Delta DVP-PM Series

13 CANopen Communication Card
DVP-PM Application Manual
13-8
[Explanations]
Set up the node ID of the SDO server within the range 1~127.
CR#071: SDO access command and status
[Explanations]
Set up the SDO access commands and obtain the status. Please refer to the table below for the setting format.
Bit b15~b8 b7~b4 b3 b2~b0
Function
Subindex of the the
target OD index.
Data length (unit: byte)
Range: 1~8
Length of data should be specified in
write-in cases
Error flag
Commands:
0: completed
1: write in
(check up )
2: read out
(check up)
3: write in
(No check up)
4: read out
(No check up)
SDO data transmission diagram:
1. Specify the OD index of SDO server (CR#070) in CR#072.
2. Set up the data to be transmitted in CR#073~CR#076.
3. Refer to the above table. Specify the subindex in b15~b8 of CR#071 and the SDO access commands as
well.
OD index
Subindex
Data
Data
Data
Data
Data
Data
1
3
2
Subindex
Subindex
Subindex
Subindex
Subindex
CR#072: SDO OD(Object Dictionary) index
[Explanations]
Specify the target OD index. Range: H’0000~H’FFFF.
CR#073~CR#076: SDO OD sending/receiving data 1~4
[Explanations]
The 4 registers store the data to be accessed (max 1024 bytes) through SDO protocol. When an error occurs