DVP-ES2-EX2-SS2-SA2-SX2-Operation Manual

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DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming Boot-up services After the slave completes the initialization and enters the pre-operational state, it transmits the Boot-up message. ‣ Other predefined CANopen communication objects (SYNC and EMCY) SYNC Object (Synchronous object) The synchronous object is the message broadcasted periodically by the master node in the CANopen network. This object is used to realize the network clock signal. Every device decides whether to use the event and undertake the synchronous communication with other network devices according to its configuration. For example, when controlling the driving device, the devices do not act immediately after they receive the command sent by the master. They do act until they receive the synchronous message. In this way, many devices can act synchronously. The format of the SYNC message: COB-ID 80 (hex) Emergency object The emergency object is used by the CANopen device to indicate an internal error. When an emergency error occurs in the device, the device sent the emergency message (including the emergency error code), and the device enters the error state. After the error is eliminated, the device sends the emergency message, the emergency error code is 0, and the device enters the normal state. The format of the emergency message: COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 80 (hex) +Node-ID Emergency error code LSB MSB Error register Factory-defined error code Note: The value in the error register is mapped to index 1001 (hex) in the object dictionary. If the value is 0, no error occurs. If the value is 1, a normal error occurs. If the value is H’80, an internal error occurs in the device. 7.3.3 The Predefined Connection Set In order to decrease the configuration workload of the network, CANopen defines a default identifier. In the predefine connection set, the structure of the 11-bit identifier is as follows. Function code Node ID The objects which are supported and the COB-IDs which are assigned to the objects are listed below. ‣ The broadcast object in the predefined connection setting Object Function code COB-ID Index of the communication parameter NMT 0000 0 - SYNC 0001 128 (80h) 1005h, 1006h, 1007h Time stamp 0010 256 (100h) 1012h, 1013h 7-14
7 CANopen Function and Operation ‣ 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 D6000~D6031 SDO request message, NMT service message and Emergency request message SDO response message and Emergency response message 64 bytes 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. ‣ The data format of the SDO request message: PLC device Request message High byte Low byte D6250 ReqID Command (Fixed to 01) D6251 Message Header Reserved Size D6252 Type Node ID D6253 Message Data High byte of main index Low byte of main index D6254 Reserved Sub-index D6255 Datum 1 Datum 0 D6256 Datum 3 Datum 2 7-15
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DVP-ES2/EX2/SS2/SA2/SX2/SE Operatio
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1 PLC Concepts DVP-ES2/EX2/SS2/SA2/
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7.4 Sending SDO, NMT and Reading Em
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PLC Concepts This chapter introduce
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1. PLC Concepts Scan time exception
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1. PLC Concepts 1.5 Ladder Logic Sy
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1. PLC Concepts Execution order of
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1. PLC Concepts Branch instruction
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1. PLC Concepts 1.6 Conversion betw
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1. PLC Concepts OR operation upward
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1. PLC Concepts Example 3: “Rever
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1. PLC Concepts Example 2 - Start F
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1. PLC Concepts Example 9 - Oscilla
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1. PLC Concepts Example 16 - Traffi
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1. PLC Concepts WPLSoft programming
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Programming Concepts DVP-ES2/EX2/SS
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2. Programming Concepts 32bit highs
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2. Programming Concepts 2.2 SS2 Mem
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2. Programming Concepts Specificati
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2. Programming Concepts 2.4 SX2 Mem
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2. Programming Concepts 2.6 PLC Bit
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2. Programming Concepts Binary Octa
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2. Programming Concepts Special M F
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2. Programming Concepts Accumulativ
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2. Programming Concepts M relays M1
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2. Programming Concepts Applicable
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2. Programming Concepts 1. X21 driv
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2. Programming Concepts X20 X21 A-p
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2. Programming Concepts Special D D
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2. Programming Concepts Special D D
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2. Programming Concepts 2.14 E, F I
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2. Programming Concepts 20 X0 CALL
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2. Programming Concepts 2.16 Applic
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2. Programming Concepts 2. D1008 sa
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2. Programming Concepts Function Gr
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2. Programming Concepts DABSR: 1. M
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2. Programming Concepts Content b7
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2. Programming Concepts Note: 1. Th
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2. Programming Concepts 5. The anal
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2. Programming Concepts D1140: Numb
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2. Programming Concepts D1442 D1458
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2. Programming Concepts M1416 M1417
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2. Programming Concepts accessible
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2. Programming Concepts M1002 MOV K
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2. Programming Concepts e) Commands
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Instruction Set This chapter explai
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3. Instruction Set execution time c
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3. Instruction Set Explanations: Th
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3. Instruction Set Program example:
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3. Instruction Set between MC/MCR w
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3. Instruction Set Timing Diagram:
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3. Instruction Set : IRET Interrupt
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3. Instruction Set Source: if there
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3. Instruction Set 1. X, Y, M, and
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3. Instruction Set 5. For counters
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3. Instruction Set Binary Floating
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3. Instruction Set The opposite dia
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3. Instruction Set API Mnemonic App
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3. Instruction Set API Mnemonics Ap
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3. Instruction Set Mnemonic Applica
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3. Instruction Set Program example
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3. Instruction Set *1: Y1 is dual o
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3. Instruction Set API Mnemonic Fun
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3. Instruction Set execute DI instr
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3. Instruction Set CJ Instruction P
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3. Instruction Set API Mnemonic Ope
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3. Instruction Set Program Example:
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3. Instruction Set 2. For clearing
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3. Instruction Set Program Example
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3. Instruction Set M1000 Y0 Y1 X0 Y
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3. Instruction Set M1000 1 2 3 FLT
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3. Instruction Set X0 REF Y0 K4 Pro
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3. Instruction Set Points to note:
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3. Instruction Set ‣ Table of set
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3. Instruction Set ‣ 6 comparator
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3. Instruction Set 9. Count value s
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3. Instruction Set DHSZ instruction
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3. Instruction Set 32. There is no
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3. Instruction Set 46. When M1113 =
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3. Instruction Set 66. There is no
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3. Instruction Set • When M1156/M
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3. Instruction Set Explanations: W
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3. Instruction Set 80. When S1 (zer
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3. Instruction Set 89. Zero return
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3. Instruction Set b) Ladder Diagra
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3. Instruction Set M1046: Indicates
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3. Instruction Set If X20 = ON, D12
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3. Instruction Set K2: With n = 2,
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3. Instruction Set The combination
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3. Instruction Set The conversion w
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3. Instruction Set 174. External wi
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3. Instruction Set 182. Please use
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3. Instruction Set VCC Pull-up resi
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3. Instruction Set X20 start signal
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3. Instruction Set Receiving data:
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3. Instruction Set Registers for re
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3. Instruction Set 3. The forward r
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3. Instruction Set Sending data: (P
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3. Instruction Set Flag Function Ac
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3. Instruction Set Special register
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3. Instruction Set Flag Function Ac
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3. Instruction Set COM1 COM2 COM3 F
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3. Instruction Set Value H0005 Erro
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3. Instruction Set Field Name Addre
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3. Instruction Set Timing diagram:
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3. Instruction Set n D K9 K10 K11 K
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3. Instruction Set D n K9 K10 K11 K
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3. Instruction Set 4. When n = 4, t
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3. Instruction Set Device No. S 3 +
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3. Instruction Set Device No. S 3 +
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3. Instruction Set 2. When control
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3. Instruction Set Example 2: Block
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3. Instruction Set 0 511 0rpm 3000
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3. Instruction Set Application 3: U
