NORD Drivesystems BU0270 - Manual (Page 43)

5 EtherCAT - Data transfer
BU 0270 GB Subject to technical amendments 43
5.3 Parameter data (SDO communication)
The transfer of parameter data is carried out cyclically with low priority. Transfer is carried out in CoE (CAN
over Ether CAT
® ) protocol via the SDO transfer. All parameters of the FI and the bus module can be accessed.
All parameter requests are handled by a single SDO channel. Here there are universal parameters which are
valid for the entire bus assembly and there are also parameters which are only valid for a single module (FI or
bus module). Therefore it is necessary to segregate the same parameter for various modules (FI 1 to 4 and
bus module).
Bus module FI 1 FI 2 FI 3 FI 4
RxPDO (Out) 0x1600 0x1601 0x1602 0x1603 0x1604
TxPDO (In) 0x1A00 0x1A01 0x1A02 0x1A03 0x1A04
NORD Parameters 0x2000-0x27FF 0x2800-0x2FFF 0x3000-0x37FF 0x3800-0x3FFF 0x4000-0x47FF
FI offset 0 0x800 0x1000 0x1800 0x2000
The parameter numbers stated in the documentation must be converted into the numerical range specified for
EtherCAT. This is performed according to the following formula:
SK TU4-ECT parameter = 0x2000 + FI offset + FI parameter number
Example:
Parameter (P102) for FI 2 = 0x2000 + 0x1000 + P102 = 0x3066
The FI parameter (P102) of the second frequency inverter is accessed via EtherCAT with the parameter
number 3066
hex
(12390
dez
).
For parameters with a sub-index, the first value is always on sub-index 1. Sub-index 0 contains the maximum
size of the array.
The processing of SDP parameter access is complex and will not be described here. In general, the EtherCAT
SPS provides functional modules for this purpose.
5.3.1 Parameters according to EtherCAT
The available objects are defined for EtherCAT and correspond to the CANopen communication profile DS301.
Index Sub Object Description Access Type
0x1000 0 Device type Device type and functionality RO U32
0x1008 0 Device name Device name RO STR
0x1009 0 Hardware version Hardware configuration RO STR
0x100A 0 Software Version Software Version RO STR
0x1018 REC Identity object General device information U32
0 Largest sub-index Number of elements (=4) RO U8
1 Vendor ID
Manufacturer ID:
(Getriebebau Nord: 0x0000 0538)
RO U32
2 Product code Device version (product number) RO U32
3 Revision number Software version and revision number (2x16 bit) RO U32
4 Serial number Not supported RO U32
0x1601-
0x1604*
0 Largest sub-index Number of elements RO U8
0x1600 0-1 RxPDO Mapping Process data for the outputs of the SK TU4-ECT RO U32
0x1601-
0x1604
0-4 RxPDO Mapping
Setpoints for FI 1 (0x1601) to FI 4 (0x1604)
RO U32