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CANopen Communication Module DVPCOPM-SL
DVP-PLC Application Manual
3
1 Introduction
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 DVP-SV series PLC MPU. When DVP-SV
is connected to CANopen network through DVPCOPM-SL, DVPCOPM-SL will serve as the data exchange
interface between DVP-SV and other slaves on the bus. DVPCOPM-SL is in charge of sending the data in
DVP-SV to the slaves on the bus, and at the same time collecting the data returned from each slave and
sending them back to DVP-SV.
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:
z Complying with CANopen 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: 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
z Supporting SDO Service.
Number of server: 0
Number of user: 3
z Supporting standard expedited SDO transmission mode.
z Supporting Auto SDO function. Able to execute maximum 20 Auto SDOs to each slave.
z Supporting reading/writing of data in slave by using SDO Service in the ladder diagram in PLC.
z Supporting Emergency Protocol:
Able to store 5 latest Emergency messages for each slave.
Able to indicate Emergency messages in slave from digital display.
Able to read Emergency message through the ladder diagram in PLC.
z SYNC producer; Range: 0 ~ 65,535ms.