Delta DVP-20PM

11 CANopen Communication Card

A2 mode: Four-axis parameters
CR
number
Function Attribute Data type Length
#010 CANopen bus scan R/W Word 1
#020 CANopen bus communication status R Word 1
#040 Error status of a server R Word 1
#050 CANopen bus control command R/W Word 1
#090 Data written into a DVP-FPMC QBuffer R/W Word 32
#091 Address of the data written into a DVP-FPMC QBuffer R/W Word 32
#092 Data read from a DVP-FPMC QBuffer R/W Word 32
#093 Address of the data read from a DVP-FPMC QBuffer R/W Word 32
#n00 Node ID R Word 1
#n01
#n02
Manufacturer ID R Word
1
#n03
#n04
Product ID R Word
1
#n05
#n06
Firmware version R Word
1
#n07
#n08
Product type R Word
1
#n09 CANopen node communication status R Word 1
#n10 Emergency error code R Word 1
#n11
#n12
Manufacturer’s error code R Word
1
#n20 Servo drive status R Word 1
#n21 Present motion mode of a servo drive R Word 1
#n22
#n23
Servo drive position R Word
1
#n40 Node control command R/W Word 1
#n50 SDO access command and status R/W Word 1
#n51 SDO OD (object dictionary) index R/W Word 1
#n52 SDO transmission/reception register 1 R/W Word 512
#n53 SDO transmission/reception register 2 R/W Word 512
#n54 SDO transmission/reception register 3 R/W Word 512
#n55 SDO transmission/reception register 4 R/W Word 512
#n60 Servo drive control R/W Word 1
#n61 Motion mode selection R/W Word 1
#n70
#n71
Target position of a profile position mode R/W Word 1
#n72
#n73
Target speed of a profile position mode R/W Word 1
#n74
#n75
Acceleration time of a profile position mode (ms) R/W Word 1
#n76
#n77
Deceleration time of a profile position mode (ms) R/W Word 1
#n78 Profile position settings R/W Word 1
#n80 Homing method R/W Word 1
#n81
#n82
Home offset R/W Word
1
#n83
#n84
Homing speed R/W Word
1
DVP-20PM Application Manual
11-3