Kinco FD5P AC series servo
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
、FD5P series servo drives do not need to connect an external 24V power supply to supply power to
CAN.
Ta b l e 10-7 The longest distance table that can theoretically communicate with each baud rate
Communication speed
（
bit/s
）
Communication distance
(M)
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
station sends out, the slave station needs to return data response. This communication
method is only suitable for parameter setting, not suitable for data transmission with high
real-time requirements.
The communication mode of SDO is divided into upload and download. The host computer
can read and write the OD inside the servo according to the dedicated SDO read and write
instructions. In the CANopen protocol, the content of the object dictionary can be modified
through SDO (Service Data Object). The structure of the SDO command and the guidelines to
follow are described below.
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