User Manual CANopen/EtherCAT
33
[Chapter 6]
6.3.1 Parameter set download
The following data can be transferred to ServoOne via the CANopen interface:
Parameter set
A parameter data set can be downloaded by an SDO transfer or by way of the
DriveManager user interface version 5 or higher. All manufacturer-specific device
parameters are additionally accessible via objects 2000h- 5FFFh.
If a unified valid data set - that is, not just individual parameters - needs to be transferred
from the CAN master to the device, the following points must be considered:
On every transfer of an individual parameter the drive controller checks whether the
parameter matches its existing data set. The check of the new parameter value includes
existing parameter values in some cases. This means it is possible that the drive control-
ler may reject a parameter, even though it originates from a valid parameter data set,
because the parameter is not yet complete in the device.
Since a simple error reset may not eliminate the cause of the error, it may be necessary
to reset to the factory defaults.
Remedy:
The parameter data set is transferred to the drive controller without a logic check. At the
end of the download, the logic check is reactivated and the drive controller checks the
transferred parameters for plausibility. During this check parameter settings that do not
functionally match are reported as errors.
Download procedure of a completed parameter data set:
•
•
Reporting a download without logic check
To deactivate the logic check and to report the download of a data set, parameter
11 subindex 4 value 1 is written.
Downloading the parameter data to the drive controller
In this step the individual parameters of the data set are sequentially transferred
to the drive. Despite the deactivated logic check basic checking mechanisms are
still active. These monitor, for example, the maintenance of parameter limits and
become active if these are infringed. Thus if a value range limit is infringed by
the download of a parameter, then this SDO protocol is directly rejected (Abort
message).
Completing download and activating plausibility check
Once all parameter data has been transferred to the drive controller, parameter
11 subindex 4 is reset to value 0. Then a logic check of the device parameters is
carried out. In cases of error the user receives an Emergency message.
Note: The download of a complete parameter data set is only possible when
the system is at a standstill. Make sure the drive controller is not switched on
for the duration of the download.
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