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16.16 ASDA-A2 Servo Drive (DS301) Controlled by CANopen Bus

Control requirement
When X0=ON and X1=OFF, ASDA-A2 servo drive turns Servo on.
When X1=ON and X0=OFF, ASDA-A2 servo drive starts moving and it stops when moving to the target position.
Connection figure

Delta ASDA-A2 servo drive communication parameter setting

Parameter Value Explanation

P1-01 1 Servo is set to work in position mode.

P03-00 2 The node ID of ASDA-A2 servo is set in CANopen.
CANopen communication rate of ASDA-A2 is set as 1Mbps.
The third number of P03-01 parameter value from right to
left is used to set the CANopen communication rate of
servo. The value of the third number corresponds to the
communication rate as below.
P03-01 0400 0: 125Kbps
1: 250Kbps
2: 500Kbps
3: 750Kbps
4: 1Mbps

The parameter explanation of ADSA-A2 servo drive related with this example

Parameter Value Explanation

P0-17 0 The monitor value of P0-09 is the feedback unit of

servo motor.

P0-18 1 The monitor value of P0-10 is the error value between

command unit and motor feedback unit.

P2-10 101 DI1 (external input point) function setting, DI1 is set as
servo on.

P2-11 111 DI2 (external input point) function setting. DI2 is set as
multi-terminal position selection.

P2-12 112 DI3 (external input point) function setting. DI3 is set as

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multi-terminal position selection.

P2-13 113 DI4 (external input point) function setting. DI4 is set as
multi-terminal position selection.

P2-14 11A DI5 (external input point) function setting. DI5 is set as
multi-terminal position selection.

P2-15 11B DI6 (external input point) function setting. DI6 is set as
multi-terminal position selection.

P2-16 11C DI7 (external input point) function setting. DI7 is set as
multi-terminal position selection.

P2-17 108 DI7 (external input point) function setting. DI8 is set as
CTRG trigger signal.

Every bit of P3-06 corresponds to one external input

terminal. Bit 0~bit 7corresponds to DI1~DI8 and bit 8~bit
CANopen 13 corresponds to the external extension terminals
P3-06 EDI9~EDI14. When P3-06 equals 0, external input
setting
terminal ON/OFF is controlled by external signal; when
P3-06 equals FFFF (HEX), external input terminal
ON/OFF is controlled by P4-07.

P4-07 CANopen Control the external input terminals DI1~DI8 ON/OFF.

setting

P5-21 300 Acceleration time (Number 1)

P5-61 500 Internal target speed (Number 1)
P0-17 0 The monitor value of P0-09 is the feedback unit of servo
motor.

P0-18 1 The monitor value of P0-10 is the error value between

command unit and motor feedback unit.

Note: Servo drive has 64 paths of positions to be selected by external input terminal. The acceleration/ deceleration
time, velocity

and target position of every path can be set in accordance with the position parameter of each path. In this example,
take the position of path 1 into explanation and its parameter is P6-02, P6-03.
Module setting
Set DVPCOPM-SL scan module and ASDA-A2 servo drive according to the following table
Module name Node ID Communication rate

DVPCOPM-SL scan module 01 1M bps

ASDA-A2 servo drive 02 1M bps

Use CANopen network configuration tool to configure the network

1. Open CANopen Builder software and the interface is shown as below.

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2. Choose "Setup" menu > "Communication setting" > "System channel".

And then the following "Serial Port Setting" dialog box pops up, where "Via PLC Port" should be selected for interface.
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3. Set the parameters of computer and SV such as "COM port", "Address", "Baud rate", "Mode" etc.
Item Explanation Default value

When the equipment connected to computer

is DVPCOPM-SL, the interface "Via PLC
Interface Port" is selected; when the equipment
connected to computer is DVP10MC11T,
the interface "Via Local Port" should be
selected.

COM Port Select the computer communication port COM1

which is to communicate with SV PLC

Address Input the modbus node ID of SV PLC 01

Baud rate Select the communication rate between 9600 bps
computer and SV PLC

Data bits 7
Select the communication protocol between
Parity Even parity
computer and SV PLC
Stop bits 1
Mode Select the communication mode between ASCII Mode
computer and SV PLC

Note: The baud rate, data bit, parity bit, stop bit and modulo choice in CANopen builder software should correspond with
the setting
of SV PLC.
After setting is finished, click "OK" to return to the main window.

