5011693700-FPC0.doc

繁體中文 ✓ 使用前請務必仔細閱讀本使用手册，並按照本手册指示進行操作，以免造成産品受損或人員受傷。 ✓ 配線時請務必關閉電源，當模組上電後，請勿觸摸接線端子。 ✓ 此安裝手册只提供電氣規格、一般規格、安裝配線、故障排除及周邊裝置部分說明，本說明書僅作爲 CANopen 協定之內容，請參閱相關專業文章或書籍資料。 ✓ 本卡無外殼，因此使用者使用本卡時，必須將其安裝於具防塵、防潮及免於電擊∕衝擊意外之外殼配 線箱內。另必須具備保護措施（如：特殊之工具或鑰匙才可打開），防止非維護人員操作或意外衝擊本 體，造成危險及損壞。 ✓ 交流輸入電源不可連接於輸入∕輸出訊號端，否則可能造成嚴重損壞。請在上電前再次確認電源配線， 且請勿在上電時觸摸任何端子。本體上的接地端子 務必正確的接地，以提高産品抗雜訊能力。 DVP-FPMC 操作指南和入門參考， CANopen 協定之詳細內容這裏不作介紹。如讀者想瞭解更多 1 CANopen 2 Ethernet 3 CANopen 4 Ethernet 5 PDO SDO （緊急物件）、 2 CANopen 24VDC -15% ~ 20% 2. 支援 CANopen 標準協定 DS402v2.0 ：運動軸數最多支援四軸 500k 1M bps 500k 100 4. 運動軸支援 profile position mode 與 homing mode 可插拔式連接器 可插拔式連接器（ 10M/100M 1. 符合 CANopen 標準協定 DS301v4.02 3 4 5 0 Non-Profile 477 注意事項  產品簡介 3.

支援 NMT 與 SDO 服務 2 1 功能規格  CANopen 連接器 CAN 500VDC 連接器 Ethernet 最大傳輸距離 100 公尺 500VDC 254 1.7W 500V ,g 66  功能  產品外觀 CR# Data R/W/N Type CR092 Data read from DVP-FPMC buffer Buffer length: 16 bits; Depth: 32 sets R/W Word CR093 Location of data read from DVP-FPMC buffer Buffer length: 16 bits; Depth:

32 sets R/W Word CR094 ~ CR099 Reserved N Word CR# Data R/W/N Type CR n 00 Node ID R Word CR n 01 ~ CR n 02 Company ID R Word CR n 03 ~ CR n 04 Product ID R Word CR n 05 ~ CR n 06 Firmware version R Word CR n 07 ~ CR n 08 Product type R Word CR n 09 CANopen communication status R Word CR n 10 Emergency error code R Word CR n 11 ~ CR n 12 Company’s error code R Word CR n 20 Drive status R Word CR n 21 Motion mode status of the drive R Word CR n 22 ~ CR n 23 Drive position R Word CR n 40 CANopen communication control (NMT) R/W Word CR n 50 SDO upload/download control R/W Word CR n 51 SDO OD index R/W Word CR n 52 SDO sending or receiving datum 1 (LSB) R/W Word CR n 53 SDO sending or receiving datum 2 R/W Word CR n 54 SDO sending or receiving datum 3 R/W Word CR n 55 SDO sending or receiving datum 4 (MSB) R/W Word CR n 60 Drive control R/W Word CR n 61 Mode control R/W Word CR n 70 ~ CR n 71 Target position in position mode R/W Word CR n 72 ~ CR n 73 Running speed in position mode R/W Word R/W Word R/W Word R/W Word R/W Word R/W Word R/W Word R/W Word Data R/W/N Type R/W Word R/W Word is 0x22 and 0x23 for P2-16.

Therefore, choose one of other DI inputs and set it to 0x24. 5. For the left/right limit and zero return, if the switch is open circuit, they will be 0x22, 0x23 Green light off connected. and 0x24. If the switch is close circuit, they will be 0x122, 0x123 and 0x124. LED status Indication Green light off connected. LED status Indication  LED Indicator & Troubleshooting Green light on normal. -- Green light on Green light flashes Network in operation --  Parameters for 1 ~ 4 Axes  CANopen LED  Ethernet LED Operation/storage Operation: 0 є C~ 55 є C (temperature), 50 ~ 95% (humidity), pollution degree 2 immunity International standards:

IEC 61131-2, IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC 68-2-27 (TEST Ea) Message type PDO, SDO, SYNC (synchronous object), Emergency (emergency object), NMT ESD (IEC 61131-2, IEC 61000-4-2): 8kV Air Discharge, 4kV Contact RS (IEC 61131-2, IEC 61000-4-3): 80 ~ 1,000MHz , 1.4 ~ 2.0GHz , 10V/m CR# CR001 CR010 CR020 CR040 CR050 CR052 CR053 CR054 CR055 CR056 CR059 Network IP and port setting for DVP-FPMC R/W Word CR060 Network data length (bytes) R/W Word CR061 Network data R/W - CR062 Network connection command R/W Word CR063 IP and port setting for network master Word CR064 Word CR065 Length: 1,024 byte - CR066 Length of data received by network from master Word CR067 Length:

