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Delta Electronics DVPCOPM-SL - page 1
DVPCOPM-SL CANopen Communication Module Application Manual ...
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Delta Electronics DVPCOPM-SL - page 2
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Delta Electronics DVPCOPM-SL - page 3
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 1 Warning Please r ead this instruction car efully befor e use and follow th is instruction to operate the device in or der to pr event damages on the device or injuries to staff. Switch off the power befor e wiring. DVPCOPM-SL is an OPEN TYPE device and ther efor e shou ...
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Delta Electronics DVPCOPM-SL - page 4
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 2 5 SENDING SDO, NMT AND READING EM ERGENCY BY LADDER DIAGRAM .............................. 20 5.1 The Principle .................................................................................................................. ......... 20 5.2 S tructure of SDO Request Message.... ...
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Delta Electronics DVPCOPM-SL - page 5
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 3 1 Introduction 1. T o ensure correct installatio n and operation of D VPCOPM-SL, please read this chapter carefully before using your DVPCOPM-SL. 2. This chapter only provides introdu ctory informat ion on DVPCOPM-SL. For more detaile d information on CANopen protocol, please refe ...
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Delta Electronics DVPCOPM-SL - page 6
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 4 z As the interface between Delt a CANopenBuilder software and CANopen network. The software can configure the network dire ctly through DVPCOPM-SL. z In the auto data exchange with DVP-SV , the use r only has to program the D register mapped in DVP-SV without applygin FROM/T O ins ...
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Delta Electronics DVPCOPM-SL - page 7
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 5 Opeartion 0ºC ~ 55ºC (temperature); 50 ~ 95% (hu midity); pollution deg ree 2 S torage -25ºC ~ 70ºC (temperature); 5 ~ 95% (h umidity) Shock/vibration immunity International stan dard: IEC 61 131-2, IEC 68-2-6 (TEST Fc)/IEC 61 131-2 & IEC 68-2-27 (TEST Ea) Certificates IEC ...
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Delta Electronics DVPCOPM-SL - page 8
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 6 3. POWER, RUN, ERR indic ator s 8. Function switch 4. DIN rail clip 9. CANopen connection port 5. Digital di splay 2.3 CANopen Connection Port The connector is used on t he co nnection to CANopen network. Wi re by using the connector enclosed with DVPCOPM-SL. PIN Signal Content 1 ...
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Delta Electronics DVPCOPM-SL - page 9
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 7 Note: z Use slotted screwd river to adjust the DIP switch ca re fully in case you scratch the switch. z Please set up the function switch when the power is switched of f. After the setup is completed, re-power DVPCOPM-SL. 2.6 Digital Indicator The digital indicator provid es the f ...
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Delta Electronics DVPCOPM-SL - page 10
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 8 3.3 Connecting to CANopen Connection Port z Please wire following the PIN def inition of the connection port. z There are two communication interfaces on DVP-SV to communicate with the PC. COM 1 is the standard RS-232 interface, and COM2 RS-485. Both in terfaces comply with Modbus ...
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Delta Electronics DVPCOPM-SL - page 11
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 9 Equipemt & software Function Delta CANop enBuilder CANopen configurat ion sof tware for DVPCOM-SL master z Set up DVPCOPM-SL and IFD9503 according to the t able below . For how to operate IFD9503, please refer to Chapter 13. Module Node address Baud rate (bps) DVPCOPM-SL 01 1M ...
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Delta Electronics DVPCOPM-SL - page 12
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 10 About the connection between IFD95 03 and PLC, IFD9503 and ASD-B, or IFD9503 and other equipm ent, please refer to Chapter 13. For the ele ctrical specif ications of ASD-B, please refer to ASD-B user manual. 4.2 Data Mapping in CANopen Network z Data mappin g in DVP-12S A DVP-08S ...
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Delta Electronics DVPCOPM-SL - page 13
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 11 D register 15 14 13 12 11 10 9876 5 4 3 2 1 0 Input data D6036 Multi-function digital output Output data D6286 Multi-function digital input 4.3 How to Configure Network by Delta CANopenBuilder Sof tware z Using CANopenBuilde r to scan the n etwork (1) Open CANopenBuilder sof twar ...
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Delta Electronics DVPCOPM-SL - page 14
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 12 Item Function Default with DVP-SV Address Communication add re ss of DVP-SV 1 Baud rate Communication sp eed b etween the PC and DVP-SV 9,600 (bps) Data Bit s 7 Parity Even Parity S top Bit COmmuniction protocol bet ween the PC and DVP-SV 1 Mode Communication mode b etwee n the P ...
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Delta Electronics DVPCOPM-SL - page 15
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 13 (6) In normal condition, af ter 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 ma ster Select “Network” => ”Master Parameter”, and you will see the dial og box as below . ...
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Delta Electronics DVPCOPM-SL - page 16
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 14 Work Mo de: The work mode of DVPCOPM-SL. Y ou can select either “Master Mode” or “Slave Mode ”. Cycle Period: The period of sending synchronous info rmation. Master ’s heartbeat time: Time for DVPCOPM-SL to send out heartbeat. After all the p arameters are set up, click ...
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Delta Electronics DVPCOPM-SL - page 17
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 15 In this page, you can set up p arameters for er ror control, e.g. “Master Consumer T imeout” and “Node Heartbeat Producer Time”. Please note that the value of “Ma s ter Con sumer T imeout" shall be bigger than the value of “Node Heartbeat Produce r T i me”. Aft ...