4. Click "Network" menu > "Online".

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5. The following window pops up then.

6. Click "OK" to scan CANopen network and then the progress bar pops up normally as follows. Click "Cancel" to return to
the main window.

7. If there is no progress for the bar in the dialog box above, it indicates that the communication between PC and SV PLC
is abnormal

or other program is using the serial port in PC. After scanning is over, the window will remind you that network scanning
is finished. Meanwhile,

all the node symbols and name of devices which have been scanned in the network will be displayed in the software
interface as follows. In
this example, the node ID for DVPCOPM is 01.

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Master parameter setting

1. Select "Network" > "Master parameter" and then the following window pops up.

Work Mode: select the work mode for DVPCOPM-SL: Master Mode or Slave Mode. In this example, MasterMode is selected.

Synchronization Object: the cycle period should be set when PDO transmission type is synchronized. In this example,
PDO transmission type is asynchronous and so the parameter is not considered setting .

Master's heartbeat time: Set the cycle time for sending the heartbeat message by DVPCOPM-SL master. It is 200 ms in
this example.
Click "OK" after parameters are set.
Slave parameter setting
1. Double click ASDA-A2 symbol and the following window pops up.

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2. Configure PDO:

Add PDO: Select some PDO in the bar "PDO from EDS file" to add the selected PDO to the "configured PDO" bar by
double clicking
the PDO or pressing button "Add" in the right side.
Delete PDO: Select some PDO in the bar "Configured PDO" to delete it by pressing button "Delete" in the right side.

PDO mapping: Select some PDO in the bar "Configured PDO" and then double click the PDO or click "PDO mapping" in
the right side to
make "PDO mapping ..." dialog box pop up as follows. All the parameters of slave devices are reflected in the
bar of
"Available parameters from EDS file". Select some parameter in the bar of "Available parameters from EDS file"
and then

click to add the parameter to the bar "Mapped object"; click to delete the parameter in the
bar "Mapped object".

PDO properties: Select some PDO in the bar "configured PDO" and then click "Properties" in the right side.Finally the
following interface
pops up, where parameters such as "COB-ID", "Transmit type" of PDO and Event timer of TxPDO in
asynchronous
transmission are set.

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PDO COB-ID principle is shown below.

RxPDO No. COB-ID(HEX) TxPDO No. COB-ID(HEX)

RxPDO1 200+ slave node ID TxPDO1 180+ slave node ID

RxPDO2 300+ slave node ID TxPDO2 280+ slave node ID
RxPDO3 400+ slave node ID TxPDO3 380+ slave node ID
RxPDO4 500+ slave node ID TxPDO4 480+ slave node ID

Parameter configuration in this example:

The mapping parameter of RxPDO1

The mapping parameter of RxPDO2

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The mapping parameter of TxPDO1

The transmission type of RxPDO and TXPDO selects 255 (Asynchronous mode) as follows.

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3. Setup of "Error control protocol"

Click "Error control protocol" in the interface "Node configuration..." to enter the following window.

Interface explanation:
Items Explanation Note

Guard Time Master performs the polling to slave based on

the interval of Guard Time set.
"Node Guarding"can not
Node
Life Time factor, Life time= Guard time x be selected more if
Guarding LifeTime factor. Master assumes the slave "Heartbeat"is selected.
LifeTime Factor
is offline if it does not perform the polling to

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slave within Life Time set.

Node Heartbeat Slave sends the Heartbeat message to master "Master Consumer
according to the cycle of "Node Heartbeat Timeout" value
Producer Time
Producer Time".
Heartbeat should be greater than
Master assumes the slave is offline if it does not "Node Heartbeat
Master Consumer receive the Heartbeat message from slave Producer Time" value.
Timeout within "Master Consumer Timeout" set.

All nodes configured in the CANopen network

Node List are all reflected in the node list.
-
Configuring the node in "Error control protocol" There is only one node to
Heartbeat Consumer can monitor if the node in "Heartbeat Consumer" be configured in the
bar is offline. bar"Heartbeatconsumer".

Select some node in the bar "Node List" and

then click to add the selected node to the -

bar "Heartbeat Consumer".

Select some node in the bar "Heartbeat

Consumer" and then click to delete the -

selected node from the bar "Heartbeat

Consumer".

