VA Motion Controller Programming Manual
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2. CANopen protocol basics
2.1 Network management (NMT)
Support NMT (Network Management Object: Network Management Objects) Master
services, including resetting the network, stop, pre-operation, start and so on.
Support NMT error control, NMT error control station for monitoring whether from dropped.
NMT Error Control Heartbeat and NodeGuarding into two types, native support Heartbeat.
2.2 Service data (SDO)
Support the use of the ladder in the PLC ladder in non-real time data read from the service
station, reference should be read-write area defined by the manufacturer.
2.3 Process data (PDO)
Support PDO (Process Data Object: Process Data Object) services:
RxPDO maximum support 200, the amount of data to support the maximum 1000 bytes
TxPDO maximum support 200, the amount of data to support the maximum 1000 bytes
Each configurable TxPDO up to four and four slaves RxPDO
PDO transmission types: support event-triggered, time-triggered, periodic synchronization,
synchronous aperiodic
PDO mapping: PDO mapping may each be a maximum of 32 bytes
Support for mapping data type:
Please refer to the standard CANopen DS402 protocol DS301v4.02 and on motor-driven
sub-protocol.
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