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Delta Electronics DVPCOPM-SL - page 18
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 16 PDO” and click on “PDO Mapping”, an d you will enter the “PDO Mapping…” p age as below . Y ou can add the parameters in “A vailable Objects from EDS file” into “Mapped Object s”. The tot al length of the parameters added in e ach PDO cannot exceed 8 bytes. Aft ...
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Delta Electronics DVPCOPM-SL - page 19
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 17 (1) Double click on “DVPCOPM Maste r” icon, and yo u will see the “Node List Setting” dialog box as below . (2) In this example, first select DVP-SS/SA/EH PLC at Node 00 3 a nd click on > to add this node into the node list. After this, select Node 003 in the node li s ...
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Delta Electronics DVPCOPM-SL - page 20
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 18 registers in DVP-SV from the Output T able and Input T able below . Click on “OK” to complete setting up the node list. z Downloading the data to the maste r Select “Network“ => “Download” to download the conf iguration d ata to DVPCOPM-SL master . If the PLC is in ...
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Delta Electronics DVPCOPM-SL - page 21
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 19 4.4 Saving the Conf iguration Data Select “File” => "Save” to save the current configurat ion dat a. 4.5 CANopen Network Control In this section, we will introduce ho w to compil e WPL program and control CANopen net work. z T arget: 1. When SW0 on Slave 3 is closed ...
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Delta Electronics DVPCOPM-SL - page 22
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 20 z Program explanations: 1. The first 3 rows of the program set up the communi cation format between DVP-SA and IFD9503, which is 1 15,200bp s, 7E1-ASCII; communication port is COM2. 2. When M0 = On, send the input status o f X20 ~ X28 on DVP-08ST t o D256, and send the dat a in b ...
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Delta Electronics DVPCOPM-SL - page 23
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 21 PLC device Editing area Editing length D6000 ~ D6031 SDO respon se messag e and Emergency response messag e 64 bytes D6250 ~ D6281 SDO request messag e, NMT service message and E mergency request message 64 bytes See the table below for the format of SDO requ est message: Request ...
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Delta Electronics DVPCOPM-SL - page 24
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 22 Request Mess age PLC device 15 14 13 12 11 10 987 6 5 4 3 2 1 0 D6250 ReqID Command D6251 Reserved Size (fixed to 04Hex) D6252 Message Header T ype (fixed to 03Hex) MAC ID D6253 Reserve d NMT service code D6254 Message Dat a Reserved MAC ID z Command: Fixed to “01Hex”. z ReqI ...
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Delta Electronics DVPCOPM-SL - page 25
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 23 Response Message PLC device 15 14 13 12 11 10 98 7 6 5 4 3 2 1 0 D6020~ D6023 Emergency5 D6024~ D6031 Reser ved z Command: Fixed to “01Hex”. z ReqID: The request ID. Whenever an Emergency mess age is sent out, the message will be given a ReqID for the CANopen master to identi ...
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Delta Electronics DVPCOPM-SL - page 26
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 24 Required settings in DVPCOPM-SL: Parameter Setting Explanation Node address 01 Set the node address of DVPCOPM-SL to “01”. Baud rate 1 Mbps Set the communication speed between DVPCOPM -SL and bus to “1 Mbps”. Required settings in IFD9503: Parameter Setting Explanation Nod ...
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Delta Electronics DVPCOPM-SL - page 27
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 25 MO V H01 01 D62 50 M0 MO V H 0004 D 6251 MO V H01 02 D6 25 2 MOV H2 02 1 D625 3 MO V H 0004 D 6254 END ReqI D = 01, Com mand = 01 Si ze = 04 T y pe = 01 , MAC ID = 02 Ind ex = 2021 Sub index = 04 z Program explanation 1. The program first reset the SDO reque st message editing ar ...
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Delta Electronics DVPCOPM-SL - page 28
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 26 Required settings in DVPCOPM-SL: Parameter Setting Explanation Node address 01 Set the node address of DVPCOPM-SL to “01”. Baud rate 1 Mbp s Set the communication speed between DVPCOPM -SL and the bus to “1 Mbps”. Required settings in IFD9503: Parameter Setting Explanatio ...
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Delta Electronics DVPCOPM-SL - page 29
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 27 z PLC program MO V H01 01 D62 50 M100 2 ZRST D6 25 0 D62 81 M0 MOV H000 6 D6251 MOV H0 202 D6 25 2 MOV H2 047 D6 25 3 MOV H0 002 D6 25 4 ZRST D600 0 D6 03 1 END MOV H0 401 D6 25 5 Reset r esponse message editing a rea and re ques t m essag e editing area. Req ID = 01 , Comm and = ...
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Delta Electronics DVPCOPM-SL - page 30
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 28 6.1 POWER LED LED status Indication How to correct On Power is abnormal. Check the power supply of DVPCOPM-SL. Green light On Power is normal. -- 6.2 RUN LED LED status Indication How to correct Off No power Check the po wer of DVPCOPM-SL and make sure the connection is normal. G ...
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Delta Electronics DVPCOPM-SL - page 31
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 29 Code Indication How to correct F9 Low voltage i s dete ced. Check and make sure the power of DVPCOPM-SL works normally . FA The firmware of DVPCOPM-SL is in error status. Re-p ower DVPCOPM-SL. FB The se nding buffer in DVPCOPM-SL is full. Make sure the bus works normally and re-p ...
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Delta Electronics DVPCOPM-SL - page 32
CANopen Communication Module DVPCOPM-SL DVP-PLC Application Manual 30 MEMO ...
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