13 CANopen Communication CardDVP-PM Application Manual 13-21Canopen NetworkFPMCNode: 127Node: 1Node: 2Node: 3Node: 420PMMasterSlaveSlaveSlaveSlaveIn A2 mode, there are 6 sets of PDOs for setting servo parameters. The user can monitor servo statusdirectly by accessing the control registers through CANopen network. Additional setting for PDO parametersis not required. The PDO allocation for DVP-FPMC (Master) and servo drives (Slaves) is listed as the tablebelow: 4 sets of PDO for DVP-FPMC and 2 sets of PDO for servo data transmission.PDO Master (transmit) Slave (receive)1Target position of profile position mode(CRn70~CRn71)Target speed of profile position mode(CRn72~CRn73)2Acceleration time(ms) of profile position mode(CRn74~CRn75)Deceleration time(ms) of profile position mode(CRn76~CRn77)3 Servo drive control (CRn60)4Target position of interpolation position mode(CRn90~CRn91)Enable interpolation positioning (CRn92)5Servo drive status (CRn20)Current operating mode of servo drive(CRn21)6 Servo drive position (CRn22~ CRn23)A2 mode communication setting:z ASDA-A2 settingsBefore setting up CANopen connection, set the servo drives in CANopen mode by the following steps:1. Set A2 Keypad P1-01as 0x0B（Set ASDA-A2 in CANopen mode）
