Chapter 7 canopen function and operation, Canopen function and operation, Chapter contents – Delta DVP-ES2 User Manual
Page 657
7 - 1
CANopen Function and Operation
This chapter explains the functions of CANopen and the usage.
Chapter Contents
7.1
The Introduction of CANopen ..............................................................................................7-2
7.1.1
The Description of the CANopen Functions ...............................................................7-2
7.1.2
The Input/Output Mapping Areas ...............................................................................7-3
7.2
The Installation and the Network Topology ....................................................................... 7-3
7.2.1
The Dimensions......................................................................................................... 7-3
7.2.2
The Profile ................................................................................................................. 7-4
7.2.3
The CAN Interface and the Network Topology .......................................................... 7-4
7.3
The CANopen Protocol ........................................................................................................ 7-8
7.3.1
The Introduction of the CANopen Protocol................................................................ 7-8
7.3.2
The CANopen Communication Object ...................................................................... 7-9
7.3.3
The Predefined Connection Set .............................................................................. 7-14
7.4
Sending SDO, NMT and Reading Emergency Message through the Ladder Diagram 7-15
7.4.1
Data Structure of SDO Request Message............................................................... 7-15
7.4.2
Data Structure of NMT Message ............................................................................. 7-18
7.4.3
Data Structure of EMERGENCY Request Message ............................................... 7-19
7.4.4
Example on Sending SDO through the Ladder Diagram ........................................ 7-21
7.5
Indicators and Troubleshooting........................................................................................ 7-23
7.5.1
Description of Indicators .......................................................................................... 7-23
7.5.2
CANopen Network Node State Display ................................................................... 7-24
7.6
Application Example .......................................................................................................... 7-27
7.7
Object Dictionary................................................................................................................ 7-35