3 Protocol Description of the MD38CAN2
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When the operation is F0-17 reading, the object dictionary index is 0x20F0, and the
subindex is 0x12.
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When the operation is F0-17 reading and writing to EEPROM, the object dictionary
index is 0x20F0, and the subindex is 0x12.
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When the operation is F0-17 reading and writing only to RAM, the object dictionary
index is 0x2000, and the subindex is 0x12.
NOTE
◆
Motor auto-tuning cannot be implemented by changing the parameter
values by means of communication.
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The AC drive parameters are stored in the EEPROM. They can be read
repeatedly but cannot be rewritten many times. Pay attention to the
parameter rewrite command. The PLC programs cannot be driven
unconditionally to prevent cyclic communication write operation which
may damage the storage of the AC drive.
◆
If parameters need to be rewritten repeatedly, the mapping addresses
of the parameters at the read RAM operation can be used. For example,
repeated rewriting of the RAM mapping address 0x2002 for F0-02 is
allowed. However, the EEPROM mapping address 0x20F2 cannot be
rewritten repeatedly.
2) AC Drive Operation Example (SDO)
Set the CANopen address of the AC drive to 0x06.
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Read the AC drive command source.
To read the parameter F0-02 of the AC drive, the master sends a CANopen message, as
described in the following table.
Table 3-1
Master sending a message to read F0-02
Message Identifier (Hex)
RTR
Data (Hex)
0x606
0
40 F0 20 03 00 00 00 00
The AC drive returns a CANopen response message, as described in the following
table. The value of F0-02 is 0x0002, indicating that the current command source is
communication control.
Table 3-2 AC drive's response to F0-02 reading
Message Identifier (Hex)
RTR
Data (Hex)
0x586
0
4B F0 20 03 02 00 00 00
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Set the command source to operating panel control.
To set the command source to operating panel control, the AC drive parameter F0-
02 must be written to 0. The master sends a CANopen message, as described in the
following table.
