Delta DVP-20PM

11 CANopen Communication Card
CR#n90~CR#n91: Target position of an interpolation mode
[Description]
The control registers are used to set the target position of an interpolation mode.
Range: -2,147,483,648 ~2,147,483,647
Data type: Double word
CR#n92: Enabling an interpolation mode
[Description]
An interpolation mode will be executed if the value in the control register is 1. An interpolation mode will
be disabled if the value in the control register is 0.

CANopen common mode
CR#500: CANopen mode switch
[Description]
The control register is used to switch the CANopen mode of DVP-FPMC. If the value in the control
register is 1, the CANopen mode of DVP-FPMC is an A2 mode. If the value in the control register is 2, the
CANopen mode of DVP-FPMC is a normal mode.
Default value: 1
Control registers for an A2 mode will be unavailable if the CANopen mode of DVP-FPMC is a normal
mode. Control registers for a normal mode will be unavailable if the CANopen mode of DVP-FPMC is
an A2 mode.
CR#504: Enabling a heartbeat protocol
[Description]
If a heartbeat protocol is enabled in a common mode, the heartbeat mechanisms of node ID 1~nod ID
16 (slaves) will be enabled by a master. If the value in the control register is 0, a heartbeat protocol is
disabled. If the value in the control register is 1, a heartbeat protocol is enabled.
CR#505: Execution statuses of a heartbeat protocol
[Description]
The control register is used to display the execution statuses of the heartbeat protocol executed by
node ID 1~node ID 16. If the value in the control register is 0, the execution of a heartbeat protocol is
completed. If the value in the control register is 1, a heartbeat protocol is being executed.
CR#506: Heartbeat statuses
[Description]
The control register is used to display the heartbeat statuses of node ID1~node ID 16. Node ID 1~node
ID 16 correspond to bit 0~bit 15. If the heartbeat mechanism of a slave is enabled successfully, the bit
corresponding to the salve is 1. If the heartbeat mechanism of a slave is not enabled, the bit
corresponding to the salve is 0. In addition, if a slave is disconnected from a master, the bit
corresponding to the slave is 0.
1
23
4
012345678910111
2
1
3
141
5
5
6
7
8
9
1011
12
13141516
Bit
Heartbeat statuses of slaves
Node IDs
DVP-20PM Application Manual
11-15