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CANopen Mode
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ASDA-A3
12.1.3 Parameter settings in CANopen mode
12
Follow these instructions to connect the CANopen controller and the ASDA-A3 servo drive:
1. Set to CANopen mode: set P1.001.YX to 0C.
2. Set the node ID: set P3.000 to 0x0001 - 0x007F.
3. Set the transmission rate (baud rate): set P3.001.Z to 4 (Z = 0: 125 Kbps; 1: 250 Kbps;
2: 500 Kbps; 3: 800 Kbps; 4: 1 Mbps).
4. It is suggested that you change the setting value of P3.012.Z from 0 (default) to 1 to enable
the non-volatile setting for the parameter. Note that the default E-Gear ratio varies with the
set value of P3.012.Z.
Function
P3.012 = 0x0100 (Z = 1)
Servo
parameter
Default
P3.012 = 0x0000 (Z = 0)
OD
address
Default
Motor stop mode
P1.032
0x0000
605Bh
0
S-curve acceleration
constant
Zero speed range
E-Gear ratio -
numerator N1
E-Gear ratio -
denominator M
Speed reached
(DO.SP_OK) range
Accumulated time to
reach desired speed
P1.034
P1.038
P1.044
P1.045
P1.047
P1.049
200
100
(rotary*: 0.1 rpm;
linear*: 0.1 mm/s)
16777216
100000
10
(rotary*: rpm; linear*: mm/s)
0
6087h
606Fh
6093h
sub1
6093h
sub2
606Dh
606Eh
Maximum speed limit P1.055
Depending on the motor
(rotary*: 1 rpm;
linear*: 1 mm/s)
607Fh
6080h
Excessive deviation
warning condition of
Position command
P2.035
50331648
Positive software limit
(PP / CSP / CSV / CST
mode)
P5.008
2147483647
Negative software limit
(PP / CSP / CSV / CST
mode)
P5.009
-2147483648
Origin definition
(HM mode)
P6.001
0
Note: rotary means a permanent-magnet synchronous rotary motor;
linear means a permanent-magnet synchronous linear motor.
6065h
607Dh
sub2
607Dh
sub1
607Ch
200
100
(0.1 rpm)
1
1
100
(0.1 rpm)
0
Depending on
the motor
(0.1 rpm)
Depending on
the motor
(rpm)
50331648
2147483647
-2147483648
0
5. It is suggested that you enable the dynamic brake function (P1.032 = 0x0000).
12-4
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Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com