0 • SBI-COP/DN-AGy Card
Instruction Manual
Eng
lish
F.050=3, Frequency reference X
P.000=2, Virtual
I.000=1, Run
I.400=1, ingresso digitale 1 => virtual
I.760= 311, Digital Reference Frequency 0
I.761=1000, Virtual digital commands
In order to have a motor rotating at 50.0 Hz, send the value 500 to the bytes
0 and 1, and the value 1 to the bytes 2 and 3.
3.4 SDO Management
The drive parameters can be accessed via the “MSPA” Manufacturer Specific
Profile Area (2000hex< index <5FFFhex).
As the drive parameter indexes (IPA) normally exceed the CANopen MSPA,
the AGy drive is supplied with an offset value allowing the access to the drive
parameters. The index to be stated in the SDO command to access a drive
parameter can be obtained via the following formula:
SDO index = 2000 hex + IPA
The Subindex field has always to be set with 0, if not, an error message is
displayed. The Data field must contain the value of the drive parameter.
Example:
Writing the value 1000 in the 311 dec parameter.
The required information is:
1) The SDO index resulting from the formula is
2000 hex + 311 dec = 8503 dec (2137 hex)
2) The value to be written is 1000, corresponding to 03E8 hex.
Drive parameter value to
be assigned to SDO
Index
Subindex Value
Subindex always 0
Drive parameter index
37
21
00
E8
03
00
00
hex
hex
hex
hex
hex
hex
hex
In case an error occurs during the parameter reading or setting, the CANopen
interface sends an Abort domain transfer message; the value of Application-
error-codes has the following meanings:
