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CANopen Mode
12
This chapter provides details for the required parameter settings when the servo
communicates with the controller through the CANopen communication function.
12.1 Basic configuration ·········································································· 12-2
12.1.1 Supported functions ··································································· 12-2
12.1.2 Hardware configuration ······························································ 12-3
12.1.3 Parameter settings in CANopen mode ···········································12-4
12.2 Communication specification ····························································· 12-5
12.2.1 Servo communication architecture ················································ 12-5
12.2.2 Communication objects ······························································ 12-6
12.2.2.1 Process data object (PDO) ···················································· 12-7
12.2.2.2 Service data object (SDO) ····················································· 12-8
12.2.2.3 SDO abort codes································································12-11
12.2.2.4 Synchronization object (SYNC) ·············································12-12
12.2.2.5 Emergency object (EMCY) ···················································12-13
12.2.2.6 NMT services ····································································12-14
12.3 CANopen operation modes ······························································12-17
12.3.1 Profile Position mode ································································12-17
12.3.2 Interpolated Position mode ······················································· 12-22
12.3.3 Homing mode··········································································12-25
12.3.4 Profile Velocity mode ································································12-27
12.3.5 Profile Torque mode··································································12-29
12.4 Object dictionary ············································································12-31
12.4.1 Specifications for objects ···························································12-31
12.4.2 List of objects ··········································································12-32
12.4.3 Details of objects······································································12-34
12.4.3.1 OD 1XXXh communication object group ··································12-34
12.4.3.2 OD 2XXXh servo parameter group ·········································12-53
12.4.3.3 OD 6XXXh communication object group ··································12-54
12.5 Diagnostics and troubleshooting························································12-96
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12-1