8.1 General description ................................................................................................................ 251
8.2 RS485 ................................................................................................................................... 251
8.2.1 Modbus protocol description ................................................................................. 251
8.2.2 Protocol application .............................................................................................. 251
8.2.3 Communication frame structure ............................................................................ 252
8.2.4 Command codes .................................................................................................. 252
8.2.5 Checking for communication frame errors ............................................................. 254
8.2.6 Responding to errors ............................................................................................ 255
8.3 CANopen ............................................................................................................................... 256
8.3.1 Protocol description .............................................................................................. 256
8.3.2 Hardware configuration ......................................................................................... 256
8.3.3 Software configuration .......................................................................................... 256
8.3.4 Supported functions .............................................................................................. 257
8.5 Upper computer software ....................................................................................................... 262
8.5.1 Astraada DRIVE Studio ........................................................................................ 262
8.5.2 Hardware ............................................................................................................. 262
8.5.3 Software ............................................................................................................... 262
8.5.4 Communication connection ................................................................................... 262
8.5.5 Installing and running ........................................................................................... 263
8.5.6 Program interface ................................................................................................. 264
8.5.7 Setting parameters ............................................................................................... 264
8.5.8 Using the help manual .......................................................................................... 264
8.5.9 Using the oscilloscope .......................................................................................... 265
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