Delta DVP-PM Series

13 CANopen Communication Card
DVP-PM Application Manual
13-11
CRn00: Node ID
[Explanations]
Display the Node ID of servo drive on CANopen.
Node ID = 1: CR#100 = 1
Node ID = 2: CR#200 = 2
Node ID = 3: CR#300 = 3
Node ID = 4: CR#400 = 4
CRn01~CRn02: Manufacturer ID
[Explanations]
Display the manufacturer ID of the ASDA-A2 in DWORD format.
CRn03~CRn04: Product ID
[Explanations]
Display the product ID of the ASDA-A2 in DWORD format.
CRn05~CRn06: Firmware version
[Explanations]
Display the firmware version of the ASDA-A2 in DWORD format.
CRn07~CRn08: Product type
[Explanations]
Display the product type of the ASDA-A2 in DWORD format.
CRn09: CANopen node communication status
[Explanations]
Display the node communication status on CANopen. Please refer to the table below.
Status Value
Disconnected H’1
Connected H’2
Operation mode H’5
Error H’6
Resetting H’7
CRn10: Emergency error code
[Explanations]
Display the error code defined by CANopen protocol when error occurs on certain node.