11 CANopen Mode 11.1 Basic configuration ························································································ 11-2 11.1.1 Supported functions ·················································································· 11-2 11.1.2 Hardware configuration ·············································································· 11-3 11.1.3 Parameter settings of CANopen mode ·························································· 11-4 11.2 Communication specification ··········································································· 11-5 11.2.1 Servo communication architecture ································································ 11-5 11.2.2 Communication objects ·············································································· 11-6 11.2.2.1 Process data object (PDO) ····································································· 11-7 11.2.2.2 Service data object (SDO) ······································································ 11-8 11.2.2.3 SDO abort codes ················································································ 11-11 11.2.2.4 Synchronization object (SYNC) ····························································· 11-12 11.2.2.5 Emergency object (EMCY) ··································································· 11-13 11.2.2.6 NMT services ···················································································· 11-14 11.3 CANopen operation mode ············································································ 11-17 11.3.1 Profile Position Mode ·············································································· 11-17 11.3.2 Interpolation Position Mode ······································································ 11-21 11.3.3 Homing Mode ························································································ 11-24 11.3.4 Profile Velocity Mode ··············································································· 11-26 11.3.5 Profile Torque Mode ················································································ 11-28 11.4 Object dictionary ························································································· 11-30 11.4.1 Specifications for objects ·········································································· 11-30 11.4.2 List of objects ························································································ 11-31 11.4.3 Details of objects ···················································································· 11-33 11.4.3.1 OD 1XXXh communication object group ·················································· 11-33 11.4.3.2 OD 2XXXh servo parameter group ························································· 11-49 11.4.3.3 OD 6XXXh communication object group ·················································· 11-50 11.5 Diagnostics and troubleshooting ···································································· 11-82 Troubleshooting 12 Troubleshooting 12.1 Alarm list ···································································································· 12-3 General type ······························································································· 12-3 Motion control type ······················································································· 12-4 STO type ·································································································· 12-5 Communication type ····················································································· 12-6 12.2 Causes and corrective actions ········································································· 12-7