Delta DVP-ES2 User Manual Page 677

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7 CANopen Function and Operation
7-21
Emergency response data
Response message
PLC device
High byte Low byte
D6000 ReqID=01 Status code =01
D6001 Reserved =0 Size =2A (Hex)
D6002
Message
header
Type =04 Node ID =02
D6003 Total number of data =1 Number of data stored =1
D6004 Datum 1=54 Datum 0=42
D6005 Datum 3=15 Datum 2=20
D6006 Datum 5=0 Datum 4=0
D6007 Datum 7=0 Datum 6=0
D6004 Datum 1=54 Datum 0=43
D6005 Datum 3=14 Datum 2=20
D6006 Datum 5=0 Datum 4=0
D6007
Message
data
Datum 7=0 Datum 6=0
7.4.4 Example on Sending SDO through the Ladder Diagram
¾ Control Requirement:
Read the value of P0-09 of servo in cycle through SDO.
¾ Hardware Connection:
DVP32ES2-C
PC
TAP-CN03
Y5UP 0 Y0 Y1 Y3Y2 Y4 Y10Y7Y6 UP 1 Y12Y11 Y13
+24V
L N NC X5X1S/ S24G X0 X3X2 X4 X11X7X6 X10 X13X12 X14 X15
Y16Y15Y14
Y17
X17X16
ZP1ZP0CAN+ S G
+
DD
-
CAN-
ASDA-A2-xxxx-M
CANopen
CANopen
RS-232
¾ The Corresponding Relation between Slave Parameter and Index/Subindex
The index_subindex corresponding to P0-09 of servo is 2009_0. On the interface of the
network configuration software, right click the servo icon; select “Parameter Edit” and then the
following dialog box will appear. You can see the index_subindex corresponding to the servo
parameter in the dialog box.
For more details on how to operate the network configuration interface, please refer to section
11.1.1 of the help file of CANopen Builder software.
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