Delta DVP-ES2 - Manual (Page 671)

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 - 1 5
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The corresponding object in the predefined connection set
Object Function code COB-ID
Index of the
communication
parameter
Emergency 0001 129 (81h)–255 (FFh) 1014h, 1015h
PDO1 (TX) 0011 385 (181h)–511 (1FFh) 1800h
PDO1 (RX) 0100 513 (201h)–639 (27Fh) 1400h
PDO2 (TX) 0101 641 (281h)–767 (2FFh) 1801h
PDO2 (RX) 0110 769 (301h)–895 (37Fh) 1401h
PDO3 (TX) 0111 879 (381h)–1023 (3FFh) 1802h
PDO3 (RX) 1000 1025 (401h)–1151 (47Fh) 1402h
PDO4 (TX) 1001 1153 (481h)–1279 (4FFh) 1803h
PDO4 (RX) 1010 1281 (501h)–1407 (57Fh) 1403h
SDO (TX) 1011 1409 (581h)–1535 (5FFh) 1200h
SDO (RX) 1100 1537 (601h)–1663 (67Fh) 1200h
NMT Error
Control
1110 1793 (701h)–1919 (77Fh) 1016h, 1017h
7.4 Sending SDO, NMT and Reading Emergency Message through the
Ladder Diagram
Editing the request message mapping area can realize the transmission of SDO, NMT and
Emergency message.The corresponding relations between the request message mapping area,
response message mapping area and PLC device are shown below.
PLC device Mapping area Mapping length
D6250~D6281
SDO request message, NMT service message and
Emergency request message
64 bytes
D6000~D6031
SDO response message and Emergency response
message
64 bytes
1> CANopen master can only send one SDO, NMT or Emergency request message to the same
equipment at a time.
2> We suggest the request message mapping area should be cleared to zero when sending
SDO, NMT or Emergency request message through WPL program.
7.4.1 Data Structure of SDO Request Message
Sending SDO through the ladder diagram can read or write the slave parameter.
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The data format of the SDO request message:
Request message
PLC device
High byte Low byte
D6250 ReqID Command (Fixed to 01)
D6251 Reserved Size
D6252
Message
Header
Type Node ID
D6253 High byte of main index Low byte of main index
D6254 Reserved Sub-index
D6255 Datum 1 Datum 0
D6256
Message Data
Datum 3 Datum 2