Delta DVP-PM Series

13 CANopen Communication Card
DVP-PM Application Manual
13-4
CR# Function Attribute Data type
Data
length
010 CANopen bus scan R/W Word 1
020 CANopen bus communication status R Word 1
040 Error status of node R Word 1
050 CANopen bus control command R/W Word 1
090 Data written in DVP-FPMC QBuffer R/W Word 32
091 Address of data written in DVP-FPMC QBuffer R/W Word 32
092 Data read from DVP-FPMC QBuffer R/W Word 32
093 Address of data read from DVP-FPMC QBuffer R/W Word 32
n00 Node ID R Word 1
n01
n02
Manufacturer ID R Word
1
n03
n04
Product ID R Word
1
n05
n06
Firmware version R Word
1
n07
n08
Product type R Word
1
n09 CANopen node communication status R Word 1
n10 Emergency error code R Word 1
n11
n12
Manufacturer’s error code R Word
1
n20 Servo drive status R Word 1
n21 Current operating mode of servo drive R Word 1
n22
n23
Servo drive position R Word
1
n40 Node control command R/W Word 1
n50 SDO access command and status R/W Word 1
n51 SDO OD(Object Dictionary) index R/W Word 1
n52 SDO sending or receiving datum 1 R/W Word 512
n53 SDO sending or receiving datum 2 R/W Word 512
n54 SDO sending or receiving datum 3 R/W Word 512
n55 SDO sending or receiving datum 4 R/W Word 512
n60 Servo drive control R/W Word 1
n61 Operating mode selection R/W Word 1
n70
n71
Target position of profile position mode R/W Word
1
n72
n73
Target speed of profile position mode R/W Word
1
n74
n75
Acceleration time(ms) of profile position mode R/W Word
1