CANopen Technical Guide | ASDA-A2 2.2 Parameter Settings of CANopen Mode 2.2.1 Connect CANopen Host Controller Users can follow the below instructions to connect CANopen Host Controller and servo drive A2. ① Set parameter P1-01 to 0x0B h or 0x0C h for CANopen mode. 0x0B h is used for simple CANopen mode and it does not support complete CANopen protocol ； 0x0C h is used for standard CANopen protocol and it is recommended to be connected to any motion controller. ② Set Parameter P3-00 to Node Id for range 01h~7Fh. ③ Set Parameter P3-01 to 0403h for Baudrate 1Mbps (0: 125Kbps; 1: 250Kbps; 2: 500 Kbps; 3: 750Kbps; 4:1Mbps). ④ Set Parameter P3-09 to 0x5055h for Synchronization.
2.2.2 Parameters for CANopen Setup P1 - 01 ● Operation Related Section: 6.1, Table 8.A Interface: Keypad / Software Communication Default: 0 Control Mode: ALL Unit: pulse (P mode), r/min (S mode), N-m (T mode) Range: 00 ~ 110F Data Size: 16-bit Display Format: Hexadecimal Settings: A: Control mode settings Revision Sep, 2012 7 Address: 0102H, CTL Control Mode and Output Direction 0103H Pt Pr S T Sz Tz Single Mode 00 ▲ 01 ▲ 02 ▲ 03 ▲ 04 ▲ 05 ▲ Multiple Mode 0E ▲ ▲ ▲ 0F ▲ ▲ ▲ Pt Pr S T Sz Tz Dual Mode 06 ▲ ▲ 07 ▲ ▲ 08 ▲ ▲ 09 ▲ ▲ 0A ▲ ▲ 0B CANopen Mode (Half) 0C CANopen Mode (Full) 0D ▲ ▲