Communication Objects - Delta ASDA-A3 Series User Manual

CANopen Mode

12.2.2 Communication objects

The default of the Delta servo drive complies with the DS301 protocol. All CANopen data contains
an 11-bit identifier, generally referred to as "COB-ID". The COB-ID data format is as follows:
12
Bit
Bit 6 - Bit 0
Bit 10 - Bit 7
The following table lists the supported objects and the corresponding COB-IDs:
Communication
object
NMT service
SYNC object
EMCY object
T_PDO1
R_PDO1
T_PDO2
R_PDO2
T_PDO3
R_PDO3
T_PDO4
R_PDO4
T_SDO
R_SDO
NMT error control
Note: 0 indicates the bit is off; 1 indicates the bit is on; X indicates the bit is set according to the requirement.
Communication dictionary
Communication object
12-6
10 9
Bit
Function
Node-ID
Function code
Function code
10 9 8 7
Bit
0 0 0 0
0 0 0 1
0 0 0 1
0 0 1 1
0 1 0 0
0 1 0 1
0 1 1 0
0 1 1 1
1 0 0 0
1 0 0 1
1 0 1 0
1 0 1 1
1 1 0 0
1 1 1 0
1000 - 1FFF Communication Profile Area
2000 - 2FFF Manufacturer Specific Profile Area
6000 - 9FFF Standardized Device Profile Area
8 7 6 5 4
The data size is 7-bit and the setting range is 0 - 127.
The data size is 4-bit and the setting range is 0 - 15.
Node ID
6 5 4 3 2 1 0
Bit
0 0 0 0 0 0 0
0 0 0 0 0 0 0
X X X X X X X
X X X X X X X 384 (180h) + Node-ID
X X X X X X X 512 (200h) + Node-ID
X X X X X X X 640 (280h) + Node-ID
X X X X X X X 768 (300h) + Node-ID
X X X X X X X 896 (380h) + Node-ID
X X X X X X X 1024 (400h) + Node-ID
X X X X X X X 1152 (480h) + Node-ID
X X X X X X X 1280 (500h) + Node-ID
X X X X X X X 1408 (580h) + Node-ID
X X X X X X X 1536 (600h) + Node-ID
X X X X X X X 1792 (700h) + Node-ID
Object area
3 2 1 0
Description
COB-ID Object
DEC (HEX) parameter
0 (0h)
128 (80h) 1005h - 1007h
128 (80h)
1016H, 1017h
ASDA-A3
-
1014h
1800h
1400h
1801h
1401h
1802h
1402h
1803h
1403h
1200h
1200h