Communication Specification; Servo Communication Architecture - Delta ASDA-A3 Series User Manual

ASDA-A3

12.2 Communication specification

12.2.1 Servo communication architecture

The CANopen architecture of the servo drive is as follows:
 DS301 is the communication profile: this protocol includes the communication objects
(PDO, SDO, SYNC, and Emergency object), NMT service, and related communication
object dictionary.
 DS402 is the device profile for drives and motion control: defines the behavior of each
motion mode and the required object parameter settings for execution.
CAN network
CAN node
DS 301 application layer and
communication profile
Drive Profile 402
Servo drive controls
the state machine
Modes of operation
Profile
Homing
position
mode
mode
Motor
Inter-
Profile Profile
polated
velocity torque
position
mode mode
mode
CANopen Mode
12
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