Delta DVP-ES2 User Manual download pdf (Page 669)

100

101

7 CANopen Function and Operation

7-13

Initialization Pre-operational Operational Stopped

EMCY X X

Boot-up X

NMT X X X

The format of the control message for the node state:

COB-ID Byte 0 Byte 1

0 Command specifier (CS)

Slave address

(0: Broadcast)

The command specifiers are listed below.

Command specifier

(hex)

Function

01 Start the remote node

02 Stop the remote node

80 Enter the pre-operational state

81 Reset the application layer

82 Reset the communication

 Error control services

The error control service is used to detect the disconnection of the node in the network. The

error control services can be classified into two types, i.e. Heartbeat and Node Guarding.

The PLC only supports Heartbeat. For example, the master can detect the disconnection of

the slave only after the slave enables the Heartbeat service.

The Heartbeat principle is illustrated as follows. The Hearbeat producer transmits the

Heartbeat message according to the Heartbeat producing time which is set. One or many

Heartbeat consumers detect the message transmitted by the Heartbeat producer. If the

consumer does not receive the message transmitted by the producer within the timeout

period, the CANopen communication is abnormal.

Reuqest

Receiving

Request

Heartbeat consumer

Heartbeat producer

Heartbeat

producing

time

Heartbeat

timeout

period

Heartbeat evnet

Heartbeat

timeout

period

Receiving

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Delta DVP-ES2 User Manual Page 669

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