Delta DVP-15MC Series, Operation Manual

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Chapter 6 Wiring, Communication Setting and Network Construction
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6.9 CANopen Communication Port
6.9.1 Functions that CANopen Communication Port Supports
CANopen communication port can be used as CANopen network master or as a slave of other master.

As a master, CAN1 communication port supports following functions.

Standard CANopen protocol DS301V4.02;

NMT (Network Management Object) Master service;

NMT Error control;
NMT error control is used to watch if some slave is offline. NMT error control includes Heartbeat
and Node Guarding. The module supports Heartbeat function.

Connects max. 32 slaves.

PDO (Process Data Object) service.
The number of RxPDOs: max. 200, data length: max. 1000 bytes
The number of TxPDOs: max. 200, data length: max. 1000 bytes
Maximum 8 TxPDOs and 8 RxPDOs are configured for each slave.
PDO transmission type: supporting event trigger, time trigger, synchronous and cyclic,
synchronous and acyclic
PDO mapping: every PDO can map 32 parameters at most.
The data type that CAN communication port supports
Storage capacity Data type
1bit BOOL
8bit SINT, USINT,BYTE
16bit INT, UINT, WORD
32bit DINT, UDINT, REAL, DWORD
64bit LINT, ULINT, LREAL, LWORD

Supports SDO service
Supports standard expedited SDO transmission mode;
Supports Auto SDO function; capable of sending a maximum of 30 Auto SDOs to each slave;
Supports reading and writing of slave data by using SDO service in PLC ladder diagram program.

SYNC producer, range 0-65535ms
Multiple devices perform an action synchronously through SYNC message.

As the connection interface between Delta CANopen Builder configuration software and
CANopen network, the configuration software can be directly used to configure the network
through DVPCOPM-SL module

Supports the CANopen communication speeds: 20K, 50K, 125K, 250K, 500K, 1Mbps

As a slave, CAN1 communication port supports following functions.

Standard CANopen protocol DS301V4.02

NMT slave service

NMT Error control
Supporting Heartbeat Protocol error control instead of Node Guarding error control

PDO service
The number of RxPDOs: max. 8, data length: max. 64 bytes
The number of TxPDOs: max .8, data length: max. 64 bytes

PDO transmission type: event trigger, time trigger, synchronous and cyclic, synchronous and
acyclic

SDO service