Delta DVP-PM Series

13 CANopen Communication Card
DVP-PM Application Manual
13-5
CR# Function Attribute Data type
Data
length
n76
n77
Deceleration time(ms) of profile position mode R/W Word
1
n78 Profile position settings R/W Word 1
n80 Homing method R/W Word 1
n81
n82
Home offset R/W Word
1
n83
n84
Homing speed R/W Word
1
n85
n86
Speed for Homing after hitting DOG R/W Word
1
n87
n88
Homing acceleration time R/W Word
1
n89 Enable homing R/W Word 1
n90
n91
Target position of interpolation position mode R/W Word
1
n92 Enable interpolation positioning R/W Word 1
 CANopen Common Mode
CR# Function Attribute Data type
Data
length
500 CANopen mode switch R/W Word 1
504 Enable heartbeat protocol R/W Word 1
505 Execution status of heartbeat protocol R Word 1
506 Heartbeat status R Word 1
 Object Dictionary Parameters
CR# Function Attribute Data type
Data
length
1006h Synchronization cycle setting R/W DWord 1
1017h DVP-FPMC heartbeat cycle setting R/W Word 1
1400h~143Fh Parameter settings for RPDO R/W Word 3
1600h~163Fh Parameter settings for RPDO data mapping R/W DWord 4
1800h~183Fh Parameter settings for TPDO R/W Word 3
1A00h~1A3Fh Parameter settings for TPDO data mapping R/W DWORD 4
2000h~207Fh PDO data registers R/W Word 4
13.5 Explanations on Control Registers
 Parameters for Normal Mode