Delta Electronics CANopen Communication Module DVPCOPM-SL Manual de usuario descargar pdf (Pagina 21)

CANopen Communication Module DVPCOPM-SL

DVP-PLC Application Manual

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

MOV D6032

D6286

MOV D6282

SET M0

END

D6286

D6036

z Program explanations:

1. The 2

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 3

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 H

D1120

MOV K2M10

SET M1120

END

MOV K2X20

D256

RST

M1143

SET M0

M10

1 2 ... 16 17 18 19 20 21 22 23 24 25 26 ... 31 32

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Delta Electronics CANopen Communication Module DVPCOPM-SL Manual de usuario Pagina 21

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