ElmoMC CANopen DS 301 Implementation Guide - Manual (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:
ƒ
High speed online reference generation, required for supporting complex motions
ƒ Binary interpretation, which maximizes servo-drive command throughput by
eliminating servo drive software overhead
ƒ 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)
1-4