DVPCOPM-SL CANopen Communication Module Application Manual
CANopen Communication Module DVPCOPM-SL Warning Please read this instruction carefully before use and follow this instruction to operate the device in order to prevent damages on the device or injuries to staff. Switch off the power before wiring. DVPCOPM-SL is an OPEN TYPE device and therefore should be installed in an enclosure free of airborne dust, humidity, electric shock and vibration. The enclosure should prevent non-maintenance staff from operating the device (e.g.
CANopen Communication Module DVPCOPM-SL 5 6 2 SENDING SDO, NMT AND READING EMERGENCY BY LADDER DIAGRAM .............................. 20 5.1 The Principle........................................................................................................................... 20 5.2 Structure of SDO Request Message....................................................................................... 20 5.3 Structure of NMT Service Message ...........................................................
CANopen Communication Module DVPCOPM-SL 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.
CANopen Communication Module DVPCOPM-SL z As the interface between Delta CANopenBuilder software and CANopen network. The software can configure the network directly through DVPCOPM-SL. 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. When connected to DVP-SV/DVP-EH2-L MPU, registers after D6000 will be adopted temporarily. As a slave, DVPCOPM-SL features: z Complying with CANopen standard protocol DS301v4.
CANopen Communication Module DVPCOPM-SL 2 Opeartion 0ºC ~ 55ºC (temperature); 50 ~ 95% (humidity); pollution degree 2 Storage -25ºC ~ 70ºC (temperature); 5 ~ 95% (humidity) Shock/vibration immunity International standard: IEC 61131-2, IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC 68-2-27 (TEST Ea) Certificates IEC 61131-2, UL508 Product Profile & Outline DVPCOPM-SL is composed of CANopen connection port, address switch, function switch, and digital display. 2.1 Dimension DVPCOPM-SL POWER RUN 90 [3.
CANopen Communication Module DVPCOPM-SL 3. POWER, RUN, ERR indicators 4. DIN rail clip 5. Digital display 2.3 8. Function switch 9. CANopen connection port CANopen Connection Port The connector is used on the connection to CANopen network. Wire by using the connector enclosed with DVPCOPM-SL. PIN Signal Content 1 GND 0 VDC 2 CAN_L Signal- 3 SHLD Shielded 4 CAN_H Signal+ 5 - Reserved CAN+ SHLD 2.
CANopen Communication Module DVPCOPM-SL Note: z Use slotted screwdriver to adjust the DIP switch carefully in case you scratch the switch. z Please set up the function switch when the power is switched off. After the setup is completed, re-power DVPCOPM-SL. 2.6 Digital Indicator The digital indicator provides the following two functions: z Displaying the node address of DVPCOPM-SL. z Displaying the error message of slave. 3 Basic Operation 3.
CANopen Communication Module DVPCOPM-SL 3.3 Connecting to CANopen Connection Port z Please wire following the PIN definition of the connection port. z There are two communication interfaces on DVP-SV to communicate with the PC. COM1 is the standard RS-232 interface, and COM2 RS-485. Both interfaces comply with Modbus protocol. The PC communicates directly to PLC through COM1. z We recommend you also apply Delta’s power module in the connection.
CANopen Communication Module DVPCOPM-SL Equipemt & software Function Delta CANopenBuilder CANopen configuration software for DVPCOM-SL master z Set up DVPCOPM-SL and IFD9503 according to the table below. For how to operate IFD9503, please refer to Chapter 13.
CANopen Communication Module DVPCOPM-SL About the connection between IFD9503 and PLC, IFD9503 and ASD-B, or IFD9503 and other equipment, please refer to Chapter 13. For the electrical specifications of ASD-B, please refer to ASD-B user manual. 4.2 Data Mapping in CANopen Network z Data mapping in DVP-12SA DVP-08ST, connected on the right hand side of DVP-12SA, offers 8 channels of digital input and 1 byte of input data.
CANopen Communication Module DVPCOPM-SL D register 4.3 15 14 13 12 11 10 9 8 7 6 5 Input data D6036 Multi-function digital output Output data D6286 Multi-function digital input 4 3 2 1 0 How to Configure 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.
CANopen Communication Module DVPCOPM-SL Item Function Default with DVP-SV Address Communication address of DVP-SV Baud rate Communication speed between the PC and DVP-SV Data Bits Parity 9,600 (bps) 7 COmmuniction protocol between the PC and DVP-SV Stop Bit Mode 1 Even Parity 1 Communication mode between the PC and DVP-SV ASCII Click on “OK” and return to the main page. (4) Select “Network” => ”Online”, and the “Select Communication Channel” dialog box will appear.
CANopen Communication Module DVPCOPM-SL (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.
CANopen Communication Module DVPCOPM-SL Work Mode: The work mode of DVPCOPM-SL. You can 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 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.
CANopen Communication Module DVPCOPM-SL In this page, you can set up parameters for error control, e.g. “Master Consumer Timeout” and “Node Heartbeat Producer Time”. Please note that the value of “Master Consumer Timeout" shall be bigger than the value of “Node Heartbeat Producer Time”. After you have set up the heartbeat function, and the slave turns off-line and does not turn on-line within “Master Cosumer Timeout”, the master will consider the slave off-line.
CANopen Communication Module DVPCOPM-SL PDO” and click on “PDO Mapping”, and you will enter the “PDO Mapping…” page as below. You can add the parameters in “Available Objects from EDS file” into “Mapped Objects”. The total 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 and modify COB-ID and Transmit type.
