPCOPM SL module less than 8 connected to the left side of DVP SV and supposed there are two connected in this example...

Page 18: ...n Click on OK and start to scan all the slaves in the network If the network installation and power supply are normal you will see the screen as below 6 In normal condition after the scan is over you...

Page 19: ...an select either Master Mode or Slave Mode Cycle Period The period of sending synchronous information Master s heartbeat time Time for DVPCOPM SL to send out heartbeat After all the parameters are set...

Page 20: ...ut the master will consider the slave off 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 b...

Page 21: ...list Heartbeat consumer The node configurating error control setting can monitor whether the nodes in the window of Heartbeat consumer are offline In Heartbeat monitoring is configurated only one nod...

Page 22: ...ted with the unit byte The data length of word type is 2 Data hex is the data of the parameter to be written with the data type of hex low byte in the left high byte in the right and space between eve...

Page 23: ...length of the parameters 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 an...

Page 24: ...to slave every SYNCH cycle When TxPDO data changes slave sends the TxPDO data to master after receiving SYNCH message TxPDO data that master receives is valid immediately When there is no change for...

Page 25: ...after TXPDO data changes and the data that master receives will be invalid immediately when TxPDO data does not change slave does not send out TxPDO data to master When neither of Event timer and inh...

Page 26: ...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 t...

Page 27: ...tart the PLC program or click on Cancel to stop the PLC 4 4 Saving the Configuration Data Select File Save to save the current configuration data 4 5 CANopen Network Control In this section we will in...

Page 28: ...s of the servo drive Multi Function Digital Output mapped on D6036 of DVP SV to D0 in DVP SA mapped on D6282 of DVP SV The program in DVP SA CPU slave M1002 MOV H D1120 MOV K2M10 SET M1120 M0 END D D0...

Page 29: ...e target equipment processes the request message and sends the response message to DVPCOPM SL D DVP SV receives SDO NMT and Emergency data 5 2 Structure of SDO Request Message You can edit SDO NMT and...

Page 30: ...D The node address of the target equipment on CANopen network 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...

Page 31: ...emote node 02Hex Disable remote node 80Hex Enter pre operational status 81Hex Reset application 82Hex Reset communication Example If you would like to stop node 03 equipment on CANopen network you hav...

Page 32: ...er 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 N...

Page 33: ...SL Hardware Connection DVPCOPM DVP28SV RUN STOP Master CANopen RJ12 VFD B RS 485 IFD9503 C AN C AN SH LD GN D Node 1 Node 2 Software operation Add a master and slave in the CANopen Builder software a...

Page 34: ...nd then click Parameter Edit on the menu which pops up The Parameter Edit dialog box appears subsequently From the following window the VFD parameters and the corresponding index and subindex can be s...

Page 35: ...aud 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 Rese...

Page 36: ...sub index 4 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...

Page 37: ...onnection DVPCOPM DVP28SV RUN STOP Master CANopen DTA RS 485 IFD9503 CAN CAN SHLD GND Node 1 Node 2 DTA4848 AT SET PV SV OUT ALM1 ALM2 C F Software operation Add a master and slave to the CANopen Buil...

Page 38: ...nd then click Parameter Edit on the menu which pops up The Parameter Edit dialog box appears subsequently From the following window the DTA parameters and the corresponding index and subindex can be s...

Page 39: ...C NO Set up communication address 38400 BPS Set up communication speed 7 LENGTH Set up data length E PARITY Set up parity bit 1 STOP BIT Set up stop bit C UNIT Select temperature unit C or F Devices...

Page 40: ...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...

Page 41: ...e is any error in master module the content value for H 5003 H 01 is the corresponding error code Index Subindex Object Name Data Type Access Permission Default H 00 Entry Unsigned 16 bits RO H 5003 H...

Page 42: ...uest mapping area Take DVPCOPM SL the first master module on the left of PLC as an example below table shows the corresponding relations between message request response mapping area and PLC device PL...

Page 43: ...O message transmitting is time out 4 Error Command code is invalid 5 Error The transmitted data length is invalid 6 Error Response data length is invalid 7 Error The device which is to be used for tra...

Page 44: ...CANopen network as follows Real time monitoring of the slave state in the node list of master module Real time monitoring of the state of master module Real time monitoring of the state of CANopen net...

Page 45: ...0 H0303 7 LED Indicator Trouble shooting DVPCOPM SL has three LED indicators and a digital display on it POWER LED displays whether the power supply of DVPCOPM SL is normal RUN LED and ERR LED display...

Page 46: ...heck if the slave is offline Green light steady on DVPCOPM SL is operational status RUN LED green light single flash versus blinking 7 3 ERR LED LED status Indication How to correct Off Normal Red lig...

Page 47: ...d Check if CANopen network bus cables are properly connected F5 Incorrect node address of DVPCOPM SL settings The node address for DVPCOPM SL should be set in the range of 1 127 F6 Internal error manu...

Page 48: ...is standard cable 3 Check if Both terminals of CANopen bus is connected with terminal resistance 4 Check if the interference around CANopen bus is too strong E8 Master slave node address is repeated R...

Page 49: ...Code Indication How to correct FB The sending buffer in DVPCOPM SL is full Make sure the bus works normally and repower DVPCOPM SL FC The receiving buffer in DVPCOPM SL is full Check if the bus cable...

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