DMM DYN4 Series - 9 CAN Communication

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DMM Technology Corp.

DYN4 AC Servo Drive Instruction Manual

REV. ZM7-A10A

CT1

9 CAN Communication

The DYN4-□□□C2-00 servo drive models are compatible with CAN 2.0A specication. The data frame format is

a proprietary DYN servo drive format with efcient data packaging and high transmission rates up to 1Mbit/s for

fastest cycle time.

Please refer to the CAN communication manual for detailed specicaitons.

DYN servo drive CAN Protocol Data Framing:

Start of frame

11-bit Identier

RTR

IDE

Reserved

Data

Length

Data

(1~4 Bytes)

15-bit CRC

CRC delimiter

ACK slot

ACK delimiter

7-bit

End of frame

IFS

0 10 0 0 1 10 11 11 11 1 11

11-bit Identier Consists both Drive ID and Command Function Code:

b4~b0 =

b5~b10 =

5-bit Function Code

Drive ID 0~64

0 = Broadcast

Function Code:

# CAN Command 5-bit Function Code Data Length (Bytes)

0 Set_Origin 0x00 0

1 Go_Absolute_Pos_PTP 0x01 1~4

2 Make_LinearLine 0x02 1~4

3 Go_Relative_Pos_PTP 0x03 1~4

... ... ... ...