Select some node in the bar "Heartbeat

Edit... Consumer" and then click "Edit..." to revise the
heartbeat consuming time. -

Click "OK" to return to the dialogue box of "Node

OK Configuration" and meanwhile the parameters in -
the dialogue box of "Error control protocol" are
saved.

Click "Cancel" to return to the dialogue box of

Cancel "Node Configuration" and meanwhile the -
parameters in the dialogue box of "Error control
protocol" will be ineffective.

In this example, "Master Consumer Timeout" is set as 200ms and "Node beatheart producer time" is set as 100ms
after selecting Heartbeat
protocol.Click "OK" to return to the dialogue box of "Node configuration" after the parameters setting is over.
4. Finally, click "OK" in the interface of "Node configuration" after all the parameters setting is finished.
Node list setting

1. Double click the "DVPCOPM Master" symbol and the following dialogue box "Node list setting" pops up then. You can see
the current node
ASDA-A2 Driver symbol in the left list and a blank "Node list" in the right side.

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2. Select ASDA-A2 Driver and then click ">" to add the slave to "Node List". From the following input table and output table,
you can see the IO
data of slave corresponds to the D register address of SV.

3. Click "OK" to download the configuration to DVPCOPM-SL master after inexistence of the error is ensured.
During downloading, the dialogue

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box "Warning" will pop up if SV is in Run mode.

4. Click "OK" to download the configuration to master and ensure PLC in RUN mode.
IO data mapping between master PLC and slave device
DVPCOPM-SL Master Slave device
DVPCOPM-SL CANopen bus
master module Slave device unit
data transmission
register

D6282H High byte of Servo P3-06

D6282L Low byte of Servo P3-06
D6283H High byte of Servo P4-07
D6283L High byte of Servo P4-07
High byte of low word of servo
D6284H
P6-02
Low byte of low word of servo
D6284L
P6-02
High byte of high word of servo
D6285H
P6-02
Low byte of high word of servo
D6285L
P6-02
High byte of low word of servo
D6286H
P6-03
Low byte of low word of servo
D6286L
P6-03
High byte of high word of servo
D6287H
P6-03
Low byte of high word of servo
D6287L
P6-03
Slave device DVPCOPM-SL master module
DVPCOPM-SL CANopen bus
master module Slave device unit
data transmission
register

High byte of low word of servo

D6032H
P6-09
Low byte of low word of servo
D6032L
P6-09
High byte of high word of servo
D6033H
P6-09
Low byte of high word of servo
D6033L
P6-09

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High byte of low word of servo

D6034H
P6-10
Low byte of low word of servo
D6034L
P6-10
High byte of high word of servo
D6035H
P6-10
Low byte of high word of servo
D6035L
P6-10
Saving the configuration data
Select menu "File" > "Save" to save the current network configuration.
CANopen network control
This section describes how to edit WPL program to meet the control requirement of CANopen network.
Master PLC control program

Program explanation

M1002 is on in the first scanning period of PLC and then it turns off after the first scanning period. It turns on to set
the external node status
controlled by P4-07.

When M0=ON and M1=OFF, [DMOV H11142 D6284] is executed, servo is set to work in mode of relative position, and
number 1 for both
acceleration time and velocity is selected.
Meanwhile, [DMOV K60000 D6286] is executed and the relative target position of servo is set as 60000 pulse.

When M1=ON and M0=OFF, [DMOV H11102 D6284] is executed, servo is set to work in mode of absolute position and
number 1 for all
acceleration time, deceleration time and velocity is selected.
Meanwhile, [DMOV K80000 D6286] is executed and the absolute target position of servo is set as 80000 pulse.

When servo drive works in mode of absolute position ( current position is not 80000 pulse), X0=ON and X1=OFF, [MOV H3
D6283] is
executed, servo selects the position of path 1 and turns Servo on;
When X1=ON and X0=OFF, MOV H83 D6283] is executed, servo moves and stops at the target position 80000 pulse.

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Repeat the action

above. If servo moves no longer, it has already reached the absolute position set.

When servo drive works in mode of relative position, X0=ON and X1=OFF, [MOV H3 D6283] is executed, sevo selects the
position of path 1
and turns Servo on.

When X1=ON and X0=OFF, [MOV H83 D6283] is executed, servo moves and stops at current position of servo motor:+
60000 pulse.
Repeat the action above and servo will add by 60000 pulse based on the new servo motor position.

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