Delta DVP-ES2 - Manual (Page 683)

7 C AN o p e n F u n c t i o n a n d O p e r a t i o n
7 - 2 7
Code Indication How to correct
F4 BUS-OFF state is detected.
Check if CANopen bus cables are properly
connected and ensure that all the node
devices run at the same baud rate before
re-powering.
FB
The sending buffer in
DVP-ES2-C is full. Check if the CANopen bus cable is properly
connected and then re-power.
FC
The receiving buffer in
DVP-ES2-C is full. 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.
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Hareware Connection:
DVP32ES2-C
PC
TAP-CN03
Y5 UP0 Y0 Y1 Y3 Y2 Y4 Y10 Y7 Y6 UP1 Y12 Y11 Y13
+24V L N NC X5 X1 S/S 24G X0 X3 X2 X4 X11 X7 X6 X10 X13 X12 X14 X15
Y16 Y15 Y14 Y17
X17 X16
ZP1 ZP0 CAN+ SG + D D - CAN-
ASDA-A2-xxxx-M
CANopen
CANopen
RS-232
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.
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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.