SD710 Series Servo Drive User Manal Chapter 11 Communication
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11.2.2.2 System parameter settings
In order to enable the servo drive to access the Canopen fieldbus network, the relevant function codes of the servo drive
need to be set.
Table 11-11 Table of System Setting Function Codes
Function code
Name
Setting range
Setting value
Pn000.Z
Drive Model Selection
0: Standard pulse type
1: Canopen type
2: EtherCAT type
1
Pn080
Can Node_ID
1 to 127
1 (default)
Pn081.Z
Can communication baud
rate
0: 20kbit/s
1: 50 kbit/s
2: 100 kbit/s
3: 125 kbit/s
4: 250 kbit/s
5: 500 kbit/s
6: 1 Mbit/s
4 (default)
11.2.2.3 NMT services
The Network Management System (NMT) is responsible for initializing, starting the network and stopping it, which belongs
to a master-slave system. There is one and only one Network Management System (NMT) master in the entire Canopen
network that can configure the Canopen network, including itself. The Network Management System (NMT) message
format is shown in Table 11-12.
Table 11-12 NMT Message Format
COB_ID
RTR
Data (bytes)
0
1
0x000
0
command word
Node_ID
The COB_ID of the NMT message is fixed to "0x000".
The data area consists of two bytes, the first of which is a command word indicating the control function of the frame, as
shown in Table 11-13.
Table 11-13 NMT Message Commands
Command word
Description
01h
Run command (all networks are working)
02h
Stop command (only NMT works in the whole network)
80h
Pre-run command (only SDO, heartbeat, NMT work)
81h
Reset node command
82h
Reset communication command
The second byte is the node address of Canopen. When it is "0", it is a broadcast message, which is valid for all slave
devices in the network.
Table 11-14 Status Table
Initialize
Pre-run
Run
Stop
PDO
○
SDO
○
○
SYNC
○
○
