Delta DVP-20PM

11 CANopen Communication Card
CR#H’1600~CR#H’163F: Parameter settings for RPDO data mapping
[Description]
The control registers are used to set parameters for RPDO data mapping in a normal mode. A RPDO
parameter is composed of a double word. The first word is used to set an OD Index. The high byte of
the second word is used to set a subindex, and the low byte is used to set a data type. A bit is a unit for
setting a data type. Please refer to the figure below for more information.
RPDO mapping format
PDO data buffer
Subindex
OD index
Subindex 1
Index
Length
(Data)
Subindex 2
Subindex 3
Subindex 4
Index
(1600~163F)
(2000~207F)
CR#H’1800~CR#H’183F: Parameter settings for a TPDO
[Description]
The control registers are used to set the parameters for TPDO 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’1800=H200+ DVP-FPMC node ID (CR#053)
CR# H’1801=H300+ DVP-FPMC node ID (CR#053)
CR#H’1803=H400+ DVP-FPMC node ID (CR#053)
CR#H’1804=H500+ 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
Transmission method PDO ID
Word 2 Word 1 (High) Word 0 (Low)
CR#H’1A00~CR#H’1A3F: Parameter settings for TPDO data mapping
[Description]
The control registers are used to set parameters for TPDO data mapping in a normal mode. A TPDO
parameter is composed of a double word. The first word is used to set an OD Index. The high byte of
the second word is used to a subindex, and the low byte is used to set a data type (unit: bit). Please
refer to the figure below for more information.
TPDO mapping format
PDO data buffer
Subindex
OD index
Subindex 1
Index
Length
(Data)
Subindex 2
Subindex 3
Subindex 4
Index
(1A00~1A3F)
(2000~207F)
DVP-20PM Application Manual
11-17