Delta DVP-ES2 - Manual (Page 659)

7 C AN o p e n F u n c t i o n a n d O p e r a t i o n
7 - 3
Storage Data type
64-bit LINT ULINT LREAL LWORD
¾
If the CAN port functions as a slave, it has the following functions.
—
It supports the standard CANopen protocol DS301 V4.02.
—
It supports the NMT (network management object) service.
‹ It supports the NMT state control.
The state of DVP-ES2-C in the CANopen network is controlled by a master.
‹ It supports the NMT error control.
Heartbeat is supported, but Node Guarding is not supported.
—
It supports the PDO (process data object) service.
‹ The PDO message is used to transmit the immediate input data and output data.
‹ It supports 8 TxPDO at most, and 8 RxPDO at most.
‹ The PDO transmission type: The synchronous mode, and the asynchronous mode
—
It supports the service of reading the emergency from a slave.
If an error or an alarm occurs in DVP-ES2-C, the master is notified through the emergency.
7.1.2 The Input/Output Mapping Areas
DVP-ES2-C as a master supports 16 slaves at most, and the slave node ID range from 1 to 16. The
output mapping areas are D6250-D6476, and the input mapping areas are D6000-D6226.
Device in the PLC Mapping area
Mapping
length
D6250~D6281
SDO request information, NMT service information, and
Emergency request information
64 bytes
D6000~D6031
SDO reply information, and Emergency reply
information
64 bytes
D6282~D6476 RxPDO mapping area 390 bytes
D6032~D6226 TxPDO mapping area 390 bytes
7.2 The Installation and the Network Topology
This section introduces the dimensions of DVP-ES2-C, the CAN interface, the CANopen network
framework, and the communication distance.
7.2.1 The Dimensions
10
6
98
L1
L 78
90
61.5
110
Unit: millimeter