Delta DVP-20PM User Manual

11 CANopen Communication Card
CR#H’2000~CR#H’207F: PDO data registers
[Description]
Data registers storing the data for PDO access. DVP-FPMC takes CR#H’2000~CR#H’207F in an OD
as data registers. Every index has 4 subindices in which data can be stored. The size of a subindex is
one word. If the size of the data to be accessed is bigger than one word, users have to use several
subindex areas for data transmission.

Object dictionary for DVP-FPMC
Index
(Hexadecimal
value)
Object
name
Number of
subindices
Name Data type Attribute
Mapping
target
1000 VAR 1 Product type UNSIGNED32 RO N
1006 VAR 1
Synchronization
cycle
UNSIGNED32 RW N
1018 ARRAY 5 Product information UNSIGNED32 RO N
1200 ARRAY 3
SDO parameter of
a master
UNSIGNED32 RO N
1280 ARRAY 4
SDO parameter of
a slave
UNSIGNED32 RO N
: : : : : : :
128F ARRAY 4
SDO parameter of
a slave
UNSIGNED32 RO N
1400 ARRAY 6 RPDO parameter UNSIGNED32 RW N
: : : : : : :
143F ARRAY 6 RPDO parameter UNSIGNED32 RW N
1600 ARRAY 9
RPDO mapping
parameter
UNSIGNED32 RW N
: : : : : : :
163F ARRAY 9
RPDO mapping
parameter
UNSIGNED32 RW N
1800 ARRAY 6 TPDO parameter UNSIGNED32 RW N
: : : : : : :
183F ARRAY 6 TPDO parameter UNSIGNED32 RW N
1A00 ARRAY 9
TPDO mapping
parameter
UNSIGNED32 RW N
: : : : : : :
1A3F ARRAY 9
TPDO mapping
parameter
UNSIGNED32 RW N
2000 ARRAY 5 PDO data register UNSIGNED32 RW Y
: : : : : : :
207F ARRAY 5 PDO data register UNSIGNED32 RW Y
6000 ARRAY 5 Mode switch UNSIGNED8 R Y
6100 ARRAY 17 Servo drive control UNSIGNED16 R Y
6120 ARRAY 17
Parameter of a
profile position
mode
UNSIGNED32 R Y
6200 ARRAY 5
Present motion
mode of a servo
drive
UNSIGNED8 RW Y
6300 ARRAY 5 Servo drive status UNSIGNED16 RW Y
6320 ARRAY 5
Servo drive
position
UNSIGNED32 RW Y
DVP-20PM Application Manual
11-18

Delta DVP-20PM Specifications

General

Brand	Delta
Model	DVP-20PM
Category	Controller
Language	English