Delta DVP-PM Series - Page 535

13 CANopen Communication Card
DVP-PM Application Manual
13-18
CR#H’1400 = H180 + DVP-FPMC node ID(CR#053)
CR#H’1401 = H280 + DVP-FPMC node ID(CR#053)
CR#H’1403 = H380 + DVP-FPMC node ID(CR#053)
CR#H’1404 = H480 + DVP-FPMC node ID(CR#053)
 Tansmission method:
Set vlalue 1~240: PDO synchronize with CANopen packet sending and executes after every interval
(CR#H’1006).
Set value 241~255: no action. Default: 241
CR#H’1600~CR#H’163F: Parameter settings for RPDO data mapping
[Explanations]
Set up parameters for RPDO data mapping in normal mode. The data format of RPDO parameter is DWORD.
The 1
st
Word sets up OD Index, the high byte of the 2
nd
Word sets up subindex and low byte sets up the data
length(unit: bit). For the setting format and the corresponding PDO data buffer, please refer to the table below.
RPDO Mapping format
PDO Data Buffer
Sub
Index
OD Index
Sub Index 1
Index
Len(Data)
Sub Index 2
Sub Index 3
Sub Index 4
Index
(1600~1 63F)
(2000~2 07F)
CR#H’1800~CR#H’183F: Parameter settings for TPDO
[Explanations]
Set up the parameters for TPDO in normal mode. The register provides 3 words for the TPDO parameters. For
the setting format please refer to the table below.
Transmission method PDO ID
Word2 Word1(High) Word0(Low)
 PDO ID: CANopen POD ID specified in 2 words. Default:
CR#H’1800 = H200 + DVP-FPMC node ID(CR#053)
CR# H’1801 = H300 + DVP-FPMC node ID(CR#053)
CR#H’1803 = H400 + DVP-FPMC node ID(CR#053)
CR#H’1804 = H500 + DVP-FPMC node ID(CR#053)
 Tansmission method:
Set vlalue 1~240: PDO synchronize with CANopen packet sending and executes after every interval
(CR#H’1006).