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ASDA-A3

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CANopen Mode

12.2 Communication specification

12.2.1 Servo communication architecture

CAN network CAN node

12

DS301 Application layer and

communication profile

Drive Profile 402

State machine controlled by

servo drive

Modes of operation

Homing

mode

Profile

Position

mode

Inter-

polated

Position

mode

Profile

Velocity

mode

Profile

Torque

mode

Motor

The CANopen architecture of the servo drive is as follows:

 DS301 is the communication profile. This protocol includes the communication objects

(PDO, SDO, SYNC, and Emergency object), NMT service, and related communication

object dictionary.

 DS402 is the device profile for drives and motion control. It defines the behavior of each

operation mode and the required object parameter settings for execution.

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12-5