Supported Functions - INVT DA180-S2R8SG0 Operation Manual

DA180 series basic AC servo drive
3. Set P4.05 [CAN node no.] on the LED panel or through ServoPlorer.
P4.05 can be set to an integer ranging from 1 to 127.
Note:
 For all of the three parameters, you must repower the drive or perform soft reset for the parameter
modification to take effect.
 Each node number must be unique, regardless of whether the node is master or slave.
 Synchronization signals are generated from the master node in most cases but can be generated
from slave nodes through configuration. The communication synchronization interval is 1 us, while
the minimum interval supported by DA180 servo drive is 1000us (that is, 1ms).
 When the master node requires a slave node to send heartbeat packets, the parameter 0x1017
must be set in 1ms.
 When the CANopen status machine exits from the OP state, the servo drive automatically shuts
down for safety.

8.3.4 Supported functions

As a standard slave CANopen node, DA180 servo drive supports certain parameters for CiA 301 and
CiA 402.
The basic CANopen protocols supported include NMT, SYNC, SDO, PDO, and EMCY.
The predefined connection set defines four Receive-PDOs, four Transmit-PDOs, one SDO
(occupying two CAN-IDs), one emergency object, and one Node-Error-Control ID. The servo drive
also supports the NMT-Module-Control service that needs no confirmation and broadcast of SYNC
objects.
Table 8-7 CiA 402 protocol parameters supported by the servo drive
Index Object type
6040 VAR
h
6041 VAR
h
6042 VAR
h
6043 VAR
h
6044 VAR
h
6046 ARRAY
h
6047 ARRAY
h
6048 RECORD
h
6049 RECORD
h
6060 VAR
h
6061 VAR
h
6062 VAR
h
6063 VAR
h
6064 VAR
h
Name
Control word
Status word
vl target velocity
vl velocity demand
vl control effort
vl velocity min max amount
vl velocity min max
vl velocity acceleration
vl velocity deceleration
Mode of operation
Mode of operation display
Position demand value
Position actual value*
Position actual value
Data type
UNSIGNED16
UNSIGNED16
INTEGER16
INTEGER16
INTEGER16
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
INTEGER8
INTEGER8
INTEGER32
INTEGER32
INTEGER32
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Communication
Access Mappable
RW Y
RO Y
RW Y
RO Y
RO Y
RW Y
RW Y
RW Y
RW Y
RW Y
RO Y
RO Y
RO Y
RO Y