Astraada SRV-64 - Supported Functions

AS64 series AC servo drive Communication
-257-
⚫ Each node number must be unique, regardless of whether the node is master or slave.
⚫ Synchronization signals are generated from the master node in most cases but can be generated
from slave nodes through configuration. The communication synchronization interval is 1 us, while
the minimum interval supported by AS64 servo drive is 1000us (that is, 1ms).
⚫ When the master node requires a slave node to send heartbeat packets, the parameter 0x1017
must be set in 1ms.
⚫ When the CANopen status machine exits from the OP state, the servo drive automatically shuts
down for safety.
8.3.4 Supported functions
As a standard slave CANopen node, AS64 servo drive supports certain parameters for CiA 301 and
CiA 402.
The basic CANopen protocols supported include NMT, SYNC, SDO, PDO, and EMCY.
The predefined connection set defines four Receive-PDOs, four Transmit-PDOs, one SDO (occupying
two CAN-IDs), one emergency object, and one Node-Error-Control ID. The servo drive also supports
the NMT-Module-Control service that needs no confirmation and broadcast of SYNC objects.
Table 8-7 CiA 402 protocol parameters supported by the servo drive
Index
Object type
Name
Data type
Access
Mappable
6040
h
VAR
Control word
UNSIGNED16
RW
Y
6041
h
VAR
Status word
UNSIGNED16
RO
Y
6042
h
VAR
vl target velocity
INTEGER16
RW
Y
6043
h
VAR
vl velocity demand
INTEGER16
RO
Y
6044
h
VAR
vl control effort
INTEGER16
RO
Y
6046
h
ARRAY
vl velocity min max amount
UNSIGNED32
RW
Y
6047
h
ARRAY
vl velocity min max
UNSIGNED32
RW
Y
6048
h
RECORD
vl velocity acceleration
UNSIGNED32
RW
Y
6049
h
RECORD
vl velocity deceleration
UNSIGNED32
RW
Y
6060
h
VAR
Mode of operation
INTEGER8
RW
Y
6061
h
VAR
Mode of operation display
INTEGER8
RO
Y
6062
h
VAR
Position demand value
INTEGER32
RO
Y
6063
h
VAR
Position actual value*
INTEGER32
RO
Y
6064
h
VAR
Position actual value
INTEGER32
RO
Y
6065
h
VAR
Following error window
UNSIGNED32
RW
Y
6066
h
VAR
Following error time out
UNSIGNED16
RW
Y
6067
h
VAR
Position window
UNSIGNED32
RW
Y
6069
h
VAR
Velocity sensor actual value
INTEGER32
RO
Y
606B
h
VAR
Velocity demand value
INTEGER32
RO
Y
606C
h
VAR
Velocity actual value
INTEGER32
RO
Y
606D
h
VAR
Velocity window
UNSIGNED16
RW
Y