Vacon CANopen OPTE6, Руководство пользователя

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CANopen option board interface vacon • 85
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
8
8.5 VACON anyparameter service
For access to AC drive parameters and monitoring values, the OPTE6 maps the CANopen manufac-
turer segment 0x2100 - 0x5FFF into the application IDs of the drive based on the IEC61131 standard.
Both read and write access is supported.
The application ID 1 maps to CANopen object 0x2101 and so on, making it possible to read/write any
application ID between 1 and 16127 (0x3EFF). To access the application IDs in the drive, make the
following calculation:
Index = ID 0x2100
NOTE! The response data is in raw format. See application manual for available IDs, decimal count
and the unit used for the parameters.
IDs can be read/written as VACON
®
NX scaled values in all AC drives, or in VACON
®
100 family AC
drives also as actual raw value. Units such as Hz, rpm, A, V, etc. are given with 4 decimal point pre-
cision. See examples for more details.
The used scale in VACON
®
100 family depends on the "Mode" parameter setting. This can be written
from panel parameter of by using CANopen object 0x2005.
VACON
®
provides .EDS files which contains the correct data types and IDs for VACON
®
100 INDUS-
TRIAL, FLOW, VACON
®
20 and 20X applications.
These files can be downloaded from www.drives.danfoss.com .
8.5.1 Error responses
In case an error occurs during reading or writing a parameter via the anyparameter service, the fol-
lowing SDO abort error codes are returned:
8.5.2 Examples
In the examples below, the following ID values are used:
• 102 = Maximum frequency (Hz)
• 600 = Motor control mode
Table 115. ADO abort codes returned by anyparameter service
Abort code Description Error
0x0602 0000 Object does not exist in the object dictionary
ID is not found in used
application
0x0601 0002 Attempt to write a read only object ID is a monitoring value
0x0607 0010
Data type does not match, length of service param-
eter does not match
Data length does not
match ID data type
0x0609 0030 Invalid value for parameter (download only). Data value is invalid
0x0800 0000 General error Other error
0x0800 0024 No data available Parameter access timeout