CANopen Technical Guide for ASDA-A2 Motor Drives (EN)

CANopen Technical Guide | ASDA-A2 Manual Overview Please include the Manual Number and the Manual Version shown below when communicating with us regarding this publication. Manual Number: CANopen for ASDA-A2_M_EN_20120920 Manual Version: Second Edition Release Date: 2012/09/20 Publication History Revision Sep, 2012 1 Version Release Date V2.01 2012/09/20 V2.00 2012/07/27 V1.01 2009/11/30

Стр. 1

CANopen Technical Guide | ASDA-A2 Contents 1. Communication Cable ........................................................................................... 5 1.1 Connectors - Pinout............................................................................................ 5 1.2 Baudrate Settings............................................................................................... 5 2. System Setup ......................................................................................................... 6 2.1 Scope of Function ..............................................................................................

6 2.1.1 Function supported by Delta ...................................................................... 6 2.1.2 Function not supported by Delta ................................................................ 6 2.2 Parameter Settings of CANopen Mode .............................................................. 7 2.2.1 Connect CANopen Host Controller ............................................................ 7 2.2.2 Parameters for CANopen Setup ................................................................ 7 3. CANopen Operation Modes ..................................................................................

14 3.1 Profile Position Mode ......................................................................................... 14 3.1.1 Description .............................................................................................. 14 3.1.2 Operation Procedure............................................................................... 14 3.1.3 Advanced Procedure............................................................................... 14 3.1.4 Associated Object List............................................................................. 15 3.2 Interpolation Position Mode................................................................................

16 3.2.1 Description................................................................................................. 16 3.2.2 Operation Procedure.................................................................................. 16 3.2.3 Associated Object List................................................................................ 17 3.3 Homing Mode..................................................................................................... 18 3.3.1 Description................................................................................................. 18 3.3.2 Operation Procedure..................................................................................

18 3.3.3 Associated Object List................................................................................ 18 3.4 Profile Velocity Mode.......................................................................................... 19 3.4.1 Description................................................................................................. 19 3.4.2 Operation Procedure.................................................................................. 19 3.4.3 advanced ................................................................................................... 19 3.4.4 Associated Object List................................................................................

19 3.5 Profile Torque Mode ........................................................................................... 20 3.5.1 Description................................................................................................. 20 3.5.2 Operation Procedure.................................................................................. 20 3.5.3 Advanced ................................................................................................... 20 3.5.4 Associated Object List................................................................................ 21 Revision Sep, 2012 2

Стр. 2

CANopen Technical Guide | ASDA-A2 4. Object Dictionary Entries ...................................................................................... 21 4.1 Specifications for Objects................................................................................... 21 4.1.1 Object Type................................................................................................ 21 4.1.2 Data Type................................................................................................... 21 4.2 Overview of Object Group 1000h .......................................................................

22 4.3 Overview of Object Group 6000h ....................................................................... 22 4.4 Details of Objects ............................................................................................... 24 5 Diagnostics and Troubleshooting ......................................................................... 62 5.1 CANopen Communication Fault Messages........................................................ 62 5.2 Error Code Table ................................................................................................ 64 5.3 SDO Error Message Abort Codes ......................................................................

67 6 Reference ................................................................................................................ 67 Revision Sep, 2012 3

Стр. 3

CANopen Technical Guide | ASDA-A2 (This page intentionally left blank) Revision Sep, 2012 4

Стр. 4