Delta DVP-20PM

11 CANopen Communication Card
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Object dictionary parameters
CR#H’1006: Synchronization cycle setting
[Description]
The control register is used to set a time interval (unit) for the sending of CANopen synchronization
packets in a normal mode.
Unit: μs
Data type: Double word
Default value: 5000
A synchronization cycle is measured by the millisecond now. The time less than one millisecond is
ignored. It is suggested that the minimum synchronization cycle for 1 PDO~3 PDOs in a CANopen
network should be 3 milliseconds, and the minimum synchronization cycle for 4 PDOs~8PDOs should
be 4 milliseconds. That is to say, one millisecond will be added to a minimum synchronization cycle if
four PDOs are added.
CR#H’1017: DVP-FPMC heartbeat cycle setting
[Description]
The control register is used to set a heartbeat cycle.
Unit: Millisecond
Default value: 0
If the value in the control register is 0, the heartbeat mechanism of DVP-FPMC is not enabled.
CR#H’1400~CR#H’143F: Parameter settings for a RPDO
[Description]
The control registers are used to set the parameters for RPDO in a normal mode. The capacity of the
control registers is 3 words. Please refer to the table below for more information.
Transmission method PDO ID
Word 2 Word 1 (High) Word 0 (Low)
 PDO ID: A CANopen POD ID occupies two words.
Default values:
CR#H’1400=H180+FPMC DVP-FPMC node ID (CR#053)
CR# H’1401=H280+FPMC DVP-FPMC node ID (CR#053)
CR#H’1403=H380+FPMC DVP-FPMC node ID (CR#053)
CR#H’1404=H480+FPMC DVP-FPMC node ID (CR#053)
 Transmission method: If the value set is in the range of 1 to 240, the sending of a PDO is
synchronized with the sending of a CANopen packet, and is executed every synchronization cycle.
If the value set is in the range of 241 to 255, no PDO is sent.
Default value: 241
DVP-20PM Application Manual
11-16