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