Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 9)

The following table compares the main features of both communication modes, as

implemented with Elmo SimplIQ digital servo drives:

Features CANopen RS-232

Baud rate 50,000 - 1,000,000. 4800 - 57,600 (RS-232).

Interpreter method Binary or ASCII. ASCII.

Fast referencing Yes, for PVT, PT and ECAM. No.

Network of servo drives Yes. No.

Multiple servo drive

synchronization

Yes. No.

Standardization Compliant with CiA

standard.

No standard.

Special equipment

required

CAN communication

interface (available as an

add-on ISA or PCMCIA card

for PCs) with appropriate

software.

No: direct connection to serial

port of PC.

Ease of use Basic capabilities included in

Elmo Composer program.

Immediate: Just type

command using

HyperTerminal or equivalent

terminal software.

Table 1-2: SimplIQ Communication Types

RS-232 operation is fast and simple, requiring no detailed understanding of communica-

tion processes. CANopen communication achieves higher rates and is able to support the

following advanced functions:

 High speed online reference generation, required for supporting complex motions

 Binary interpretation, which maximizes servo-drive command throughput by

eliminating servo drive software overhead

 Servo network applications

To benefit from CAN communication and the CiA DS 301 CANopen standard, the user

must have a good understanding of the basic programming and timing issues of a

CANopen network.

CANopen DS 301 Implementation Guide Introduction

MAN-CAN301IG (Ver. 2.1)

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 9