Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Application Example, ¾ Hareware Connection

			7 CANopen Function and Operation
Code	Indication		How to correct
			Check if CANopen bus cables are properly
F4	BUS-OFF state is detected.		connected and ensure that all the node
			devices run at the same baud rate before
			re-powering.
FB	The sending buffer in		Check if the CANopen bus cable is properly
	DVP-ES2-C is full.		connected and then re-power.
FC	The receiving buffer in	Check if the CANopen bus cable is properly
	DVP-ES2-C is full.	connected and then re-power.

7.6Application 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.

¾Hareware Connection:

DVP32ES2-C

PC

L N NC +24V 24G S/S X0 X1 X2 X3 X4 X5 X6 X7 X10 X11 X12 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

ASDA-A2-xxxx-M

TAP-CN03

CANopen CANopen

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.

¾Setting 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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