Delta ASDA-A3 Series, Руководство пользователя

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CANopen Mode ASDA-A3
12-6
12
12.2.2 Communication objects
The default of the Delta servo drive complies with the DS301 protocol.
All CANopen data contains
an 11-bit identifier, generally referred to as "COB-ID".
The COB-ID data format is as follows:
10 9 8
Bit
7 6 5 4 3 2 1 0
Bit Function Description
Bit 6 - Bit 0 Node-ID The data size is 7-bit and the setting range is 0 - 127.
Bit 10 - Bit 7 Function code The data size is 4-bit and the setting range is 0 - 15.
The following table lists the supported objects and the corresponding COB-IDs:
Communication
object
Function code
10 9 8 Bit 7
Node ID
5 4
Bit
3 6
1 0
2
COB-ID
DEC (HEX)
Object
parameter
NMT service 0 0 0 0 0 0 0 0 0 0 0 0 (0h) -
SYNC object 0 0 0 1 0 0 0 0 0 0 0 128 (80h) 1005h - 1007h
EMCY object 0 0 0 1 X X X X X X X 128 (80h) 1014h
T_PDO1 0 0 1 1 X X X X X X X 384 (180h) + Node-ID 1800h
R_PDO1 0 1 0 0 X X X X X X X 512 (200h) + Node-ID 1400h
T_PDO2 0 1 0 1 X X X X X X X 640 (280h) + Node-ID 1801h
R_PDO2 0 1 1 0 X X X X X X X 768 (300h) + Node-ID 1401h
T_PDO3 0 1 1 1 X X X X X X X 896 (380h) + Node-ID 1802h
R_PDO3 1 0 0 0 X X X X X X X 1024 (400h) + Node-ID 1402h
T_PDO4 1 0 0 1 X X X X X X X 1152 (480h) + Node-ID 1803h
R_PDO4 1 0 1 0 X X X X X X X 1280 (500h) + Node-ID 1403h
T_SDO 1 0 1 1 X X X X X X X 1408 (580h) + Node-ID 1200h
R_SDO 1 1 0 0 X X X X X X X 1536 (600h) + Node-ID 1200h
NMT error control 1 1 1 0 X X X X X X X 1792 (700h) + Node-ID 1016H, 1017h
Note: 0 indicates the bit is off; 1 indicates the bit is on; X indicates the bit is set according to the requirement.
Communication dictionary
Communication object Object area
1000 - 1FFF Communication Profile Area
2000 - 2FFF Manufacturer Specific Profile Area
6000 - 9FFF Standardized Device Profile Area