Servo On; Servo Off; Error Reset: 129 - Delta DVP-PM Series Applications Manual

13
CANopen Communication Card
CR#040: Error status of node
[Explanations]
Display the error status of servo drive. b0~b3 of CR#010 correnpond to node1~node4. When error occurs, the
corresponding bit will be 1. When error reset command is executed, the content in this register will be cleared
automatically. Please refer to the table below.
Bit
Node ID
CR#050: CANopen bus control command
[Explanations]
Send out bus control commands to the connected nodes on CANopen. Set value = 1 indicates "All Servo On". Set
value = 128 indicates "Servo Off." Set value = 129 indicates "Error Reset." When the execution is completed, the
content in the register will be cleared automatically. Please refer to the table below for the setting format.
Command
CR#090~CR#93: DVP-FPMC QBuffer data / data address
[Explanations]
QBuffer is designed for accessing several discontinuous control registers within CR100~CR499 by single
TO/FROM accessing. PLC scan time can be reduced by decreasing the number of TO/FROM instructions through
QBuffer application. The QBuffer access operation is explained as the diagram below.
For example, write the discontinuous CR number (CR#170, 171, 280, 289, 376) into the QBuffer address CR#91,
and DVP-FPMC will map the content in these registers into QBuffer data CR#90 automatically. The user only
needs to access CR#90 and the content in QBuffer address (CR#170, 171, 280, 289, 376) can be modified at one
time.
PM Registers
13-10
b15~b4 b3
Reserved Node 4
Bit b15~b8]
ALL Servo On: 1
ALL Servo Off: 128
Reserved

Error Reset: 129

CR#90 QBuffer data
Data A
1
Data B
2
Data C
3
Data D
4
Data E
5
6
32
b2 b1
Node 3 Node 2
b7~b0]
CR#91 QBuffer address
1
170
171
2
3
280
4
289
5
376
6
32
b0
Node 1
Data A
CR#170
Data B
CR#171
Data C
CR#280
Data D
CR#289
Data E
CR#376
DVP-PM Application Manual