Delta ASDA-A3 Series User Manual page 677

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Table of Contents

CANopen Mode

The servo drive can play two roles simultaneously, the consumer and producer, but you need to

set OD 1016h and OD 1017h at the same time. And the controller must also be set as the

producer and consumer.

Node / Life Guarding

The Node / Life Guarding mechanism is similar to that of Heartbeat. The main difference

between the two is that Heartbeat only uses the consumer to judge whether there are packets

or not, and the producer does not make this judgment. The mechanism of Node / Life Guarding

is mainly based on the master-slave axis and the two-way relationship. The master axis

periodically sends packets to the slave axis, and the slave axis must return the packets to the

master axis within the set guard time (OD 100Ch), otherwise an error occurs. You must set the

life time for the slave axis and the master slave must send the packets within the life guard time.

If the slave axis does not receive the packets, AL180 is triggered. Life time is set by multiplying

the guard time by a life time factor (OD 100Dh).

The Node / Life Guarding architecture is as follows:

Bit 6 - Bit 0

COB-ID = 700h + Node-ID

Node Guarding

State of the NMT slave

5 = operational

127 = pre-operational

Life Guarding

Troubleshooting

Ecm-a3 series