SRV-63 series AC servo drives Communication
-223-
8.3.4 CANopen functions
SRV-63 servo drive is the standard slave station of CANopen and support some parameters of 301
standard protocol and 402 dynamic control protocol.
The basic protocol supporting CANopen: NMT, SYNC, SDO, PDO, EMCY.
The
pre-definition
collection
includes
4
receiving
PDO
(Receive-PDO),
4
sending
PDO(Transmit-PDO), 1 SDO(occupying 2 CAN-ID), 1 emergency target and 1 node error control
(Node-Error-Control)ID, and it also supports NMT-Module-Control service and SYNC signal.
Table 8-7 Specifications of CiA 402 protocol
Index Object Type
Name
Data Type
Access
Mappable
6040
h
VAR
Control word
UNSIGNED16
RW
Y
6041
h
VAR
Status word
UNSIGNED16
RO
Y
6042
h
VAR
vl target velocity
INTEGER16
RW
Y
6043
h
VAR
vl velocity demand
INTEGER16
RO
Y
6044
h
VAR
vl control effort
INTEGER16
RO
Y
6046
h
ARRAY
vl velocity min max amount
UNSIGNED32
RW
Y
6047
h
ARRAY
vl velocity min max
UNSIGNED32
RW
Y
6048
h
RECORD
vl velocity acceleration
UNSIGNED32
RW
Y
6049
h
RECORD
vl velocity deceleration
UNSIGNED32
RW
Y
6060
h
VAR
Mode of operation
INTEGER8
RW
Y
6061
h
VAR
Mode of operation display
INTEGER8
RO
Y
6062
h
VAR
Position demand value
INTEGER32
RO
Y
6063
h
VAR
Position actual value*
INTEGER32
RO
Y
6064
h
VAR
Position actual value
INTEGER32
RO
Y
6065
h
VAR
Following error window
UNSIGNED32
RW
Y
6066
h
VAR
Following error time out
UNSIGNED16
RW
Y
6067
h
VAR
Position window
UNSIGNED32
RW
Y
6069
h
VAR
Velocity sensor actual value
INTEGER32
RO
Y
606B
h
VAR
Velocity demand value
INTEGER32
RO
Y
606C
h
VAR
Velocity actual value
INTEGER32
RO
Y
606D
h
VAR
Velocity window
UNSIGNED16
RW
Y
606F
h
VAR
Velocity threshold
UNSIGNED16
RW
Y
6071
h
VAR
Target torque
INTEGER16
RW
Y
6072
h
VAR
Max torque
UNSIGNED16
RW
Y
6073
h
VAR
Max current
UNSIGNED16
RO
Y
6074
h
VAR
Torque demand value
INTEGER16
RO
Y
6075
h
VAR
Motor rated current
UNSIGNED32
RO
Y
6076
h
VAR
Motor rated torque
UNSIGNED32
RO
Y
6077
h
VAR
Torque actual value
INTEGER16
RO
Y
6078
h
VAR
Current actual value
INTEGER16
RO
Y
