Delta DVP-20PM User Manual

11 CANopen Communication Card
CR#090~CR#093: Data written into/read from a DVP-FPMC QBuffer/Address of the data written
into/read from a DVP-FPMC QBuffer
[Description]
A QBuffer is designed for accessing several inconsecutive control registers by means of executing
TO/FROM once. PLC scan time can be reduced by decreasing the number of times TO/FROM is
executed. QBuffer access operation is described below.
For example, after the inconsecutive control register numbers CR#170, CR#171, CR#280, CR#289,
and CR#376 are written into the QBuffer address CR#91, DVP-FPMC will connect the data in CR#170,
CR#171, CR#280, CR#289, and CR#376 with CR#90 automatically. Users only need to access CR#90,
and the data in CR#170, CR#171, CR#280, CR#289, and CR#376 can be modified.
Data A
CR#90 dataQufferB
CR#91 QBuffer address
CR#170
CR#280
CR#289
CR#376
CR#171
Data B
Data C
Data D
Data E
1
2
3
4
5
6
32
1
2
3
4
5
6
32
170
171
280
289
376
Data A
Data B
Data C
Data D
Data E
Registers in a DVP-20PM
series motion controller
CR#n00: Node ID
[Description]
The control register is used to display the node ID of a servo drive in a CANopen network.
Node ID=1: CR#100=1
Node ID=2: CR#200=2
Node ID=3: CR#300=3
Node ID=4: CR#400=4
CR#n01~CR#n02: Manufacturer ID
[Description]
The control registers are used to display the manufacturer ID of an ASDA-A2 series servo drive.
Data type: Double word
CR#n03~CR#n04: Product ID
[Description]
The control registers are used to display the product ID of an ASDA-A2 series servo drive.
Data type: Double word
CR#n05~CR#n06: Firmware version
[Description]
The control registers are used to display the firmware version of an ASDA-A2 series servo drive.
Data type: Double word
DVP-20PM Application Manual
11-9

Delta DVP-20PM Specifications

General

Brand	Delta
Model	DVP-20PM
Category	Controller
Language	English