Schneider Electric DS301 Reading a parameter, Synchronous errors, Index Sub Data Description

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6 Operation

IL•1F CANopen DS301

6.2.2Reading a parameter

Task The parameter Status.n_act, 31:9 (actual speed) is to be read.

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

•Index:31 = 1Fh + 3000h = 301Fh

•Subindex 9 = 09h

The value "40h" must be entered as the CCD. This value identifies a "Read Request".

Transmit data

Object	COB ID	CCD	Idx	Sdx	Data	Description
Tx 301Fh:09h Sta-	600h+ID	40h	1Fh 30h	09h	XX XX XX XX Reads the actual speed. The data
tus.n_actT						has no significance.

The 4 data bytes have no significance for a read request.

Receive data

Object	COB ID	CCD	Idx	Sdx	Data	Description
Rx 301Dh:09h Status.n_act	580h+ID	43h	1Fh 30h	09h	E8 03 00 00	The data 000003E8 corresponds
						to 1000 min-1.

The product transmits the data as 32 bit values back to the master (CCD is "43h"). It also sends back data as a 32 bit value which are described as INT16 or UINT16 data types in the product manual. When an INT16 or a UINT16 value is read, it is therefore possible to evaluate all 4 data bytes. However, for 16 bit data it is also correct to evaluate only the first two data bytes and to ignore the last two data bytes.

6.2.3Synchronous errors

Receive data with error frame "Error If an SDO write or read command fails, the product responds with an er- Response" ror frame "Error Response". This may happen if, for example, you try to

read or write a non-existent object. The transmitted error number pro- vides information on the exact cause.

Object	COB ID	CCD	Index	Sub	Data	Description
Rx 3028h:20h	580h+ID	80h	28h 30h	20h	00 00 02 06	Error value 06020000h means
						"object does not exist in object dic-
						tionary"

The example shows the response to a write or read request for a non- existent object 40:32.

The error number of a synchronous error message is stored as a UINT16 value and the corresponding CCD (Error Response) is as- signed the value 80h. Refer to 7.3.2 "Error code table" for a table with the error numbers.

0198441113586, V2.01, 11.2008

62	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 CAN-Bus IntroductionAbout this manual Operating modes and functions in fieldbus mode Fieldbus devices networked via can busDocumentation and literature references Can users and manufacturers organizationIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 CANopen description language BasicsCANopen technology Communication layersObjects Index hex Object groups Supported By the driveIL1F CANopen DS301 Basics CANopen profiles CANopen reference modelIndex Subindex Object Meaning Communication profileObject dictionary Index range Object groups Supported Hex By the drive Communication objects Communication objectsCOB ID with function code and node address TPDO4 Communication relationships Master slave relationshipsClient-server relationship SDO data exchange Service data communicationOverview SDO message 11 SDO message, exampleReading and writing data Message type Data length used Bytes14 Reading a parameter value Message type Data length used Byte Bytes15 Response with error message error response Process data communication PDO data exchange 16 PDO data exchangeUINT32 Dynamic and static PDO mapping 18 Requesting a message with RTR =Receive PDO RPDO4 master slave Structure of RPDO4State machine drivectrl Operating modes modeCtrl JOG@ Warning Transmit PDO TPDO4 product to masterStructure of TPDO4 20 Structure of TPDO4Handshake with Mode Toggle Bit Bit Name Description22 Mode Toggle Handshake, short movement Master Slave XendBasics IL1F CANopen DS301 Emergency service 23 Error message with the Emcy objectSynchronization 25 Sync message27 Cyclic and acyclic transmission Network management services NMT services for device controlPersistent data memory NMT service Transition MeaningInitialization Node/Life guarding NMT services for connection monitoringCommand Specifier NMT service Transition 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning Commissioning the deviceCommissioning the fieldbus network Starting fieldbus modeAddress and baud rate Troubleshooting Error Error class Cause of error TroubleshootingSelecting the CANopen master SyCon CANopen configuration softwareCreating a new network Setting the bus parameters Selecting and inserting nodes Operation OverviewOperation IL1F CANopen DS301 Transmit data Using SDO commandsWriting parameters Receive dataIndex Sub Data Description Synchronous errorsReading a parameter Bit no Value Meaning Operating Name Power Description State StageChanging operating states with PDO4 Example Switching the power stage on and offTriggering a Quick Stop 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 Position relative positioning Operating mode Profile VelocityPosition setting Master --- SlaveOperating mode Homing Error signaling via PDO4 Asynchronous errorsPositioning running xerr=0 Operation IL1F CANopen DS301 Diagnostics and troubleshooting Fieldbus communication error diagnosticsMessages on the device status Error diagnostics via fieldbusMessage objects Error code table CANopen error messagesError register Bit Message MeaningSDO error message Abort Error code MeaningObject code Meaning Coding Specifications for the objectsObject directory Data type Value range Data lengthIndex Subindex Designation Obj. code Data type Access Objects, overviewDevice type Error registerObjects of the product Manufacturer device name Bit coding, subindex 00h1008h 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 coding, subindex 02h Bit assignment subindex 01hBit 30 RTR bit Bit Acces Value Meaning1603h Receive PDO4 mapping Value description 1803h Transmit PDO4 communication parameter BitMeaningSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Glossary Units and conversion tablesTorque TemperatureRotation Moment of inertiaDefault value Factory setting Terms and AbbreviationsPower amplifier See power stage Index CanIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface