Delta Electronics DVPCOPM-SL User Manual

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. key or specific tools are required for operating the enclosure) in case danger and damage on the device may occur.



DVPCOPM-SL is to be used for controlling the operating machine and equipment. In order not to damage it, only

qualified professional staff familiar with the structure and operation of DVPCOPM-SL can install, operate, wire and maintain it.



DO NOT connect input AC power supply to any of the I/O terminals; otherwise serious damage may occur. Check

all the wirings again before switching on the power and DO NOT touch any terminal when the power is switched on. Make sure the ground terminal



1 INTRODUCTION...................................................................................................................................3

2 PRODUCT PROFILE & OUTLINE .......................................................................................................5

Table of Contents

1.1 Features....................................................................................................................................3

1.2 Functions...................................................................................................................................4

2.1 Dimension .................................................................................................................................5

2.2 Product Profiles.........................................................................................................................5

2.3 CANopen Connection Port........................................................................................................6

2.4 Address Switch..........................................................................................................................6

2.5 Function Switch.........................................................................................................................6

2.6 Digital Indicator..........................................................................................................................7

is correctly grounded in order to prevent electromagnetic interference.

3 BASIC OPERATION.............................................................................................................................7

3.1 Connecting DVPCOPM-SL to DVP-SV MPU............................................................................7

3.2 Installing DVPCOPM-SL and DVP-SV MPU on DIN Rail..........................................................7

3.3 Connecting to CANopen Connection Port.................................................................................8

4 CONSTRUCTING CANOPEN NETWORK...........................................................................................8

4.1 How to Construct a CANopen Network.....................................................................................8

4.2 Data Mapping in CANopen Network .......................................................................................10

4.3 How to Configure Network by Delta CANopenBuilder Software.............................................11

4.4 Saving the Configuration Data ................................................................................................19

4.5 CANopen Network Control......................................................................................................19

DVP-PLC Application Manual

CANopen Communication Module DVPCOPM-SL

5 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........................................................................................ 21

5.4 Structure of Emergency Request Message............................................................................ 22

5.5 Application Examples ............................................................................................................. 23

6 LED INDICATOR & TROUBLE-SHOOTING ..................................................................................... 27

6.1 POWER LED.......................................................................................................................... 28

6.2 RUN LED................................................................................................................................ 28

6.3 ERR LED................................................................................................................................28

6.4 Codes in Digital Display.......................................................................................................... 28

DVP-PLC Application Manual

1 Introduction

1. To ensure correct installation and operati on 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 detaile d information on CANopen protocol, please refer to relevant references or literatures.

3. DVPCOPM-SL is a CANopen module op erating 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-S L features:

z Complying with CANopen standard protocol DS301v4.02.

CANopen Communication Module DVPCOPM-SL

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 sp ace 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 func tion. 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.

DVP-PLC Application Manual

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, D6000 will be adopted temporarily.

As a slave, DVPCOPM-SL features:

z Complying with CANopen standard protocol DS301v4.02 z Supporting NMT Slave Service z Error control: Supporting Heartbeat Protocol z Supporting PDO Service: Each slave can be allocated maximum 8 TxPDOs and 8 RxPDO s. z PDO transmission type: Supporting event trigger, time trigger, synchronous cycle, synchronous

non-cycle.

z Supporting SDO Service.

Number of server: 1 Number of user: 0

z Supporting standard expedited SDO transmission mode. z Supporting Emergency Protocol.

Able to indicate Emergency event in slave through digital display.

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.

registers after

1.2 Functions

 CANopen connection

Transmission method CAN Electrical isolation 500VDC Interface Removable connector (5.08mm) Transmission cable 2-wire twister shielded cable with 2-wire bus power and drain

 Communication

Message type Baud rates 10k, 20k, 50k, 125k, 250k, 500k, 800k, 1M bps (bit/sec)

 Electrical specification

Power voltage 24VDC, supplied by internal bus from PLC MPU (-15% ~ 20%) Power consumption 1.7W Isolation voltage 500V

 Environment

Noise immunity

PDO, SDO, SYNC (synchronous object), Emergency (Emergency object), NMT

ESD (IEC 61131-2, IEC 61000-4-2): 8KV Air Discha rge, 4KV Contact Discharge

EFT (IEC 61131-2, IEC 61000-4-4): Power Line: 2KV, Digital I/O: 1KV Analog & Communication I/O: 1KV Damped-Oscillatory Wav e: Power Line: 1KV, Digital I/O: 1KV RS (IEC 61131-2, IEC 61000-4-3): 80MHz ~ 1,000MHz, 1.4GHz ~ 2.0GHz,

10V/m

DVP-PLC Application Manual

CANopen Communication Module DVPCOPM-SL

Opeartion 0ºC ~ 55ºC (temperature); 50 ~ 95% (humidity); pollution degree 2 Storage -25ºC ~ 70ºC (temperature); 5 ~ 95% (humidity) Shock/vibration

immunity Certificates IEC 61131-2, UL508

2 Product Profile & Outline

DVPCOPM-SL is composed of CANopen connection port, address switch, function switch, an d digital

display.

