NORD Drivesystems BU0570 - Manual (Page 25)

4 Communication
BU 0570 GB-0312 Subject to technical amendments 25
4.3 Parameterübertragung EtherCAT
4.3.1 Ablauf der Parameterübertragung
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.
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 TU3-ECT parameter = NORD parameter number + 2000h
 SK 5xxE parameter
= NORD parameter number + 2800h
Example:
The FI parameter P102 is accessed via EtherCAT with the parameter number 2866h (10342dec).
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.
4.3.2 Error codes for SDO parameter access
In case of failure of parameter access, one of the error codes listed in the table below is sent.
Error code in hex Explanation
0x05 03 00 00 Toggle bit has not changed status
0x05 04 00 00 Timeout of the SDO response by the bus module
0x05 04 00 01 Unknown SDO command
0x05 04 00 05 Insufficient memory
0x06 01 00 00 Access not supported
0x06 01 00 01 Reading access to write-only parameter
0x06 01 00 02 Writing access to a read-only parameter
0x06 02 00 00 Access to a non-existent parameter
0x06 04 00 43 Incompatible parameter
0x06 04 00 47 Internal incompatibility in module
0x06 06 00 00 Hardware error
0x06 07 00 10 Invalid parameter type
0x06 07 00 12 Parameter access with excess data length
0x06 07 00 13 Parameter access with insufficient data length
0x06 09 00 11 Parameter sub-index does not exist
0x06 09 00 30 Parameter value range overflow
0x06 09 00 31 Parameter value too large
0x06 09 00 32 Parameter value too small
0x06 09 00 36 Maximum value smaller than the minimum value
0x08 00 00 00 General error
0x08 00 00 20 Parameters cannot be read or stored in the FI, as there is no connection
between the SK TU3-ECT and the FI
Table 18 Error codes for parameter access failure