Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
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Supporting standard expedited SDO transmission mode.
6.9.2 Pins of CANopen Communication Port
The motion controller’s CANopen communication port is used in the standard CANopen communication
and its pin descriptions are listed in the following table.
Pin No. Signal Definition
1 CAN_H
2 CAN_L
Signal
-
3 CAN_GND 0 VDC
4 Reserved Reserved
5 Reserved Reserved
6 Reserved Reserved
7 CAN_GND 0 VDC
8 Reserved Reserved
6.9.3 PDO Mapping at CANopen Communication Port
The input mapping area is %MW5000~%MW5499 and output mapping area is %MW5500~%MW5999 when
the motion controller works as CANopen master.
The input mapping area is %MW5000~%MW5031 and output mapping area is %MW5500~%MW5531 when
the motion controller works as CANopen slave.
6.9.4 Network Connection at CANopen Communication Port

CANopen Bus Terminals and Network Topology
Both of the two ends of a CANopen network need be connected with the terminal resistors of
120Ω
to
enhance the stability of CANopen communication. See the illustration of a basic CANopen network topology
below.
12
0 Ω
120
Ω
CAN 1 node CAN 2 node
CAN 3 node
CAN_H
CAN_L

CANopen Bus Network Topology
1 2 3 4 5 6 7 8
CAN1
CA Nopen