1,024 byte - CR068 Length: 1,024 byte - CR069 Word CR070 Node ID of SDO servo Word CR071 SDO upload/download control Word CR072 SDO OD index Word CR073 SDO sending or receiving datum 1 (LSB) Word CR074 SDO sending or receiving datum 2 Word CR075 SDO sending or receiving datum 3 Word CR076 SDO sending or receiving datum 4 (MSB) Word CR080 NMT motion command for CANopen master Word CR090 Date written in DVP-FPMC buffer Buffer length: 16 bits; Depth: 32 sets Word CR091 Location of data written in DVP-FPMC buffer Buffer length: 16 bits; Depth:

32 sets Word Transmission cable 2 communication cables, 1 shielded cable and 1 ground wire Power supply voltage Supplied by MPU through internal bus, 24VDC (-15% ~ 20%) EFT (IEC 61131-2, IEC 61000-4-4): Communication I/O: 1kV Storage:

-25 є C ~ 70 є C (temperature), 5 ~ 95% (humidity) Type Removable connector (5.08mm) speed 500k, 1M bps (bits per second) Max cable length 500k (100m), 1M (25m) Company ID 477 (Delta Electronics, Inc.) Standards  Ethernet Connector Transmission method Ethernet Transmission speed 10M/100M Max cable length 100m Electrical isolation 500VDC Equipment type 0 (Non-Profile)  Electrical Specification Power consumption 1.7W Insulation voltage 500V Discharge   Communication Serial transmission Product code 254 Weight (g) 66  Environment Noise immunity Shock/vibration 5011693700-FPC0 DVP-1097730-01 ENGLISH ✓ Please read this instruction sheet carefully before use and follow this instruction to operate the devicein order to prevent damages on the device or injuries to staff.

✓ Switch off the power before wiring. DO NOT touch any terminal when the power is switched on. ✓ This instruction sheet only provides introductory information on electrical specification, general specification, how to install and wire, troubleshooting and peripherals. Details of CANopen protocol are not included in this sheet. For more information on CANopen protocol, please refer to relevant reference or literatures. ✓ This function card has no case on top of it and therefore should be installed in an enclosure free of airborne dust, humidity, electric shock and vibration. The enclosure should prevent non-maintenance staff from operating the device (e.g.

key or specific tools are required to open the enclosure) in case danger and damage on the device may occur. ✓ DO NOT connect input AC power supply to any of the I/O terminals; otherwise serious damage may occur. Check all the wiring again before switching on the power and DO NOT touch any terminal when the power is switched on. Make sure the ground terminal is correctly grounded in order to prevent electromagnetic interference. 2009-08-24 1 CANopen connector 2 Ethernet connector 3 CANopen indicator 4 Ethernet indicator 5 Communication connector Transmission cable 2 communication cables, 1 shielded cable and 1 ground wire 2. Supports CANopen standard protocol DS402v2.0: Max. 4 motion axes 1.

Compliant with CANopen standard protocol DS301v4.02. 4. The motion axes support profile position mode and homing mode Type Removable connector (5.08mm) Warning  Introduction 3. Supports NMT and SDO services  Product Profile 3 4 5 Specifications  CANopen Connector Transmission method CAN Electrical isolation 500VDC  Functions 2 1 CR# Data R/W/N Type CR092 Data read from DVP-FPMC buffer Buffer length: 16 bits; Depth: 32 sets R/W Word CR093 Location of data read from DVP-FPMC buffer Buffer length: 16 bits; Depth:

32 sets R/W Word Type Removable connector (5.08mm) Transmission method Transmission cable Ethernet 2 communication cables, 1 shielded cable and 1 ground wire Transmission speed Max cable length Electrical isolation 10M/100M 100m 500VDC CR# Data R/W/N Type CRn00 Node ID R Word CRn01 ~ CRn02 Company ID R Word CRn03 ~ CRn04 CRn05 ~ CRn06 Product ID Firmware version R R Word Word CRn07 ~ CRn08 Product type R Word CRn09 CANopen communication status R Word CRn10 Emergency error code R Word CRn11 ~ CRn12 Company’s error code R Word CRn20 Drive status R Word CRn21 CRn22 ~ CRn23 CRn40 CRn50 CRn51 CRn52 Motion mode status of the drive Drive position CANopen communication control (NMT) SDO upload/download control SDO OD index SDO sending or receiving datum 1 (LSB) R R R/W R/W R/W R/W Word Word Word Word Word Word CRn53 CRn54 CRn55 CRn60 CRn61 CRn70 ~ CRn71 SDO sending or receiving datum 2 SDO sending or receiving datum 3 SDO sending or receiving datum 4 (MSB) Drive control Mode control Target position in position mode R/W R/W R/W R/W R/W R/W Word Word Word Word Word Word CRn72 ~ CRn73 Running speed in position mode R/W Word CRn74 ~ CRn75 CRn76 ~ CRn77 CRn78 Acceleration time (ms) in position mode Deceleration time (ms) in position mode Position mode control R/W R/W R/W Word Word Word CRn80 CRn81 ~ CRn82 CRn83 ~ CRn84 Zero return method Zero return offset Zero return speed R/W R/W R/W Word Word Word CRn85 ~ CRn86 Speed for zero turn after hitting DOG R/W Word Message type PDO, SDO, SYNC (synchronous object), Emergency (emergency object), NMT Serial transmission speed 500k, 1M bps (bits per second) Max cable length 500k (100m), 1M (25m) Product code 254 Equipment type 0 (Non-Profile) Company ID 477 (Delta Electronics, Inc.) Noise immunity Operation/storage Shock/vibration ESD (IEC 61131-2, IEC 61000-4-2):

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