Inovance MD800 Series Communications Guide

CANopen and CANlink Communication
‑46‑
The sub‑index is the lower 16 bits of a parameter address plus 1, so the
correspondence between the parameter group numbers and the object dictionary
sub‑indexes is as follows:
Table 3–12 Correspondence between the parameter group numbers and the object diction‑
ary sub‑indexes
Parameter Index CANopen Object Dictionary Index
0x0 to 0xFE 0x1 to 0xFF
3.4.2 Operation Example (SDO)
For example, when the F0‑17 parameter value is read, the parameter address is
0xF011. Therefore, its object dictionary index number and sub‑index number are
0x20F0 and 0x12, respectively.
1. The communication master station uses a CANopen data service object (SDO) to
read data from the AC drive. The following table shows the format of data sent
from the master.
The following takes F0‑02 as an example. According to the correspondence
described in the preceding section, the index and sub‑index for F0‑02 are 0x20F0
and 0x03, respectively.
Table 3–13 SDO object sent for read operation
CAN Frame CANopen Data
Description
COB‑ID
11‑bit ID 0x600+Node‑ID Node‑ID is determined
by dial switch setting..
RTR RTR 0
Remote frame 󽗊ag "0"
8‑byte frame data
DATA0
Command code (0x40) 0x40 read command
DATA1
Lower byte of index
Parameter group
(group F0 "0xF0")
DATA2
Higher byte of index
0x20
DATA3
Sub‑index
Parameter No. + 1
("0x03")
DATA4 Data 1
Reserved "0"
DATA5 Data 2
Reserved "0"
DATA6 Data 3
Reserved "0"
DATA7 Data 4
Reserved "0"
2. The following table shows the slave's SDO response to the read operation.
If the operation is successful, the command code return value is "0x4B"; the index
remains unchanged; the read data is returned in DATA4 and DATA5; "0" is returned
in DATA6 and DATA7.
If the operation fails, the command code return value is "0x80"; the index remains
unchanged; SDO failure error codes are returned in DATA4, DATA5, DATA6, and
DATA7.

Inovance MD800 Series Specifications

General

Brand	Inovance
Model	MD800 Series
Category	DC Drives
Language	English