User Manual CANopen/EtherCAT
29
[Chapter 6]
The CAL specification makes a basic distinction between three protocol services:
Download protocol (Write)
Upload protocol (Read)
Abort protocol (Error)
The upload and download protocols also differentiate between:
Expedited Multiplexed Domain Protocol for access to objects with a data length
of up to 4 bytes (shown above) and
Multiplexed Domain Protocol, for access to objects of any length
The entries in the “Control field“ area are generated by the CANopen driver. They are
only included to fully document the examples cited. The entries are dependent on the
transferred data.
The control field is described in the DS301 profile.
6.2.1 Data types
Note: Via the DriveManager user interface many parameter settings are
displayed in the form of value substitution texts.
Example: Parameter 450-MOT_Type = PSM
When writing and reading over the field bus the corresponding numerical values for the-
se value substitution texts must be used. These values are displayed in brackets ( ) when
the parameter is opened in DriveManager.
Example:
Parameter 450-MOT_Type = PSM (1)
•
•
•
•
•
The drive units support the following parameter data formats:
Data type Value range Function
USIGN8 0...255
UnsignedUSIGN16 0...65535
USIGN32 0...4294967295
INT8 -128...127
Integer, signedINT16 -32768...32767
INT32 -2147483648...2147483647
FLOAT32
see IEEE
32-bit floating point number in IEEE
format
STRING
ASCII characters, max. 100 bytes
in bus mode incl. zero terminator
Table Data types
6.2.2 Representation of data types in the control protocol
All data types are represented appropriate to their preceding sign as 32-bit variables
in Intel format.
Data bytes of the
control protocol
3 4 5 6
USIGN8/INT8*
USIGN16/INT16*
USIGN32/INT32
Low Word
Low Byte
Low Word
High Byte
High Word
Low Byte
High Word
High Byte
FLOAT32
IEEE format
STRING See examples,
* Filled out appropriate to preceding sign (00H or FFH)
Table Assignment of data types in the data field
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