Veichi SD710 Series, User Manual

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SD710 Series Servo Drive User Manal Chapter 11 Communication
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Chapter 11 Communication
11.1 485 Communication .............................................................................................................................. 2
11.1.1 Modbus communication protocol ............................................................................................ 2
11.1.2 Communication related setting ............................................................................................... 4
11.1.3 Register address mapping ..................................................................................................... 6
11.2 Canopen communication ...................................................................................................................... 7
11.2.1 Canopen performance parameters ........................................................................................ 7
11.2.2 Network configuration parameters ......................................................................................... 8
11.2.3 Service data objects (SDO) ................................................................................................... 11
11.2.4 Process data objects (PDO) ..................................................................................................15
11.2.5 Synchronous objects (SYNC)................................................................................................19
11.2.6 Emergency object service (EMCY) .......................................................................................20
11.2.7 Control mode ........................................................................................................................21
11.2.8 Object dictionary ...................................................................................................................31
11.2.9 Canopen transmission abort code .........................................................................................62
11.3 Canopen object group 2000h description .............................................................................................90
11.4 Canopen fault code definition ...............................................................................................................92
11.5 Home position return method description .............................................................................................94
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