Danfoss VLT CANopen MCA 105 - Configure the Master

3.1.5 SDO Communication
All CANopen objects and frequency converter parameters
can be accessed via SDOs (service data objects).
For a description of supported SDO abort codes, refer to
chapter 8 Troubleshooting.
COB-ID
Transmit SDO 1409 (581h)–1535 (5FFh) 580h + Node ID
Receive SDO 1537 (601h)–1663 (67Fh) 600h + Node ID
Table 3.5 COB-ID’s for SDO Communication
COB-ID CS OD-Index Sub-ind. Data
600+ID See following text 01 20 00 00 00 00 00
Table 3.6 Structure of a SDO-message (Request)
The CS-eld contains the command and response
speciers. See Table 3.7 and Table 3.8.
Command CS
Write request 4 bytes 23h
Write request 2 bytes 2Bh
Write request 1 byte 2Fh
Read request (any) 40h
Table 3.7 Command
Response CS
Write response (any) 60h
Read response 4 bytes 43h
Read response 2 bytes 4Bh
Read response 1 byte 4Fh
Error response 80h
Table 3.8 Response
Saving OD entries
In standard conguration, all parameters + OD entries are
stored in volatile (RAM) memory only. To store current
network conguration in non-volatile memory, use OD
index 1010h.
To save parameters, write the value 65766173 (save) to the
appropriated sub-index in OD: 1010h.
OD index Subindex Description
1010h
0 Number of entries
1 Save all parameters + OD entries
2 Save all communication parameters + OD
entries
3 Reserved
4 Save edit set-up (Danfoss specic)
Table 3.9 Saving OD Entries
Restoring OD entries
To restore factory defaults, use OD index 1011h.
To restore default parameters the value “64616F6C” (load)
must be written to the appropriated sub-index in OD:
1011h
OD index Subindex Description
1011h
0 Number of entries
1 Restore all parameters + OD entries*
2 Restore all communication parameters +
OD entries and restart
Table 3.10 Restoring OD Entries
* requires power cycle
NOTICE
Frequency converter displays Alarm 80 “Drive initialised”
after restores.
3.2 Congure the Master
3.2.1 EDS File
A large part area of the system conguration is the setting
of application-related parameters. EDS (electronic data
sheet) les simplify the setting up of most of the CANopen
congurable parameters. The EDS le contains all
supported communication-specic objects (OD 1000h
+ 1FFFh) and a selected number of manufacturer-specic
objects (frequency converter parameters) in the OD range
2000h–5FFFh.
Danfoss provides a generic English EDS le covering all
voltage and power sizes for o-line conguration.
Download the EDS le from www.danfoss.com/Busines-
sAreas/DrivesSolutions/Softwaredownload/
DDFieldbus_Setup_Files.htm.
NOTICE
The EDS les do not contain all parameters but a
selected, limited number of parameters with generic
minimum, maximum, and default values.
Conguration
VLT
®
CANopen MCA 105
10 Danfoss A/S © 06/2015 All rights reserved. MG92G102
33