2.1 Dimension

DVPCOPM-SL

POWER RUN ERR

90 [3.543]

International standard: IEC 61131-2, IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC 68-2-27 (TEST Ea)

x16

NODE ADDRESS

DR 2 DR 1 DR 0 IN 0

SHLD

CAN-

GND

63.4 [2.496]

3 [0.11 8]

2.2 Product Profiles

DVPCOPM-SL

POWER RUN ERR

NODE ADDRESS

60 [2.362]

x16

DR 2 DR 1 DR 0 IN 0

SHLD

CAN-

GND

33.1 [1.303]

1. Model name 6. Fixing clip for extension module

2. Extension port 7. Address switch

DVP-PLC Application Manual

CANopen Communication Module DVPCOPM-SL

3. POWER, RUN, ERR indicators 8. Function switch

4. DIN rail clip 9. CANopen connection port

5. Digital display

2.3 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 Signal3 SHLD Shielded 4 CAN_H Signal+ 5 - Reserved

2.4 Address Switch

CAN+ SHLD CANGND

5 4 3 2 1

The switch is used on setting up the node address of DVPCOPM-SL on CANopen network. Range: 1 ~ 7F (0,

88 ~ FF are forbidden).

Switch setting Content

1 ~ 7F Valid CANopen node address

0, 80 ~ FF Invalid CANopen node address

NODE ADDRESS

x16

Example: If you need to set the node address of DVPCOPM-SL to 26 (1AH), simply switch the corresponding

switch of x16

to 1 and the corresponding switch of x160 to A.

Note:

z Use slotted screwdriver to rotate the switch carefully in case you scratch the switch. z Please set up the node address when the power is switched off. After the setup is completed, re-poser

DVPCOPM-SL.

2.5 Function Switch

The switch is used on setting up the baud rate between DVPCOPM-SL and CA Nopen network (DR0 ~ DR2 ).

See the table below for the baud rate and its maximum communication distance.

DR2 DR1 DR0 Baud rate (bps) Max. communication distance (m)

OFF OFF OFF 10k 5,000 OFF OFF ON 20k 2,500 OFF ON OFF 50k 1,000 OFF ON ON 125k 500

ON OFF OFF 250k 250 ON OFF ON 500k 100 ON ON OFF 800k 50 ON ON ON 1M 25

IN0 Reserved

DVP-PLC Application Manual

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 setu p 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

3.1 Connecting DVPCOPM-SL to DVP-SV MPU

z Open the fixing clip on top and bottom of DVP-SV. Meet the extension port of DVPCOPM-SL with

DVP-SV, as

z Press the fixing clips on top and bottom of DVP-SV and check is the connection is fine, as

DVPCOPM

POWER RUN ERR

x16

NODEADDRESS

DR 2 DR 1 DR 0 IN 0

CAN+

SHLD

CAN-

GND

DVP28SV

RUN

STOP

3.2 Installing DVPCOPM-SL and DVP-SV MPU on DIN Rail

z Use 35mm DIN rail z Open the DIN rail clip on DVP-SV and DVPCOPM-SL. Insert DVP-SV and DVPCOPM-SL onto the DIN

rail.

z Clip up the DIN rail clips on DVP-SV and DVPCOPM-SL to fix DVP-SV and DVPCOPM-SL on the DIN

rail, as shown below.

DVP-PLC Application Manual

DVPCOPM

POWER RUN ERR

DVP28SV

35mm DIN rail

x16

NODE ADDRESS

DR 2 DR 1 DR 0 IN 0

RUN

CAN+

SHLD CAN-

STOP

GND

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 mod ule in the connection.

S-232

4 Constructing CANopen Network

In this section, we will introduce how to construct a complete CANopen network by using DVPCOPM-SL an d

other slaves.

Before constructing a network, you have to first know clearly what the network is for and start a preliminary planning for the data to be exchanged. The plan shall include the slaves to be used, type of transmiaaion and the data to be exchanged, total length of data to be exchanged, requirement on the response time for data exchange, and so on. These information will decide whether the net work you constru ct is a reasonable one, or if it satisfies your needs, and even affect the later-on network sustainability and flexibility of network capacity upgrade.

In the example below, we will illustrate how to contro l RUN/STOP and speed of a Delta ASD-B servo drive by a Delta digital I/O module DVP-08ST.

4.1 How to Construct a CANopen Network

Equipment and software required:

Equipemt & software Function

DVP-PS02 24V power supply module, supplying CANopen network. DVP-PS01 DVP-28SV DVP-SV PLC MPU

DVPCOPM-SL CANopen master

DVP-12SA DVP-SA PLC MPU

DVP-08ST Digital I/O module

IFD9503 CANopen bus adapter

ASD-B Delta B series servo drive

WPLSoft DVP series PLC programming software

24V power supply module, supplying DVP-12SA and remote I/O

DVP-PLC Application Manual

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