Canopen; Protocol Description; Hardware Configuration; Software Configuration - INVT DA180-S2R8SG0 Operation Manual

DA180 series basic AC servo drive
Code Function

8.3 CANopen

8.3.1 Protocol description

CANopen is a high-layer communication protocol structured over the Control Area Network (CAN). It
includes the communication profiles and device profiles for embedded systems. It is also an onsite
bus widely used in industrial control. Common CANopen devices and communication profiles are
defined in CAN in Automation (CiA) draft standard 301. Based on CiA 301, other profiles are
developed for special devices, such as CiA 402 for motion control.

8.3.2 Hardware configuration

For details on the pin definitions and functions of the CAN communication terminal CN3, see section
3.6 "Wiring for RS485/CAN terminal CN3".
The following table lists the mapping between baud rates and maximum transmission lengths.
Note:
 The CANL and CANH pins of all slave nodes can be directly connected in serial model, but not star
model.
 A 120 ohms resistor must be connected between the master node and final node of the slave node.
 Shielded twisted pairs are recommended as CAN connection cables for anti-interference.
 A longer connection cable indicates a higher requirement on CAN chip drive ability.

8.3.3 Software configuration

Before CANopen is enabled for DA180 servo drive, you must:
1. Set P0.03 [Control mode] to 7 [CANopen mode] on the LED panel or through ServoPlorer.
2. Set P4.02 [CAN baud rate] on the LED panel or through ServoPlorer.
P4.02 can be set to 0 (1 Mbps), 1 (500 kbps), 2 (250 kbps), 3 (125 kbps), 4 (50 kbps), or 5 (20 kbps).
Modbus error codes
format or LRC bit in ASCII format in the frame message sent from
the upper computer is different from the checking count number on
the lower device.
Baud rate
1Mbit/s
500kbit/s (by default)
250kbit/s
125kbit/s
50kbit/s
20kbit/s
Meaning
Communication length
-248-
Communication
25m
100m
250m
500m
1000m
2500m