Schneider Electric DS301 Using SDO commands, Writing parameters, Transmit data, Receive data

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IL•1F CANopen DS301

6 Operation

6.2Using SDO commands

6.2.1Writing parameters

Task The parameter Motion.acc, 29:26 (acceleration) is to be set to a value of 10,000.

Index and subindex must be converted to hexadecimal notation and the constant 3000h added to the index for the SDO access:

Index:29 = 1Dh + 3000h = 301Dh

Subindex: 26 = 1Ah

Value:10000 = 00002710h

The value 23h is to be entered as a CCD (Client Command Specifier) since the parameter has a 32 bit data type.

Transmit data

Object

COB ID

CCD

Idx

Sdx

Data

Description

Tx 301Dh:1Ah Motion.acc

600h+ID

23h

1Dh 30h

1Ah

10h 27h 00 00 Sets the acceleration to

 

 

 

 

 

 

10000 min-1*s = 2710h as a 32 bit

value

Refer to the column "Data type" in the parameter description for the data type of the value to be written. The CAN protocol used transmits 16 bit values and 32 bit values in the format "lowest value byte first – highest value byte last". When an INT16 or a UINT16 value is transmitted, the CCD corresponding to the data type must be included. The value must be stored in the first two data bytes, the last two data bytes must be "0".

Receive data

Object

COB ID

CCD

Idx

Sdx

Data

Description

Rx 301Dh:1Ah Motion.acc

580h+ID

60h

1Dh 30h

1Ah

XX XX XX XX The response data does not have

 

 

 

 

 

 

a meaning.

 

 

 

 

 

 

 

0198441113586, V2.01, 11.2008

Fieldbus interface

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Contents IL1F CANopen DS301 Important information Table of Contents Table of Contents IL1F CANopen DS301 Object directory Table of Contents IL1F CANopen DS301 Writing conventions and symbols Writing conventions and symbols IL1F CANopen DS301 About this manual IntroductionCAN-Bus Fieldbus devices networked via can bus Operating modes and functions in fieldbus modeCan users and manufacturers organization Documentation and literature referencesIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 CANopen technology BasicsCANopen description language Communication layersIndex hex Object groups Supported By the drive ObjectsIL1F CANopen DS301 Basics CANopen reference model CANopen profilesObject dictionary Communication profileIndex Subindex Object Meaning Index range Object groups Supported Hex By the drive Communication objects Communication objectsCOB ID with function code and node address TPDO4 Master slave relationships Communication relationshipsClient-server relationship Overview Service data communicationSDO data exchange 11 SDO message, example SDO messageMessage type Data length used Bytes Reading and writing dataMessage type Data length used Byte Bytes 14 Reading a parameter value15 Response with error message error response Process data communication 16 PDO data exchange PDO data exchangeUINT32 18 Requesting a message with RTR = Dynamic and static PDO mappingStructure of RPDO4 Receive PDO RPDO4 master slaveState machine drivectrl JOG Operating modes modeCtrlTransmit PDO TPDO4 product to master @ Warning20 Structure of TPDO4 Structure of TPDO4Bit Name Description Handshake with Mode Toggle BitMaster Slave Xend 22 Mode Toggle Handshake, short movementBasics IL1F CANopen DS301 23 Error message with the Emcy object Emergency service25 Sync message Synchronization27 Cyclic and acyclic transmission NMT services for device control Network management servicesInitialization NMT service Transition MeaningPersistent data memory Command Specifier NMT service Transition NMT services for connection monitoringNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning the device CommissioningAddress and baud rate Starting fieldbus modeCommissioning the fieldbus network Error Error class Cause of error Troubleshooting TroubleshootingCreating a new network SyCon CANopen configuration softwareSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Overview OperationOperation IL1F CANopen DS301 Writing parameters Using SDO commandsTransmit data Receive dataReading a parameter Synchronous errorsIndex Sub Data Description Changing operating states with PDO4 Operating Name Power Description State StageBit no Value Meaning Triggering a Quick Stop Switching the power stage on and offExample Come to a standstill System is to resume opera Resetting faults Examples for the operating modes with PDO4 Operating mode Profile Position absolute positioning Operating mode Profile Velocity Operating mode Profile Position relative positioningMaster --- Slave Position settingOperating mode Homing Asynchronous errors Error signaling via PDO4Positioning running xerr=0 Operation IL1F CANopen DS301 Fieldbus communication error diagnostics Diagnostics and troubleshootingMessage objects Error diagnostics via fieldbusMessages on the device status Error register CANopen error messagesError code table Bit Message MeaningError code Meaning SDO error message AbortObject directory Specifications for the objectsObject code Meaning Coding Data type Value range Data lengthObjects, overview Index Subindex Designation Obj. code Data type AccessObjects of the product Error registerDevice type 1008h Bit coding, subindex 00hManufacturer device name 100ChIndex 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit 30 RTR bit Bit assignment subindex 01hBit coding, subindex 02h Bit Acces Value Meaning1603h Receive PDO4 mapping Value description BitMeaning 1803h Transmit PDO4 communication parameterSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Units and conversion tables GlossaryRotation TemperatureTorque Moment of inertiaTerms and Abbreviations Default value Factory settingPower amplifier See power stage Can IndexIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface