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 is correctly grounded in order to prevent electromagnetic interference.

Table of Contents
1 INTRODUCTION...................................................................................................................................3
1.1 Features ....................................................................................................................................3
1.2 Functions...................................................................................................................................4
2 PRODUCT PROFILE & OUTLINE .......................................................................................................5
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
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

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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

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1 Introduction
1. To ensure correct installation and operation 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 detailed information on
CANopen protocol, please refer to relevant references or literatures.
3. DVPCOPM-SL is a CANopen module operating 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-SL features:
z Complying with CANopen standard protocol DS301v4.02.
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 space 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 function. 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.

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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, registers after
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 RxPDOs.
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.

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

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

Message type
NMT
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

ESD (IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge, 4KV Contact
Discharge
EFT (IEC 61131-2, IEC 61000-4-4): Power Line: 2KV, Digital I/O: 1KV
Noise immunity Analog & Communication I/O: 1KV
Damped-Oscillatory Wave: Power Line: 1KV, Digital I/O: 1KV
RS (IEC 61131-2, IEC 61000-4-3): 80MHz ~ 1,000MHz, 1.4GHz ~ 2.0GHz,
10V/m

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Opeartion 0ºC ~ 55ºC (temperature); 50 ~ 95% (humidity); pollution degree 2

Storage -25ºC ~ 70ºC (temperature); 5 ~ 95% (humidity)
Shock/vibration International standard: IEC 61131-2, IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC
immunity 68-2-27 (TEST Ea)
Certificates IEC 61131-2, UL508

2 Product Profile & Outline

DVPCOPM-SL is composed of CANopen connection port, address switch, function switch, and digital
display.

2.1 Dimension

DVPCOPM-SL
POWER

RUN

ERR

1
NODE ADDRESS

x16

0
x16
90 [3.543]

DR 2
DR 1
DR 0
IN 0

63.4 [2.496]
SHLD

CAN-

GND

3 [0.118] 60 [2.362] 33.1 [1.303]

2.2 Product Profiles

6 1 5 2 6 2

DVPCOPM-SL
PO WER

RUN
3 ERR

1
NODE ADDRESS

x16

7 0
x16

DR 2
DR 1
DR 0
IN 0

8
SHLD

CAN-
9
GND

6 4

1. Model name 6. Fixing clip for extension module

2. Extension port 7. Address switch

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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 5
2 CAN_L Signal-
CAN+ 4
SHLD 3
3 SHLD Shielded CAN- 2
4 CAN_H Signal+ GND 1

5 - Reserved

2.4 Address Switch

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

NODE ADDRESS
x16

1 ~ 7F Valid CANopen node address

0
x16
0, 80 ~ FF Invalid CANopen node address

Example: If you need to set the node address of DVPCOPM-SL to 26 (1AH), simply switch the corresponding
switch of x161 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 CANopen 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

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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 setup 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 1.
z Press the fixing clips on top and bottom of DVP-SV and check is the connection is fine, as 2.

DVPCOPM DVP28SV
POWE R

RUN

ERR

1
NODE ADDRESS

x16

0
x16

DR 2
DR 1
DR 0
IN 0 1
CA N+ RUN
S H LD

CA N-
STOP
G ND

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.

DVPCOPM DVP28SV
POWER

RUN
ERR
35mm DIN rail
1
NODE ADDRESS

x16

0
x16

DR 2
DR 1
DR 0
IN 0

CAN+ RUN

SHLD

CAN-
STOP
GND

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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 module in the connection.

RS-232

4 Constructing CANopen Network

In this section, we will introduce how to construct a complete CANopen network by using DVPCOPM-SL and
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 network you construct 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 control 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 24V power supply module, supplying DVP-12SA and remote I/O
DVP 08ST
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

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Equipemt & software Function

Delta CANopenBuilder CANopen configuration software for DVPCOM-SL master

z Set up DVPCOPM-SL and IFD9503 according to the table below. For how to operate IFD9503, please
refer to Chapter 13.

Module Node address Baud rate (bps)

DVPCOPM-SL 01 1M
IFD9503 02 (connected to ASD-B) 1M
IFD9503 03 (connected to DVP-12SA) 1M

Set up ASD-B as follows:

Parameter Set value Explanation

P1-01 02 Control mode: speed mode
P1-09 100 (rpm) Internal speed command 1 (SP1)
P1-10 300 (rpm) Internal speed command 2 (SP2)
P1-11 500 (rpm) Internal speed command 3 (SP3)
P2-10 101 Function of DI1: Servo on
P2-11 114 Functin of DI2: SPD0
P2-12 115 Functino of DI3: SPD1
P2-18 102 Function of DO1: Output when servo on
P3-00 1 Modbus communication address
P3-01 5 (115,200 bps) Modbus baud rate
P3-02 1 (7,E,1) Modbus data format
P3-06 3F DI1 ~ DI6 controlled by communication

z Constructing the CANopen network following the figure below.

DVP-PS02 DVPCOPM-SL DVP28SV

DVPCOPM DVP28SV
CANopen
network configuration tool

L
N

0V RUN

STOP

Node 1
RS-232

CANopen

Node 2 Node 3
P O RT1 P O RT2
P O RT1 P O RT2

L
N
DVP-08ST
D VP- 12SA

0V

IFD9503
ASD-B

DVP-12SA DVP-08ST

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About the connection between IFD9503 and PLC, IFD9503 and ASD-B, or IFD9503 and other equipment,
please refer to Chapter 13. For the electrical specifications of ASD-B, please refer to ASD-B user manual.

4.2 Data Mapping in CANopen Network

z Data mapping in DVP-12SA

DVP-08ST, connected on the right hand side of DVP-12SA, offers 8 channels of digital input and 1 byte of
input data. In this example, we will use X0 and X1 on DVP-08ST to RUN/STOP ASD-B and select speed. Y0 is
for the output signal of ASD-B operational status. See the table below for more information.

Channel Function
X0 Controlling RUN/STOP of ASD-B
Selecting the speed of ASD-B:
X2 = 0, X1 = 1, selecting SP1
X1, X2
X1 = 1, X2 = 0, selecting SP2
X1 = 1, X2 = 1, selecting SP3
Operational status of ASD-B:
Y0 On: RUN
Off: STOP

Supposed IFD9503 is connected to DVP-12SA and exchanging data with DVPCOPM-SL master, the default
length of input data is 8 bytes and output data is 8 bytes. D256 in DVP-12SA is the start device for input data,
and D0 is the start device for output data. To realize the control function of X0, X1 and X2, we place the
statuses of X0 ~ X2 to bit 0 ~ 2 of D256. That is, when X0 = On, bit 0 of D256 will become 1. When X1 = On, bit
1 of D256 will become 1. In this way, we can realize the control of RUN, STOP and speed of ASD-B by the
changes in D256 through WPLSoft. The status word in ASD-B will then be sent to D0. That is, when bit 0 of D0
becomes 1, there will be signals at Y0.
I/O data area for DVPCOPM-SL master:

D register 15 14 13 12 11 10 9 8 7 6 5 4 3u,3 2 1 0
D6032 D256 X2 X1 X0
Input data

D6033 D257
D6034 D258
D6035 D259
…

D6282 D0 Y0
Output data

D6283 D1
D6284 D2
D6285 D3
…

z Data mapping in ASD-B

In this example, IFD9503 is the interface between ASD-B and CANopen network. In default setting, IFD9503
offers 1 word of input data and 1 word of output data to exchange data with DVPCOPM-SL master. See the table
below for the relation between the parameters in ASD-B and the input and output data in DVPCOPM-SL master.

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D register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Input data D6036 Multi-function digital output

Output data D6286 Multi-function digital input

4.3 How to Configure Network by Delta CANopenBuilder Software

z Using CANopenBuilder to scan the network

(1) Open CANopenBuilder software, as below:

(2) Select ”Setup” => ”Communication Setting” => ”System Channel”, and the "Serial Port Setting”
dialog box will appear.

(3) Set up the communication parameters in the PC and DVP-SV, e.g. the communication port,
address, baud rate and communication format.

Item Function Default

COM Port COM port on the PC to be used to communicate COM1

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Item Function Default

with DVP-SV
Address Communication address of DVP-SV 1
Communication speed between the PC and
Baud rate 9,600 (bps)
DVP-SV
Data Bits 7
COmmuniction protocol between the PC and
Parity Even Parity
DVP-SV
Stop Bit 1
Communication mode between the PC and
Mode ASCII
DVP-SV

Click on “OK” and return to the main page.

(4) Select “Network” => ”Online”, and the “Select Communication Channel” dialog box will appear. In
this example, if the connection with DVP-SV is in normal status, you will see the screen as below.

If there are more than one DVPCOPM-SL modules (less than 8) connected to the left side of
DVP-SV and supposed there are two connected in this example, after clicking on “Online”, you will
see the screen as below. The DVPCOPM-SL which is closest to DVP-SV is regarded the first module,
and so on.

(5) Select the DVPCOPM-SL which needs to establish the communication. Click on “OK” and start to
scan all the slaves on the network. If the network installation and power supply are normal, you will
see the screen as below.

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(6) In normal condition, after the scan is over, you will find the master and all the slaves displayed in
CANopen network, as below.

z Setting up parameters in CANopen master

Select “Network” => ”Master Parameter”, and you will see the dialog box as below.

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Work Mode: The work mode of DVPCOPM-SL. You can select either “Master Mode” or “Slave Mode”.
Cycle Period: The period of sending synchronous information.
Master’s heartbeat time: Time for DVPCOPM-SL to send out heartbeat.
After all the parameters are set up, click on “OK".
z Setting up parameters in CANopen slave
Take the parameter settings in ASD-B for example:
(1) Double click on ASD-B, and you will see the dialog box as below.

(2) Relevant parameter settings

Error Control Protocol: In the “Node Configuration…” page, click on “Error Control Protocol”, and
you will see the dialog box appearing as below.

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In this page, you can set up parameters for error control, e.g. “Master Consumer Timeout” and
“Node Heartbeat Producer Time”. Please note that the value of “Master Consumer Timeout" shall be
bigger than the value of “Node Heartbeat Producer Time”. After you have set up the heartbeat function,
and the slave turns off-line and does not turn on-line within “Master Cosumer Timeout”, the master will
consider the slave off-line. If “Heartbeat" is selected, you cannot select “Node Guarding”. In
“Heartbeat consumer”, you can add devices into the node list. Add a device A, and the slave will be
able to monitor whether device A is on-line. Select a device and click on “Edit…” to modify the
“Consumer" and “Producer” value.
Auto SDO Configuration: In the “Node Configuration” page, click on “Auto SDO Configuration”,
and you will see the page as below.

Click on “Add” to edit Auto SDO. Click on “Edit” to modify the Auto SDO selected. Please note that
the Auto SDO cannot be longer than 8 bytes, and every slave is able to posses maximum 20 auto
SDOs.
PDO mapping: In the “Node Configuration…” page, select a TxPDO or RxPDO in “Configured

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PDO” and click on “PDO Mapping”, and you will enter the “PDO Mapping…” page as below. You can
add the parameters in “Available Objects from EDS file” into “Mapped Objects”. The total length of the
parameters added in each PDO cannot exceed 8 bytes. After the configuration is completed, click on
“OK”.

In the “Node Configuration…” page, click on “Properties” to enter the "PDO Properties” page and
modify COB-ID and Transmit type. After the configuration is completed, click on “OK”. In the “Node
Configuration…” page, click on “Define PDO” to self define RxPDO ir TxPDO.
In this example, we adopt the default configuration. Finally, click “OK” in the “Node
Configuration…” page.

z Node List Setting

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(1) Double click on “DVPCOPM Master” icon, and you will see the “Node List Setting” dialog box as
below.

(2) In this example, first select DVP-SS/SA/EH PLC at Node 003 and click on > to add this node into
the node list. After this, select Node 003 in the node list, and you will be able to see how the I/O data
correspond to D registers in DVP-SV from the Output Table and Input Table below.

(3) Add also Node 002 into the node list, and you will be able to see how the I/O data correspond to D

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registers in DVP-SV from the Output Table and Input Table below. Click on “OK” to complete setting
up the node list.

z Downloading the data to the master

Select “Network“ => “Download” to download the configuration data to DVPCOPM-SL master. If
the PLC is in RUN status at this moment, you will be given a warning saying that you have to stop the
operation before the download.

Click on “OK” to stop the PLC and start to download the data to the master.

After the download is completed, you will be given another warning, asking you if you would like to
run the PLC again. Click on “OK” to restart the PLC program, or click on “Cancel” to stop the PLC.

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4.4 Saving the Configuration Data

Select “File” => "Save” to save the current configuration data.

4.5 CANopen Network Control

In this section, we will introduce how to compile WPL program and control CANopen network.
z Target:
1. When SW0 on Slave 3 is closed, the servo drive on Slave 2 will start to run.
2. When SW0 on Slave 3 is open, the servo drive on Slave 2 will stop.
3. When the status of SW1 and SW2 on Slave 3 is switched, the running speed of servo drive on Slave
2 can be modified.
4. When the servo drive is running, the signal LED on Slave 2 will be On.
5. When the servo drive stops, the signal LED on Slave 2 will be Off.
z The program in DVP-SV MPU (master):

M1002
SET M0

M0
MOV D6032 D6286

MOV D6036 D6282

END

z Program explanations:
1. The 2nd row of the program indicates sending the content of D256 in DVP-SA (mapped on D6032 of
DVP-SV) to the control word (Multi-Function Digital Input, mapped on D6286 of DVP-SV) of the servo
drive.
2. The 3rd row of the program indicates sending the output status of the servo drive (Multi-Function
Digital Output, mapped on D6036 of DVP-SV) to D0 in DVP-SA (mapped on D6282 of DVP-SV).
z The program in DVP-SA MPU (slave):

M1002
MOV HC6 D1120
D

SET M1120

RST M1143

SET M0

M0
MOV K2X20 D256

MOV D0 K2M10

M10
Y0

END

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z Program explanations:
1. The first 3 rows of the program set up the communication format between DVP-SA and IFD9503,
which is 115,200bps, 7E1-ASCII; communication port is COM2.
2. When M0 = On, send the input status of X20 ~ X28 on DVP-08ST to D256, and send the data in b0 ~
b15 of D0 to M10 ~ M25.
3. When D0 = 1, M10 will be On, and Y0 on DVP-SA MPU will output.

5 Sending SDO, NMT and Reading Emergency by Ladder Diagram

5.1 The Principle

See the chart below for sending SDO by WPL program:

SDO request message A

(PLC -> COPM)
D
SDO response message
(COPM -> PLC)

DVPCOPM DVP28SV

RUN

STOP

DVPCOPM-SL DVP28SV
SDO request message from master

SDO response message from slave

B
C
P
O
R
T
1

P
O
R
T
2

IFD9503
VFD-B
A: DVP-SV sends out request message to DVPCOPM-SL (master).
B: DVPCOPM-SL (master) sends out request message to the target equipment.
C: The target equipment processes the request message and sends the response message to
DVPCOPM-SL.
D: DVP-SV receives SDO, NMT and Emergency data.

5.2 Structure of SDO Request Message

You can edit SDO, NMT and Emergency in “request message editing area”. Take the first DVPCOPM-SL
master placed on the left hand side of DVP-SV for example. See the table below for the corresponding releation
between “request message editing area” and “response message editing area” and the devices in PLC.

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PLC device Editing area Editing length

D6000 ~ D6031 SDO response message and Emergency response message 64 bytes
SDO request message, NMT service message and Emergency
D6250 ~ D6281 64 bytes
request message

See the table below for the format of SDO request message:

Request Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 ReqID Command
D6251 Message Header Reserved Size
D6252 Type MAC ID
D6253 High byte of main index Low byte of main index
D6254 Reserved Sub index
D6255 Message Data Datum 1 Datum 0
D6256 Datum 3 Datum 2
D6257 ~ D6281 Reserved

z Command: Fixed to “01Hex”.

z ReqID: The request ID. Whenever an SDO request message is sent out, the message will be given a ReqID
for CANopen master to identify. For the next request message to be sent out, you have to change the ID
number. Range of ReqID: 00Hex ~ FFHex.
z Size: The length of the message. Max. 8 bytes. Unit: byte.
z MAC ID: The node address of the target equipment on CANopen network.
z Type: In SDO request message, 01Hex refers to SDO read message service; 02Hex refers to SDO write
message service; 4FHex refers to read 1 byte of data; 60Hex refer to write 1/2/4 byte(s) of data; 80Hex refers
to end SDO command. For example, if the type is 02Hex in SDO request message, it will become 60Hex for
SDO response message when the writing of data is successful.
z Status code:

Status code Explanation

0 No data transmission request
1 SDO data transmission is successful.
2 SDO data is being transmitted.
3 Error: SDO transmission time-out
4 Error: Illegal command
5 Error: Size of request message is illegal.
6 Error: Size of response message is illegal.
7 Error: Equipment to be sent messages is busy.
8 Error: Illegal type
9 Error: Incorrect node address
0A Error message (See the error code for SDO response message)
0B ~ FF Reserved

5.3 Structure of NMT Service Message

You can send the NMT request message to D6250 ~ D6281, and the slave will not respond with a message.

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CANopen Communication Module DVPCOPM-SL

Request Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 ReqID Command
D6251 Message Header Reserved Size (fixed to 04Hex)
D6252 Type (fixed to 03Hex) MAC ID
D6253 Reserved NMT service code
Message Data
D6254 Reserved MAC ID

z Command: Fixed to “01Hex”.

z ReqID: The request ID. Whenever an NMT request message is sent out, the message will be given a ReqID
for the CANopen master to identify. For the next NMT request message to be sent out, you have to change
the ID number. Range of ReqID: 00Hex ~ FFHex.
z MAC ID: The node address of the target equipment on CANopen network.
z NMT service code
z 01Hex: Enable remote node; 02Hex: Disable remote node; 80Hex: Enter pre-operational status; 81Hex:
Reset application; 82Hex: Reset communication
Example: If you would like to stop node 03 equipment on CANopen network, you have to set NMT service
code to “02Hex” and MAC ID to “03".

5.4 Structure of Emergency Request Message

See the table below for the format of Emergency request message:

Request Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 ReqID Command
D6251 Message Header Reserved Size (fixed to 0)
D6252 Type (fixed to 04Hex) MAC ID
D6253 ~ D6281 Message Data Reserved

See the table below for the format of Emergency response message:

Response Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6000 ReqID Status
D6001 Message Header Reserved Size (2A Hex)
D6002 Type (04Hex) MAC ID
D6003 Message Data Total number of data Number of data stored
D6004 Datum 1 Datum 0
D6005 Datum 3 Datum 2
D6006 Datum 5 Datum 4
D6007 Datum 7 Datum 6
D6008 ~ D6011 Emergency2
D6012 ~ D6015 Emergency3
D6016 ~ D6019 Emergency4

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 CANopen Communication Module DVPCOPM-SL

Response Message
PLC device
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6020~ D6023 Emergency5
D6024~ D6031 Reserved

z Command: Fixed to “01Hex”.

