Parameter Settings In Canopen Mode - Delta ASDA-A3 Series User Manual

CANopen Mode

12.1.3 Parameter settings in CANopen mode

Follow these instructions to connect the CANopen controller and the ASDA-A3 servo drive:
12
Set to CANopen mode: set P1.001.YX to 0C.
1.
Set the node ID: set P3.000 to 0x0001 - 0x007F.
2.
Set the transmission rate (baud rate): set P3.001.Z to 4 (Z = 0: 125 Kbps; 1: 250 Kbps;
3.
2: 500 Kbps; 3: 800 Kbps; 4: 1 Mbps).
It is suggested that you change the setting value of P3.012.Z from 0 (default) to 1 to enable
4.
the non-volatile setting for the parameter. Note that the default E-Gear ratio varies with the
set value of P3.012.Z.
S-curve acceleration
(DO.SP_OK) range
Accumulated time to
reach desired speed
Maximum speed limit
Excessive deviation
warning condition of
Position command
Positive software limit
(PP / CSP / CSV / CST
Negative software limit
(PP / CSP / CSV / CST
Note: rotary means a permanent-magnet synchronous rotary motor;
It is suggested that you enable the dynamic brake function (P1.032 = 0x0000).
5.
12-4
Function
Servo
parameter
Motor stop mode P1.032
P1.034
constant
Zero speed range P1.038
E-Gear ratio -
P1.044
numerator N1
E-Gear ratio -
P1.045
denominator M
Speed reached
P1.047
P1.049
P1.055
P2.035
P5.008
mode)
P5.009
mode)
Origin definition
P6.001
(HM mode)
linear means a permanent-magnet synchronous linear motor.
P3.012 = 0x0100 (Z = 1)
Default
0x0000
200
100
(rotary*: 0.1 rpm;
linear*: 0.1 mm/s)
16777216
100000
10
(rotary*: rpm; linear*: mm/s)
0
Depending on the motor
(rotary*: 1 rpm;
linear*: 1 mm/s)
50331648
2147483647
-2147483648
0
ASDA-A3
P3.012 = 0x0000 (Z = 0)
OD
Default
address
605Bh 0
6087h 200
100
606Fh
(0.1 rpm)
6093h
1
sub1
6093h
1
sub2
100
606Dh
(0.1 rpm)
606Eh 0
Depending on
the motor
607Fh
(0.1 rpm)
Depending on
6080h the motor
(rpm)
6065h 50331648
607Dh
2147483647
sub2
607Dh
-2147483648
sub1
607Ch 0