Delta DVP-20PM

11 CANopen Communication Card
DVP-20PM Application Manual
11-4
CR
number
Function Attribute Data type Length
#n85
#n86
Speed at which motion homes after a transition in a
DOG signal
R/W Word
1
#n87
#n88
Homing acceleration time R/W Word
1
#n89 Enabling a homing mode R/W Word 1
#n90
#n91
Target position of an interpolation mode R/W Word
1
#n92 Enabling an interpolation mode R/W Word 1
 CANopen common mode
CR
number
Function Attribute Data type Length
#500 CANopen mode switch R/W Word 1
#504 Enabling a heartbeat protocol R/W Word 1
#505 Execution status of a heartbeat protocol R Word 1
#506 Heartbeat statuses R Word 1
 Object dictionary parameters
CR number Function Attribute Data type Length
#H’1006 Synchronization cycle setting R/W DWord 1
#H’1017 DVP-FPMC heartbeat cycle setting R/W Word 1
#H’1400~#H’143F Parameter settings for a RPDO R/W Word 3
#H’1600~#H’163F Parameter settings for RPDO data mapping R/W DWord 4
#H’1800~#H’183F Parameter settings for a TPDO R/W Word 3
#H’1A00~#H’1A3F Parameter settings for TPDO data mapping R/W Dword 4
#H’2000~#H’207F PDO data registers R/W Word 4
11.5 Descriptions of Control Registers
 Normal mode: Common parameters
CR#001: Firmware version of DVP-FPMC
[Description]
The firmware version of DVP-FPMC is displayed in a hex value, e.g. H’8161 indicates that the data of
issuing the firmware of DVP-FPMC is “Afternoon, August 16”.
CR#052: CANopen synchronous packet sending setting
[Description]
The control register has two functions.
 The low byte of CR052 sets up a CANopen synchronous function. If the value of the low byte is 1,
DVP-FPMC will send out a synchronous packet. If the value is 0, the function will be disabled.
 The high byte of CR052 sets up a synchronous cycle. Setting value×5=Value in D1040. If the value
of the high byte is greater than 0, the synchronization between the DVP-10PM series motion
controller used and DVP-FPMC will be enabled.
Bit Bit [15:8] Bit [7:0]
Value Synchronous cycle Enabling the sending of a synchronous packet
CR#053: CANopen node ID setting
[Description]
The control register is used to set a CANopen node ID. A CANopen node ID is in the range of 5 to 127.
Default value: 127