13 CANopen Communication Card
DVP-PM Application Manual
13-14
CRn51: SDO OD(Object Dictionary) index
[Explanations]
Specify the OD index of the node. Range: H’0000~H’FFFF.
CRn52~CRn55: 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
during SDO data transmission, the error code will be stored in CRn52 and CRn53. If CRn52~CRn55 are used at
one time, CRn52 serves as LSB and CRn55 as MSB.
CRn60: Servo drive control
[Explanations]
Sent out control commands to ASDA-A2. For the control codes, please refer to the table below.
X
XX
EO
01234567891
OMOMOM
FR
X
XX
X
XXXX
Control word
Bit
EO: Servo On. The servo drive will be ON when the bit is 1.
FR: Error reset. The servo drive will reset the error when the bit is 1.
OM: control commands for each operating mode. Please refer to the table below.
Profile position mode Homing mode Interpolation position mode
OM[4] Set up new taget position Homing On X
OM[5]
Enable target position changing
during positioning process
X X
OM[6] Absolute / Reletive positioning X X
Note: “X” indicates “Reserved”
CRn61: Operating mode selection
[Explanations]
Select the operating mode of the servo. For the set values please refer to thte table below.
Set value Operating mode
0x01 Profile position mode
0x06 Homing mode
0x07 Interpolation position mode
CRn70~CRn71: Target position of profile position mode
[Explanations]
Set up the target position in DWORD format.
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