Delta ASDA-A3 Series User Manual page 955

CANopen Mode
12.2.2 Communication objects
The default values of the Delta servo drive object dictionary comply with the DS301 protocol. All
12
CANopen data contains an 11-bit identifier, generally referred to as "COB-ID". The COB-ID data
format is as follows:
Bit
Bit 0 - Bit 6
Bit 7 - Bit 10
The following table lists the supported objects and the corresponding COB-IDs:
Communication
object
NMT service
SYNC object
EMCY object
TxPDO1
RxPDO1
TxPDO2
RxPDO2
TxPDO3
RxPDO3
TxPDO4
RxPDO4
TxSDO
RxSDO
NMT error
control
Note: 0 indicates the bit is off, 1 indicates the bit is on, and X indicates the bit is set according to the
requirement.
Communication object dictionary:
Communication object index
1000h - 1FFFh
2000h - 2FFFh
6000h - 9FFFh
12-6
Function
Node-ID
Function code
Function code Node ID
0 0 0 0 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 0 0
0 0 0 1 X X X X X X X
0 0 1 1 X X X X X X X
0 1 0 0 X X X X X X X
0 1 0 1 X X X X X X X
0 1 1 0 X X X X X X X
0 1 1 1 X X X X X X X
1 0 0 0 X X X X X X X
1 0 0 1 X X X X X X X
1 0 1 0 X X X X X X X
1 0 1 1 X X X X X X X
1 1 0 0 X X X X X X X
1 1 1 0 X X X X X X X
Communication Profile Area
Manufacturer Specific Profile Area
Standardized Device Profile Area
Description
The data size is 7-bit and the setting range is 1 - 127.
The data size is 4-bit and the setting range is 0 - 15.
COB-ID
DEC (HEX)
0 (0h)
128 (80h)
128 (80h) + Node-ID
384 (180h) + Node-ID
512 (200h) + Node-ID
640 (280h) + Node-ID
768 (300h) + Node-ID
896 (380h) + Node-ID
1024 (400h) + Node-ID
1152 (480h) + Node-ID
1280 (500h) + Node-ID
1408 (580h) + Node-ID
1536 (600h) + Node-ID
1792 (700h) + Node-ID
Object area
ASDA-A3
Object index
-
1005h, 1006h
1014h
1800h
1400h
1801h
1401h
1802h
1402h
1803h
1403h
1200h
1200h
1016h, 1017h