Client C Drive
Example: The Altivar 31 located at CANopen address 4 (COB-ID = 16#300 + 4) receives the command called “Enable operation” (Control word "CMDD" = 16#xxxF). In the current example, Control word "CMDD" is equal to 16#000F.
In addition, the motor speed is set to 1200 rpm (16#04B0).
If you want to use the transmitted and/or received objects of the PDO 6 to the “Configured PDOs” under SyCon, you must first uncheck the “Automatic COB-ID allocation in accordance with Profile 301” checkbox. Should you leave this check, the COB-IDs of these objects will not be correct and you will then have to manually fix them.
COB-ID Byte 0 Byte 1 Byte 2 Byte 3
640 (16#280) +Node-ID
Status word "ETAD" Velocity actual value "RFRD"
LSB MSB LSB MSB
16#284 16#07 16#06 16#DC 16#05
COB-ID Byte 0 Byte 1 Byte 2 Byte 3
768 16#300 +Node-ID
Control word "CMDD" Velocity reference "LFRD"
LSB MSB LSB MSB
16#304 16#0F 16#00 16#B0 16#04
Description of the services
Monitoring PDO 6 (COB-ID = 16#280 + Node-ID) - User-defined mapping
Client B Drive
In order to modify the mapping of the second monitoring PDO under SyCon, you will have to double-click on the “Transmit PDO 6 parameter” item once you have added it to the “Configured PDOs” section. This will open the “PDO Contents Mapping Object Index 1A05”
window.
You will then have to add/remove items from the upper “Mapable Objects from EDS file” section to the lower “Mapped Object dictionary”
section. This is done via the two “Append Object” and “Delete mapped Object” buttons.
Once you have finished modifying the mapping of the “Transmit PDO 6 parameter,” validate or cancel the changes using the “OK” or
“Cancel” button.
N.B. Any byte left vacant at the end of this PDO will not be sent on the bus by the Altivar 31, i.e. if no parameter is assigned to Bytes 6 and 7, the PDO data length will be 6 bytes instead of 8 bytes.
Example: The two default objects are kept (6041:0 and 6044:0), but bytes 4 and 5 are mapped on the “Motor current; LCR” object (2002:4), and bytes 6 and 7 are mapped on the “Motor torque; OTR” object (2002:9), thus resulting in the following mapping:
Now, we consider an Altivar 31 located at CANopen address 4 (COB-ID = 16#280 + 4) with the following status:
• Current state equal to "Operation Enabled" and without any fault (Status word "ETAD" = 16#xxx7). In the current example, Status word
"ETAD" is equal to 16#0607;
• Velocity actual value "RFRD" equal to 1500 rpm (16#05DC);
• Motor current "LCR" equal to 4,0 A (16#0028);
• Motor torque "OTR" equal to 83 % (16#0053).
The corresponding sent frame for this monitoring PDO should be as follows (8 data bytes):
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 (default: velocity actual value
"RFRD")
Altivar variable (default: no object)
Altivar variable (default: no object)
LSB MSB LSB MSB LSB MSB LSB MSB
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
640 (16#280) +Node-ID
Status word "ETAD" Velocity actual value "RFRD" Motor current "LCR" Motor torque "OTR"
LSB MSB LSB MSB LSB MSB LSB MSB
16#284 16#07 16#06 16#DC 16#05 16#28 16#00 16#53 16#00
30
Description of the services
Control PDO 6 (COB-ID = 16#300 + Node-ID) - User-defined mapping
Client C Drive
In order to modify the mapping of the second control PDO under SyCon, you will have to double-click on the “Receive PDO 6 parameter”
item once you have added it to the “Configured PDOs” section. This will open the “PDO Contents Mapping Object Index 1605” window.
You will then have to add/remove items from the upper “Mapable Objects from EDS file” section to the lower “Mapped Object dictionary”
section. This is done via the two “Append Object” and “Delete mapped Object” buttons.
Once you have finished modifying the mapping of the “Receive PDO 6 parameter,” validate or cancel the changes using the “OK” or
“Cancel” button.
N.B. Any byte left vacant at the end of this PDO will not be sent on the bus by the Client, i.e. if no parameter is assigned to Bytes 6 and 7, the PDO data length will be 6 bytes instead of 8 bytes.
Example: The first default object is kept (6040:0), but the second default object (6044:0) is replaced with Acceleration time "ACC" (203C:2) and bytes 4 and 5 are mapped on the Deceleration time “DEC” (203C:3), thus resulting in the following mapping:
Now, we consider an Altivar 31 located at CANopen address 4 (COB-ID = 16#300 + 4) and controlled as follows:
• “Enable operation” command (Control word "CMDD" = 16#xxxF); in the current example, Control word "CMDD" is equal to 16#000F;
• Acceleration time "ACC" at 1s (10 = 16#000A);
• Deceleration time “DEC” at 2s (20 = 16#0014).
The corresponding received frame for this control PDO should be as follows (6 data bytes):
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
LSB MSB LSB MSB LSB MSB LSB MSB
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
768 (16#300) +Node-ID
Control word "CMDD" Acceleration time "ACC" Deceleration time “DEC”
LSB MSB LSB MSB LSB MSB
16#304 16#0F 16#00 16#0A 16#00 16#14 16#00
Description of the services
SDO service (COB-ID = 16#580 + Node-ID / 16#600 + Node-ID)
Request: Client C Drive
Response: Client B Drive
Depending on the “Request code” and the “Response code”, the contents of “Request data” and “Response data” may vary. This is summarised in the following two tables:
(1) If you use the SDO service to read a multi-byte data, such as the “manufacturer device name” (parameter 16#1008: 16#00), a segmented transfer will be initiated between the Client and the Drive.
The 16#80 “Request code” is designed to stop this kind of transfer.
(2) The response data (bytes 4 to 7) corresponds to a 32-bit “abort code”; the full listing of all Altivar 31 supported abort codes are described in the table below.
Note: Segment transfer only applies for information with a size that exceeds 4 bytes. It only occurs for "Manufacturer device name"
(object 16#1008).
LSB MSB Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
LSB MSB Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24
Request code Command description Byte 4 Byte 5 Byte 6 Byte 7
16#23 Write a 4-byte data Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24
16#2B Write a 2-byte data Bits 7-0 Bits 15-8 16#00 16#00
16#2F Write a 1-byte data Bits 7-0 16#00 16#00 16#00
16#40 Read data 16#00 16#00 16#00 16#00
16#80 Abort the current SDO command (1) 16#00 16#00 16#00 16#00
Response code Response description Byte 4 Byte 5 Byte 6 Byte 7
16#43 Read data: 4-byte data (1) Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24
16#4B Read data: 2-byte data (1) Bits 7-0 Bits 15-8 16#00 16#00
16#4F Read data: 1-byte data (1) Bits 7-0 16#00 16#00 16#00
16#60 Write a 1/2/4-byte data: response 16#00 16#00 16#00 16#00
16#80 Error response: abort code returned (2) Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24
32
Description of the services
(1) Please note that the “Abort codes” listed in this table are written in the usual representation and thus must be inverted on a byte-by-byte basis for the “Byte 4 to 7” representation (e.g. 16# 0609 0030 becomes Byte 4 = 16#30, Byte 5 = 16#00, Byte 6 = 16#09, Byte 7 = 16#06).