User Manual CANopen/EtherCAT
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6.2.3 Access to device parameters
Where can I find the device parameters?
All device parameters are addressed by way of a parameter number.
In addition to the standard objects, the CANopen profile provides an area for manufac-
turer-specific entries. This area lies between 2000 h and 5FFF h. If you then want to read
or write parameter 455-MOT_FNOM (rated frequency of the motor) of the device, the
object index is formed from 2000 h + parameter number (Hex).
In our example: Index = 2000 h + 1C7 H
Note: Profile-specific parameters are visible in DriveManager, but only in area
1000H... (DS301 objects)/6000H... (DS402 objects) writeable/readable. This
means parameters stored both as device parameters (area 2xxxH) and also as
profile parameters (DS301/DS402), can only be read and written to via their
object number (DS301/DS402 profile).
Example:
The object 1000h Device Type exists both in the DS301 profile and also as a device
parameter with parameter number 2011. Simultaneous two-way access would there-
fore be possible via CANopen or EtherCAT. In order to clearly configure the access, the
read/write access for this object is only possible via profile-specific object number 1000h
(as per DS301).
6.3 Examples of SDO handling
By way of the Receive SDO (COB IDs: 600 h + Node-ID) the CANopen objects and the
parameters of the drive controller can be accessed.
In a data transfer protocol a maximum of 4 data bytes can be transferred in Expedited
mode. This means all device parameters, apart from string parameters, can be written
to with a single transfer protocol.
String parameters can be written to using the Multiplexed Domain protocol.
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