Delta Electronics DVPCOPM-SL Manual Do Utilizador

DVP-PLC Application Manual 

3

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.