56
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
5
CANopen profile via CAN
CAN Interfaces of MOVIDRIVE® B
For a detailed description of the management byte, refer to the chapter "SEW unit
profile". In the event of an error, "abort SDO" signals a general error. You can read the
exact MOVILINK
®
error code from parameter 0x2067.
Example 1:The maximum possible value (service "Read maximum", 0x35) is to be
determined by the inverter for the index 0x2116 (ramp up CW).
To do so, the management byte must assume the value 0x35, reserved is set to 0. The
object 0x2066 is written using the value 0x35002116 via an SDO. The maximum possi-
ble value can then be read from index 0x2067 using a reading SDO access.
Example 2:The index 0x2116 (ramp up CW) is to be written to the volatile memory
with the value 0x1234 (service "write volatile", 0x33).
Before the service is executed, the MOVILINK
®
service data (Index 0x2067) must be set
to the value 0x1234. This is done using a writing SDO in index 0x2067. The MOVILINK
®
service is then performed by writing the value 0x33002116 to index 0x2066.
Example 3:The index 0x2116 (ramp up CW) is to be written to the volatile memory
with the value 0x4000000 ("write volatile" service, 0x33).
Before the service is executed, the MOVILINK
®
service data (Index 0x2067) must be set
to the value 0x1234. This is done using a writing SDO in index 0x2067. The MOVILINK
®
service is then performed by writing the value 0x33002116 to index 0x2066. The unit
signal "general error" via CANopen. Read to 0x2067 then returns the MOVILINK
®
error
code 0x08000015 (value too great).
5.4.7
Hard synchronization for synchronous operation or positioning several MDX-B units
When the controller sends the CANopen SYNC object, all synchronous PDOs sent are
transferred consistently to MOVIDRIVE
®
B using the SYNC object, if the factory settings
are used. The individual controller systems (processor time slices) of several axes on
one CANopen line are not synchronized with one another (soft synchronization).
However, the period of the SYNC object can be set as required in the controller.
If the controllers (processor time slices) are to synchronize several units with the SYNC
signal (hard synchronization), parameter P885 / P895 must be set to the COB ID of the
CANopen SYNC object (usually the value "128" = "80hex"). In this case, parameters
P887 and P888 also have to be set matching to the synchronization period of the
controller.
Summary of Contents for MOVIDRIVE MDX60B
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