z ReqID: The request ID. Whenever an Emergency message is sent out, the message will be given a ReqID for
the CANopen master to identify. For the next Emergency message to be sent out, you have to change the ID
number. Range of ReqID: 00Hex ~ FFHex.
z MAC ID: The node address of the target equipment on CANopen network.
z Total number of data: The total number of Emergency messages CANopen master receives.
z Number of data stored: The latest number of Emergency messages CANopen master receives. (Every slave
gives less than 5 messages.)
Note:
z CANopen master can only send out 1 SDO, NMT or Emergency request message to one equipment at a
time.
z When you use WPL program to send out SDO, NMT or Emergency request messages, we recommend you
clear the “request message editing area” and “response message editing area” to 0.

5.5 Application Examples

In this section, we will illustrate how to compile a WPL program to send out SDO and NMT messages or
readEmergency request messages.

„ Example I
z Target:
When M0 = On, read the content of index 2021, sub index 4 (i.e. actual output value of AC motor
drive) in IFD9503.
DVPCOPM DVP28SV

C A N+ RUN

S H LD

C A N- STOP
GN D

Node 1 Master
CANopen

Node 2

RJ12

RS-485
IFD9503 VFD-B

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CANopen Communication Module DVPCOPM-SL

Required settings in DVPCOPM-SL:

Parameter Setting Explanation

Node address 01 Set the node address of DVPCOPM-SL to “01”.
Set the communication speed between DVPCOPM-SL and
Baud rate 1 Mbps
bus to “1 Mbps”.

Required settings in IFD9503:

Parameter Setting Explanation

Node address 02 Set the node address of IFD9503 to “02”.
Set the communication speed between IFD9503 and bus to
Baud rate 1 Mbps
“1 Mbps”.

Required settings in VFD-B AC motor drive:

Parameter Setting Explanation

02-00 04 The main frequency is operated by RS-485 interface.
02-01 The running command is operated by communication
03
interface. Operation by keys is valid.
09-00 01 Communication address of VFD-B: 01
09-01 03 Baud rate: 38,400 bps
09-04 03 Modbus RTU mode, format <8, N, 2>

Devices in PLC:

Explanation
PLC device Content
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 0101Hex ReqID = 01Hex Command = 01Hex
D6251 0004Hex Reserved Size = 04Hex
SDO request
message D6252 0102Hex Type = 01Hex MAC ID = 02Hex
editing area
D6253 2021Hex High byte of index = 20Hex Low byte of index = 21Hex
D6254 0004Hex Reserved Sub index = 04Hex
D6000 0101Hex ReqID = 01Hex Status = 01Hex
D6001 0006Hex Reserved Size = 06Hex
SDO response D6002 4B02Hex Type = 4BHex MAC ID = 02Hex
message
editing area D6003 2021Hex High byte of index = 20Hex Low byte of index = 21Hex
D6004 0004Hex Reserved Sub index = 04Hex
D6005 0100Hex Datum 1= 01Hex Datum 0 = 00Hex

0100Hex in D6005 refers to the actual output frequency of the AC motor drive is 2.56Hz.

z PLC program

M1002
ZRST D6000 D6031
Reset response message editing area
and request message editing area.
ZRST D6250 D6281

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 CANopen Communication Module DVPCOPM-SL

M0
MOV H0101 D6250 ReqID = 01, Command = 01

MOV H0004 D6251 Size = 04

MOV H0102 D6252 Type = 01, MAC ID = 02

MOV H2021 D6253 Index = 2021

MOV H0004 D6254 Sub index = 04

END

z Program explanation
1. The program first reset the SDO request message editing area and SDO response message
editing area to 0.
2. When M0 = On, CANopen master will send out SDO request message and read the contents in
index 2021, sub index 4 of the target equipment (at node address 02). If the communication is
successful, the slave will return with the response message.
3. When M0 = On, CANopen master will send out request message only once. If you would like it to
send out messages again, you will have to change the ReqID.
4. The messages returned from the target equipment are stored in D6000 ~ D6005.

