11 CANopen Communication Card
CR#072: SDO OD index
[Description]
The control register is used to specify a target OD index.
Range: H’0000~H’FFFF.
CR#073~CR#76: SDO OD transmission/reception register 1~SDO OD transmission/reception register
4
[Description]
The data to be accessed through an SDO protocol is stored in the four control registers. The maximum
capacity is 1024 bytes. If an error occurs during SDO data transmission, an error code will be stored in
CR#073 and CR#074. If CR#073~CR#076 are used at a time, CR#073 functions as the LSB and
CR#076 functions as the MSB.
CR#080: NMT command
[Description]
If DVP-FPMC is a master, an NMT command can be used to change a network status. Please refer to
the table below for more information.
Bit Bit [15:8] Bit [7:0]
Setting
value
Network management command
1: Enabling node communication
2: Disabling node communication
128: Switch an operation mode
129: Resetting node communication
Node ID of a slave
Parameters for an A2 mode
An A2 mode is one of the applications of DVP-FPMC specifically for Delta ASDA-A2 series servo
drives. In an A2 mode, CANopen node ID 1~CANopen ID 4 are for ASDA-A2 series servo drives,
and CR#100~CR#499 correspond to servo parameters. CR#100~CR#199 are control registers for
node ID 1, CR#200~CR#299 are control registers for node ID 2, CR#300~CR#399 are control
registers for node ID 3, CR#400~CR#499 are control registers for node ID 4. n in a control register
number represents the digit in the hundreds place of the control register number. It is in the range of
1 to 4. Control registers for ASDA-A2 application are applicable only in an A2 mode.
CR#010: CANopen bus scan
[Description]
The control register is used to scan CANopen node ID 1~CANopen node ID 4. Bit 0~bit 3 in CR#010
correspond to node 1~node 4. If a bit is 1, its corresponding node will be scanned, and the contents of
the control register will be cleared automatically. Please refer to the table below for more information.
Bit Bit [15:4] Bit [3] Bit [2] Bit [1] Bit [0]
Node
number
Reserved Node 4 Node 3 Node 2 Node 1
DVP-20PM Application Manual
11-7
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