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SVX Servo Suite Software Manual
NOTE: Because it is physically impossible for a motor to make two moves at the same time, move commands are
always blocked even with Multi-tasking turned on. For example, if you have Multi-tasking turned on and the
program has two move commands in a row, the drive will wait to execute the second move command until the first
move command is finished.
11 Appendix C: CANopen Reference
11.1 CANopen Communication
CANopen is a communication protocol and device profile specification for embedded systems used in automation.
In terms of the OSI model, CANopen implements the layers above and including the network layer. The CANopen
standard consists of an addressing scheme, several small communication protocols and an application layer
defined by a device profile. The communication protocols have support for network management, device
monitoring and communication between nodes, including a simple transport layer for message
segmentation/desegmentation. The lower level protocol implementing the data link and physical layers is usually
Controller Area Network (CAN)
The basic CANopen device and communication profiles are given in the CiA 301 specification released by CAN in
Automation. [1] Profiles for more specialized devices are built on top of this basic profile, and are specified in
numerous other standards released by CAN in Automation, such as CiA 401[2] for I/O-modules and CiA 402[3] for
motion control.
11.2 Why CANopen?
Multi-axis Control
Up to 127 axis can be supported via CANopen, and the maximum communication baud rate is up to 1Mbps.
A further advantage with CAN is the Multi-Master Capability. This means that each user on the bus has the same
access rights. The access authorization alone controls the users among one another via the priority of the
communication objects and their identifiers (arbitration). This allows direct communication between the individual
users without a time-consuming "detour" over a central master.
Easy Wiring
A shielded twisted pair cable is be used as the bus cable. Less cable will cause less error, reduce the wiring cost,
labor cost, whilst maintaining availability and minimizing cost.
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