1
、The CAN_L and CAN_H pins of all slave stations can be directly connected to each other, and
the connection is made in series, not star connection;
2
、The communication ID can be modified through the SW1 DIP switch on the panel, and the
detailed DIP instructions can be found in Chapter 3.8.
3
、The master terminal and the last slave terminal need to be connected to a 120 ohm terminal resistor,
as shown in Figure 10-6 below. FD5 driver comes with terminal resistance dial SW2, dial it to ON to turn
on the terminal resistance. Please restart the driver after changing the DIP status of the terminal
resistance.
4
、Please use shielded twisted pair cables for communication cables, and do grounding
treatment（The 3-pin ground wire can be disconnected during short-distance communication,
but it is recommended to connect the 3-pin ground wire during long-distance and high baud
rate communication
）；
5
、Table 10-7 shows the theoretically longest distances that can be communicated with various baud
rates.
6
、
FD5 series servo drives do not need to connect an external 24V power supply to supply power to CAN
。
Table
10-7
The longest distance table that can theoretically communicate with each baud rate
10.3.2 CANopen bus communication software description
EDS files
The EDS (electronic data sheet) file is the identification file or similar code of the slave station
connected to the PLC. Through this file, the type of the slave station is identified (what kind of 401,
402, 403 is similar, or which one of 402 belongs to) equipment). This file contains all the information
of the slave station, such as manufacturer, serial number, software version, supported baud rate
type, OD that can be mapped and the attributes of each OD and other parameters, similar to the
GSD file of Profibus. Therefore, before the hardware configuration, we first need to import the EDS
file of the slave station into the host configuration software
.
SDO
SDO (Service data object) is mainly used to transmit low-priority objects between devices,
and is typically used to configure and manage slave devices. For example, it is used to modify
PID parameters of current loop, speed loop and position loop, PDO configuration parameters,
etc. This data transmission method is the same as that of MODBUS, that is, after the master
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