CANopen Communication Module DVPCOPM-SL (1) Double click on “DVPCOPM Master” icon, and you will see the “Node List Setting” dialog box as below. (2) In 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.
CANopen Communication Module DVPCOPM-SL registers in DVP-SV from the Output Table and Input Table below. Click on “OK” to complete setting up the node list. z Downloading the data to the master Select “Network“ => “Download” to 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.
CANopen Communication Module DVPCOPM-SL 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 introduce how to compile WPL program and control CANopen network. z Target: 1. When SW0 on Slave 3 is closed, the servo drive on Slave 2 will start to run. 2. When SW0 on Slave 3 is open, the servo drive on Slave 2 will stop. 3.
CANopen Communication Module DVPCOPM-SL z Program explanations: 1. The first 3 rows of the program set up the communication format between DVP-SA and IFD9503, which is 115,200bps, 7E1-ASCII; communication port is COM2. 2. When M0 = On, send the input status of X20 ~ X28 on DVP-08ST to D256, and send the data in b0 ~ b15 of D0 to M10 ~ M25. 3. When D0 = 1, M10 will be On, and Y0 on DVP-SA MPU will output. 5 Sending SDO, NMT and Reading Emergency by Ladder Diagram 5.
CANopen Communication Module DVPCOPM-SL PLC device Editing area Editing length D6000 ~ D6031 SDO response message and Emergency response message 64 bytes D6250 ~ D6281 SDO request message, NMT service message and Emergency request message 64 bytes See the table below for the format of SDO request message: Request Message PLC device 15 14 13 12 11 10 9 D6250 8 7 6 5 4 3 2 1 ReqID Command Reserved Size D6252 Type MAC ID D6253 High byte of main index Low byte of main index D6254
CANopen Communication Module DVPCOPM-SL Request Message PLC device 15 14 13 12 11 10 9 D6250 D6251 7 6 5 4 3 2 1 ReqID Command Reserved Size (fixed to 04Hex) Type (fixed to 03Hex) MAC ID Reserved NMT service code Reserved MAC ID Message Header D6252 8 D6253 0 Message Data D6254 z Command: Fixed to “01Hex”. z ReqID: The request ID. Whenever an NMT request message is sent out, the message will be given a ReqID for the CANopen master to identify.
CANopen Communication Module DVPCOPM-SL Response Message PLC device 15 14 13 12 11 10 9 8 7 6 D6020~ D6023 Emergency5 D6024~ D6031 Reserved 5 4 3 2 1 0 z Command: Fixed to “01Hex”. z 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.
CANopen Communication Module DVPCOPM-SL Required settings in DVPCOPM-SL: Parameter Setting Node address 01 Baud rate 1 Mbps Explanation Set the node address of DVPCOPM-SL to “01”. Set the communication speed between DVPCOPM-SL and bus to “1 Mbps”. Required settings in IFD9503: Parameter Setting Node address 02 Baud rate 1 Mbps Explanation Set the node address of IFD9503 to “02”. Set the communication speed between IFD9503 and bus to “1 Mbps”.
CANopen Communication Module DVPCOPM-SL M0 MOV H0101 D6250 ReqID = 01, Command = 01 MOV H0004 D6251 Size = 04 MOV H0102 D6252 Type = 01, MAC ID = 02 MOV H2021 D6253 Index = 2021 MOV H0004 D6254 Sub index = 04 END z 1. Program explanation The program first reset the SDO request message editing area and SDO response message editing area to 0. 2.
CANopen Communication Module DVPCOPM-SL Required settings in DVPCOPM-SL: Parameter Setting Node address 01 Baud rate 1 Mbps Explanation Set the node address of DVPCOPM-SL to “01”. Set the communication speed between DVPCOPM-SL and the bus to “1 Mbps”. Required settings in IFD9503: Parameter Setting Explanation Node address 02 Set the node address of IFD9503 to “02”. Baud rate 1 Mbps Set the communication speed between IFD9503 and the bus to “1 Mbps”.
CANopen Communication Module DVPCOPM-SL z PLC program M1002 ZRST D6000 D6031 Reset response message editing area and request message editing area. ZRST D6250 D6281 MOV H0101 D6250 ReqID = 01, Command = 01 MOV H0006 D6251 Size = 06 MOV H0202 D6252 Type = 02, MAC ID = 02 MOV H2047 D6253 Index = 2047H MOV H0002 D6254 Sub index = 02 MOV H0401 D6255 Target temperature for DTA: 0104H M0 END z Program explanation 1.
CANopen Communication Module DVPCOPM-SL 6.1 POWER LED LED status 6.2 Indication On Power is abnormal. Check the power supply of DVPCOPM-SL. Green light On Power is normal. -- RUN LED LED status Indication No power Check the power of DVPCOPM-SL and make sure the connection is normal.
CANopen Communication Module DVPCOPM-SL Code z Indication How to correct F9 Low voltage is deteced. Check and make sure the power of DVPCOPM-SL works normally. FA The firmware of DVPCOPM-SL is in error status. Re-power DVPCOPM-SL. FB The sending buffer in DVPCOPM-SL is full. Make sure the bus works normally and re-power DVPCOPM-SL. FC The receiving buffer in DVPCOPM-SL is full. Make sure the bus works normally and re-power DVPCOPM-SL.
CANopen Communication Module DVPCOPM-SL MEMO 30 DVP-PLC Application Manual