„ Example II
z Target:
When M0 = On, set the content in index 2047, sub index 2 (i.e. the control word of the target
temperature) in IFD9503 to 0104Hex (i.e. 26.0°C). Please note that you have to write 0401Hex into
D6255 of the PLC.
DVPCOPM DVP28SV

CAN+ RUN

SHLD
CAN- STOP
GND

Node 1 Master
CANopen

Node 2

PV
°C
°F

SV

AT OUT ALM1 ALM2

SET
DTA4848

RS-485
IFD9503 DTA

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CANopen Communication Module DVPCOPM-SL

Required settings in DVPCOPM-SL:

Parameter Setting Explanation

Node address 01 Set the node address of DVPCOPM-SL to “01”.
Set the communication speed between DVPCOPM-SL and the bus
Baud rate 1 Mbps
to “1 Mbps”.

Required settings in IFD9503:

Parameter Setting Explanation

Node address 02 Set the node address of IFD9503 to “02”.
Set the communication speed between IFD9503 and the bus to “1
Baud rate 1 Mbps
Mbps”.

Required settings in DTA temperature controller:

Parameter Setting Explanation

On C WE: Enable/disable communication write-in

ASCII C-SL: Select ASCII or RTU format

1 C NO: Set up communication address

38400 BPS: Set up communication speed

7 LENGTH: Set up data length

E PARITY: Set up parity bit

1 STOP BIT: Set up stop bit

D
°C UNIT: Select temperature unit, °C or °F
e
Devices in PLC

Explanation
PLC device Content
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D6250 0101Hex ReqID = 01Hex Command = 01Hex
D6251 0006Hex Reserved Size = 06Hex
SDO request D6252 0202Hex Type = 02Hex MAC ID = 02Hex
message
editing area D6253 2047Hex High byte of index = 20Hex Low byte of index = 47Hex
D6254 0002Hex Reserved Sub index = 02Hex
D6255 0401 Hex Datum 1= 04Hex Datum 0= 01Hex
D6000 0101Hex ReqID = 01Hex Status = 01Hex
D6001 0004Hex Reserved Size = 04Hex
SDO response
message D6002 6002Hex Type = 60Hex MAC ID = 02Hex
editing area
D6003 2047Hex High byte of index = 20Hex Low byte of index = 47Hex
D6004 0002Hex Reserved Sub index = 02Hex

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 CANopen Communication Module DVPCOPM-SL

z PLC program

M1002
ZRST D6000 D6031
Reset response message editing area
and request message editing area.
ZRST D6250 D6281

M0
MOV H0101 D6250 ReqID = 01, Command = 01

MOV H0006 D6251 Size = 06

MOV H0202 D6252 Type = 02, MAC ID = 02

MOV H2047 D6253 Index = 2047H

MOV H0002 D6254 Sub index = 02

MOV H0401 D6255 Target temperature for DTA: 0104H

END

z Program explanation
1. The program first reset the SDO request message editing area and SDO response message
editing area to 0.
2. When M0= On, CANopen master will send out SDO request message and write 0104Hex into
index 2047, sub index 2 of the target equipment (at node address 02). If the communication is
successful, the slave will return with the response message.
3. When M0 = On, CANopen master will send out request message only once. If you would like it to
send out messages again, you will have to change the ReqID.
4. The messages returned from the target equipment are stored in D6000 ~ D6004.

6 LED Indicator & Trouble-shooting

DVPCOPM-SL has three LED indicators and a digital display on it. POWER LED displays whether the power
supply of DVPCOPM-SL is normal. RUN LED and ERR LED display the current operational status. The digital
display shows the node address of DVPCOPM-SL and error messages from the slave.

