Delta DVP-PM Series

13 CANopen Communication Card
DVP-PM Application Manual
13-19
Set value 241~255: no action. Default: 241
CR#H’1A00~CR#H’1A3F: Parameter settings for TPDO data mapping
[Explanations]
Set up parameters for TPDO data mapping in normal mode. The data format of TPDO 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.
TPDO 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
(1A00~1 A3F)
(2000~2 07F)
CR#H’2000~CR#H’207F: PDO data registers
[Explanations]
Data registers storing the data for PDO access. DVP-FPMC currently provides 2000H~207FH of OD as the data
registers. Every index contains 4 subindexes for storing data and each subindex is a word. If the data to be
accessed is bigger than a word, use the subindex area for the data transmission.
 Object Dictionary for DVP-FPMC
Index
(hex)
Object
Name
Number of
sub-indices
Name Data type Attribute
Allowed
mapping target
1000 VAR 1 Product type UNSIGNED32 R N
1006 VAR 1
Synchronization
cycle setting
UNSIGNED32 RW N
1018 ARRAY 5 Product info. UNSIGNED32 R N
1200 ARRAY 3
SDO parameter of
master
UNSIGNED32 R N
1280 ARRAY 4
SDO parameter of
slave
UNSIGNED32 R N
: : : : : : :
128F ARRAY 4
SDO parameter of
slave
UNSIGNED32 R N
1400 ARRAY 6 RPDO parameter UNSIGNED32 RW N
: : : : : : :
143F ARRAY 6 RPDO parameter UNSIGNED32 RW N
1600 ARRAY 9
RPDO mapping
parameter
UNSIGNED32 RW N