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

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12.2 Communication specification

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. It defines the behavior of each

operation mode and the required object parameter settings for execution.

DS301 Application layer and

communication profile

Drive Profile 402

State machine controlled by

Modes of operation

CANopen Mode

A3-l A3-m A3-f A3-e