Delta DVP-20PM

11 CANopen Communication Card
DVP-20PM Application Manual
11-21
2. Setting PDO mapping parameters
The setting of PDO mapping parameters includes the setting of a mapping target and the setting
of a data length in a PDO data buffer. The maximum data length which can be set is 64 bits,
that is to say, four subindices in a PDO data buffer can be occupied at a time. For example, the
mapping target set is the second subindex in CR#H’200A, and the data length set is 48 bits.
Subindex 2~subindex 4 in the PDO data buffer used are occupied.
H'1A00
TPDO mapping
DVP-FPMC
PDO data buffer
CR#
Subindex 1
OD
index
Subindex 2
Subindex 3
Subindex 4
H'200A
H'30
H'2
H'200A
H'200A
H'200A
H'200A
3. Setting PDO data
transmitted by a PDO into the OD indices set. For example, subindex
ll be
Write the data to be
2~subindex 4 in CR#H’200A in DVP-FPMC is TPDO data, and subindex 1~subindex 3 in
CR#H’203F in the slave connected is RPDO data. After communication is enabled, data wi
transmitted/received every synchronization cycle.
DVP-FPMC
200A
200A
200A
Data to be transmitted to a slave
Data to be transmitted to a slave
Data to be transmitted to a slave
203F
203F
203F
Data received from DVP-FPMC
Data received from DVP-FPMC
Data received from DVP-FPMC
Slave
PDO data bufferPDO data buffer
11.7 Ethernet Mode of DVP-FPMC
e connected to an Ethernet device or a PC. If
or
t
DVP-FPMC supports Ethernet connection. It can b
DVP-FPMC is connected to a PC, PMSoft can be used to upload/download a program and monit
devices. Users only need to connect the communication port on DVP-FPMC to a communication por
on equipment. Please refer to section 11.3 for more information about installing hardware. If
DVP-FPMC is connected to a PC, the Ethernet LED indicator will be ON. Please check the setting of
hardware or the setting of the PC connected if the Ethernet LED indicator is not ON.