Canopen Mode - Delta ASDA-A3 Series User Manual

CANopen Mode

This chapter provides details for the required parameter settings when the servo
communicates with the controller through the CANopen communication function.
12.1 Basic configuration ·········································································· 12-2
12.1.1 Supported functions ································································· 12-2
12.1.2 Hardware configuration ···························································· 12-3
12.1.3 Parameter settings of CANopen mode ········································· 12-4
12.2 Communication specification ····························································· 12-5
12.2.1 Servo communication architecture ·············································· 12-5
12.2.2 Communication objects ···························································· 12-6
12.2.2.1 Process data object (PDO) ············································· 12-7
12.2.2.2 Service data object (SDO) ·············································· 12-8
12.2.2.3 SDO abort codes ························································· 12-11
12.2.2.4 Synchronization object (SYNC) ······································ 12-12
12.2.2.5 Emergency object (EMCY) ············································ 12-13
12.2.2.6 NMT services ····························································· 12-14
12.3 CANopen operation mode ································································ 12-17
12.3.1 Profile Position Mode ······························································ 12-17
12.3.2 Interpolation Position Mode ······················································ 12-21
12.3.3 Homing Mode ········································································ 12-24
12.3.4 Profile Velocity Mode ······························································ 12-26
12.3.5 Profile Torque Mode································································ 12-28
12.4 Object dictionary ············································································ 12-30
12.4.1 Specifications for objects ························································· 12-30
12.4.2 List of objects ········································································ 12-31
12.4.3 Details of objects ··································································· 12-33
12.4.3.1 OD 1XXXh communication object group ··························· 12-33
12.4.3.2 OD 2XXXh servo parameter group ·································· 12-48
12.4.3.3 OD 6XXXh communication object group ··························· 12-49
12.5 Diagnostics and troubleshooting ························································ 12-84
12-1