DVPCOPM
POWER
RUN
ERR

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CANopen Communication Module DVPCOPM-SL

6.1 POWER LED

LED status Indication How to correct

On Power is abnormal. Check the power supply of DVPCOPM-SL.
Green light On Power is normal. --

6.2 RUN LED

LED status Indication How to correct

Check the power of DVPCOPM-SL and make
Off No power
sure the connection is normal.
Green light single
DVPCOPM-SL in STOP status --
flash
Green light DVPCOPM-SL in pre-operational
--
blinking status
Green light steady DVPCOPM-SL is operational
--
on status

6.3 ERR LED

LED status Indication How to correct

Off Normal --
Red light double
Error control event See the indication from the digital display.
flash
Red light single Bus error exceeds the warning Check if the network connection and operation are
flash limit. normal.

Red light steady Check if the bus connection is normal and

Bus-off
on re-power DVPCOPM-SL.

6.4 Codes in Digital Display

z DVPCOPM-SL as master:

Code Indication How to correct

The node address of DVPCOPM-SL
0 ~ 7F --
when in normal operation.
Re-configure the node list and download it to
F1 No slave configured in node list
DVPCOPM-SL.
The data are being downloaded to
F2
DVPCOPM-SL.
--

F3 DVPCOPM-SL in error status Check if the wiring of DVPCOPM-SL is correct.

Make sure the communication cable is in normal
F4 Bus-off is detected. operation, and all the nodes on the network work
in the same baud rate. Re-power DVPCOPM-SL.
Check the settings of node address and baud
F5 Incorrect DVPCOPM-SL settings
rate and make sure the settings are correct.
Internal error: manufacturing
F6
process
Re-power DVPCOPM-SL. If the error still exists,
F7 Internal error: GPIO check change to a new DVPCOPM-SL.
F8 Internal error: memory check

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 CANopen Communication Module DVPCOPM-SL

Code Indication How to correct

Check and make sure the power of
F9 Low voltage is deteced.
DVPCOPM-SL works normally.
The firmware of DVPCOPM-SL is
FA Re-power DVPCOPM-SL.
in error status.
The sending buffer in Make sure the bus works normally and re-power
FB
DVPCOPM-SL is full. DVPCOPM-SL.
The receiving buffer in Make sure the bus works normally and re-power
FC
DVPCOPM-SL is full. DVPCOPM-SL.
DVPCOPM-SL receives
Read relevant information through PLC MPU or
E0 Emergency message sent by the
Delta CANopenBuilder software.
slave.
PDO data length returned from the
Reset the PDO data length in the slave and
E1 slave is not consistent with the
download the new setting to DVPCOPM-SL.
length set in the node list.
PDO message from the slave has
E2 Check and make sure the setting is correct.
not been received.
E3 Auto SDO download failed. Check and make sure auto SDO is correct.
E4 PDO parameter setting has failed. Make sure the PDO parameter setting is legal.
Make sure all the slaves connected are
E5 Error in key parameter setting.
consistentwith the slaves set.
The slave does not exist in the
E6
network. Make sure the power of the slave and the
The slave's error control is network connection work normally.
E7
timed-out.
Master/slave node address is Reset the node address and make sure the new
E8
repeated. address is not a repeated one.

z DVPCOPM-SL as slave:

Code Indication How to correct

The node address of DVPCOPM-SL
0 ~ 7F --
when in normal operation.
The parameters in DVPCOPM-SL is
A0 --
being initialized.
DVPCOPM-SL is in pre-operational
A1 --
status.
The data are being downloaded to
A3 --
DVPCOPM-SL.
B0 Heartbeat timed-out Re-connect DVPCOPM-SL to the network.
PDO data length returned from the
Reset the PDO data length in the slave and
B1 slave is not consistent with the
download the new setting to DVPCOPM-SL.
length set in the node list.
Make sure the communication cable is in normal
F4 Bus-off is detected operation, and all the nodes on the network work
in the same baud rate. Re-power DVPCOPM-SL.
The sending buffer in Make sure the bus works normally and re-power
FB
DVPCOPM-SL is full. DVPCOPM-SL.
The receiving buffer in Make sure the bus works normally and re-power
FC
DVPCOPM-SL is full. DVPCOPM-SL.

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MEMO

30 DVP-PLC Application Manual