57
By default, no terminal is allocated, the parameter range is 0000-0014, and is allocated to the output
interface through parameter P5-43. When set to 0002, the signal is output from the SO2 terminal.
/VLT signal is only valid in torque mode.
4.6 Bus control
CANopen is a high level protocol based on CAN (control LAN network) serial bus system and CAL (CAN
application layer). CANopen assumes that the hardware of the connected devices has a CAN transceiver and a
CAN controller which conform to ISO11898 standard.
CANopen communication protocol CiA DS-301 includes periodic and event driven communication, which can
not only reduce the bus load to a minimum level, but also ensure a very short response time. It can achieve higher
communication performance at lower baud rate, thus reducing the electromagnetic compatibility problem and
reducing the cable cost.
CANopen device protocol defines the mechanism of direct access to servo parameters and time critical process
data communication.
4.6.1 Object dictionary region assignment
CANopen communication mainly realizes the control of various parameters of servo motor through several
operation modes, and realizes some other auxiliary functions. For more information, please refer to the CAN
literature of the automation International Association of users and manufacturers (www.can-cia.de ).
CAL provides all network management services and message delivery protocols, but does not define the content
of the object or the type of object being communicated (it only defines how, and does not define what), which is
the entry point of CANopen.
CANopen is developed on the basis of CAL, which uses a subset of CAL communication and service protocols,
and provides a realization scheme of distributed control system. CANopen can ensure the interoperability of
network nodes, and allow the function of nodes to be expanded randomly: simple or complex.
All objects of CANopen are configured in the object dictionary of each group through the 16bit Index address
represented by 4-bit hexadecimal.
The object dictionary of CoE (CANopen over EtherCAT) specified in CiA402 and the object dictionary of DF3E
series servo are as follows:
Object dictionary specified by CiA402
Object dictionary of DF3E series
Index
Content
Index
Content
0000h
～
0FFFh
Data type area
0000h
～
0FFFh
Data type area
1000h
～
1FFFh
COE
communication
area
1000h
～
1FFFh
Data type area
2000h
～
5FFFh
Factory defined area
2000h
～
2FFFh
CANopen
communication
area
3000h
～
3FFFh
Servo parameter area (group
P)
4000h
～
4FFFh
Servo parameter area (group
U)
5000h
～
5FFFh
Servo parameter area (group
F)
6000h
～
9FFFh
Profile area
6000h
～
6FFFh
Reserved
7000h
～
9FFFh
CiA402
motion
control
equipment sub-protocol area
A000h
～
FFFFh
Reserved
A000h
～
FFFFh
Reserved
4.6.1.1 CANopen communication area object dictionary list (DS301)
Index
Sub
index
Object
type
Name
Data type
Read/
write
PDO
mapping
1000
-
VAR
Device type
UINT32
RO
NO
1001
-
VAR
Error register
UINT8
RO
NO
1003
-
ARRAY
Pre-defined Error Field
-
-
-
01
VAR
Standard Error Field
UINT32
RO
NO
