DVP-ES2-EX2-SS2-SA2-SX2-Operation Manual

7 CANopen Function and Operation
Code Indication How to correct
F4
FB
FC
BUS-OFF state is detected.
The sending buffer in
DVP-ES2-C is full.
The receiving buffer in
DVP-ES2-C is full.
Check if CANopen bus cables are properly
connected and ensure that all the node
devices run at the same baud rate before
re-powering.
Check if the CANopen bus cable is properly
connected and then re-power.
Check if the CANopen bus cable is properly
connected and then re-power.
7.6 Application Example
DVP-ES2-C is used to control Delta A2 servo rotation and monitor the actual rotation speed of
motor in real time. The principle of operation is to map the relevant parameters of servo drive to the
corresponding PDO and read or write the relevant parameters of servo drive through the CAN bus
to accomplish the control requirement.
‣ Hareware Connection:
DVP32ES2-C
PC
+24V S/S X1
24G X0 X3
L N NC X5 X7
X2 X4 X11 X12
X6 X10 X13 X14 X15 X16 X17
RS-232
CAN+ CAN- SG D+
D-
UP0 ZP0 Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7 UP1 ZP1 Y10 Y11 Y12 Y13 Y14 Y15 Y16 Y17
CANopen
TAP-CN03
CANopen
ASDA-A2-xxxx-M
Note:
1. We recommend user use the standard communication cable TAP-CB01/TAP-CB02/ TAP-CB10
and connect the terminal resistors such as Delta standard terminal resistor TAP-TR01 to either
terminal of the network when constructing the network.
2. TAP-CN03 is a distribution box and the resistance it has can be effective after its SW1 is
switched to ON. According to actual demand, user could select TAP-CN01/CN02/CN03 for
wiring.
3. M of ASD-A2-xxxx-M refers to the model code and currently only the M-model servo supports
CANopen communication.
‣ Setting Servo Parameters:
Set servo parameters as follows:
Parameter Setting Explanation
3-00 02 The Node ID of A2 servo is 2
3-01 400 CAN communication rate is 1Mbps.
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