13 CANopen Communication CardDVP-PM Application Manual13-20: : : : : : :163F ARRAY 9 RPDO mappingparameter UNSIGNED32 RW N1800 ARRAY 6 TPDO parameter UNSIGNED32 RW N: : : : : : :183F ARRAY 6 TPDO parameter UNSIGNED32 RW N1A00 ARRAY 9 TPDO mappingparameter UNSIGNED32 RW N: : : : : : :1A3F ARRAY 9 TPDO mappingparameter UNSIGNED32 RW N2000 ARRAY 5 PDO data register UNSIGNED32 RW Y: : : : : : :207F ARRAY 5 PDO data register UNSIGNED32 RW Y6000 ARRAY 5 Mode switch UNSIGNED8 R Y6100 ARRAY 17 Servo drive control UNSIGNED16 R Y6120 ARRAY 17 Parameter of profileposition mode UNSIGNED32 R Y6200 ARRAY 5 Current operatingmode of servo drive UNSIGNED8 RW Y6300 ARRAY 5 Servo drive status UNSIGNED16 RW Y6320 ARRAY 5 Servo drive position UNSIGNED32 RW Y13.6 DVP-FPMC Mode Settings A2 modeIn A2 mode, DVP-FPMC communicates with 4 ASDA-A2 through CANopen network. In the communication,DVP-FPMC serves as Master and servo drives serve as Slaves. The communication structure is illustratedas the diagram below. Default node ID of DVP-FPMC is 127. Set up the node ID of servo drives as ID1~4,which are the planned node IDs for A2 Slaves, and the data exchange between Master and Slave can beexecuted.