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3. Instruction Set From the figure
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3. Instruction Set 5. If rising-edg
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3. Instruction Set • In STOP inst
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3. Instruction Set a) Range of S 1
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3. Instruction Set Received data (r
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3. Instruction Set Program Example:
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3. Instruction Set M0 RST M1081 DFL
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3. Instruction Set 3. In ASCII or R
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3. Instruction Set Register Data De
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3. Instruction Set PLC data receivi
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3. Instruction Set ASCII mode (COM3
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3. Instruction Set RTU mode (M1143
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3. Instruction Set 4. Take the conn
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3. Instruction Set Registers for da
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3. Instruction Set PLC VFD-B,PLC tr
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3. Instruction Set 6. Please use NO
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3. Instruction Set Output in revers
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3. Instruction Set State 5: Current
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3. Instruction Set 11. Ramp-down ti
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3. Instruction Set D1232 D1233 D123
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3. Instruction Set 10. M1305 and M1
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3. Instruction Set X0 TSUB D0 D10 D
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3. Instruction Set 1, second data r
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3. Instruction Set M1002 MOV H81 D1
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3. Instruction Set Program example:
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3. Instruction Set 8. For pulse out
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20 segments 20 segments 3. Instruct
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3. Instruction Set that the arc has
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3. Instruction Set 3. Operation: Wh
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3. Instruction Set above). Place th
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3. Instruction Set Frequency Target
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3. Instruction Set EI M1002 MOV K10
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3. Instruction Set reset after CH0
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3. Instruction Set Function Explana
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3. Instruction Set M1540 Indicating
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3. Instruction Set Change target fr
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3. Instruction Set M0 EI DMOVP K100
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3. Instruction Set 6. Substitute th
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3. Instruction Set 9. The 16-bit co
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3. Instruction Set For A2-type only
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3. Instruction Set 6. S 1 +0 specif
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Communications This chapter introdu
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4. Communications − − − 7 dat
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4. Communications Field name ASCII
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4. Communications Exception code: E
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4. Communications Field Name Exampl
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4. Communications Feedback message:
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4. Communications 4.5 Command Code
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4. Communications 4.5.3 Command Cod
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Page 623 and 624: Sequential Function Chart This chap
Page 625 and 626: 5. Sequential Function Chart action
Page 627 and 628: 5. Sequential Function Chart Action
Page 629 and 630: 5. Sequential Function Chart Retur
Page 631 and 632: 5. Sequential Function Chart S10 S
Page 633 and 634: 5. Sequential Function Chart 5.5 Ty
Page 635 and 636: 5. Sequential Function Chart Ladder
Page 637 and 638: 5. Sequential Function Chart Exampl
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Page 641 and 642: 5. Sequential Function Chart SFC Di
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Page 645 and 646: 5. Sequential Function Chart “man
Page 647 and 648: 5. Sequential Function Chart 8. Zer
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Page 651 and 652: Troubleshooting This chapter offers
Page 653 and 654: 6. Troubleshooting Symptom Diagnosi
Page 655 and 656: 6. Troubleshooting Error code Descr
Page 657 and 658: CANopen Function and Operation This
Page 659 and 660: 7 CANopen Function and Operation St
Page 661 and 662: 7 CANopen Function and Operation
Page 663 and 664: 7 CANopen Function and Operation Pr
Page 665 and 666: 7 CANopen Function and Operation De
Page 667 and 668: 7 CANopen Function and Operation Th
Page 669: 7 CANopen Function and Operation In
Page 673 and 674: 7 CANopen Function and Operation T
Page 675 and 676: 7 CANopen Function and Operation eq
Page 677 and 678: 7 CANopen Function and Operation E
Page 679 and 680: 7 CANopen Function and Operation Wh
Page 681 and 682: 7 CANopen Function and Operation D9
Page 683 and 684: 7 CANopen Function and Operation Co
Page 685 and 686: 7 CANopen Function and Operation It
Page 687 and 688: 7 CANopen Function and Operation 5)
Page 689 and 690: 7 CANopen Function and Operation PD
Page 691 and 692: 7 CANopen Function and Operation 7.
Page 693 and 694: 7 CANopen Function and Operation In
Page 699 and 700: Appendix An introduction of install
Page 701 and 702: Appedndix A After the driver is ins
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DVP-ES2-EX2-SS2-SA2-SX2-Operation Manual

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