NORD Drivesystems BU0060 - Manual (Page 62)

CANopen – Supplementary manual options for NORD - Frequency Inverters
62 BU 0060 GB-4112
Example: Read out parameter P102, Response: P102, 1.03s
Control byte/
Status byte
Index Sub-index Data
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Requirement
0x40 0x20 0x66 0x01 0x00 0x00 0x00 0x00
Response
0x4B 0x20 0x66 0x01 0x67 0x00 0x00 0x00
The control byte à states the order:
0x40 = Load value
Response
0x4B =
0x43 =
0x80 =
Deliver the 16 bit value which has been read out
Deliver the 32 bit value which has been read out
Response to an incorrect order
Table 17: Loading parameter data via SDO
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Cancelling of parameter communication (SDO)
If problems occur during parameter communication (e.g. value range overflow), a cancel telegram is
sent. This can be recognised by the number 0x80 in byte 0. The cause of the cancellation is indicated
in bytes 4 to 7.
Control
byte
Last index used Error code
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
0x80 0x00 0x18 0x01 0x02 0x00 0x01 0x06
Table 18: Error message (0x06010002 = attempted writing access to a read-only object)
Error code Description
0x0601 0001 Access to write-only parameter
0x0601 0002 Access to read-only object
0x0607 0010 Data type or parameter length do not match
0x0609 0030 Parameter value range overflow
0x0609 0031 Parameter value range overflow
0x0609 0032 Parameter value range undershot
0x0609 0011 Sub-Index of parameter does not exist
Table 19: Error codes – Parameter communication
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