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 in 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 modes ······························································ 12-17
12.3.1 Profile Position mode ································································ 12-17
12.3.2 Interpolated Position mode ······················································· 12-22
12.3.3 Homing mode ·········································································· 12-25
12.3.4 Profile Velocity mode ································································ 12-27
12.3.5 Profile Torque mode ·································································· 12-29
12.4 Object dictionary ············································································ 12-31
12.4.1 Specifications for objects ··························································· 12-31
12.4.2 List of objects ·········································································· 12-32
12.4.3 Details of objects······································································ 12-34
12.4.3.1 OD 1XXXh communication object group ·································· 12-34
12.4.3.2 OD 2XXXh servo parameter group ········································· 12-53
12.4.3.3 OD 6XXXh communication object group ·································· 12-54
12.5 Diagnostics and troubleshooting ························································ 12-96
12
12-1