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CANopen Interface Manual
6.2 Manufacturer specific Profile Area (2000h – 5FFFh)
6.2.1 UPID Commands
Parameters can be modified via their UPIDs (Unique Parameter ID) via CANopen. To use a UPID command, an SDO read or write has to be performed on the index “2000h + UPID”. The sub-index specifies the command which is performed.
Index
2000h +
UPID
Sub-Index Description
01h RAM Value
Access Type Data Type rw Bool - Unsigned32
Read / Write the RAM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be read or written.
Read RAM Value by UPID
COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:
Data
SDO CS
40h
Byte 01 (LSB) yyh
Index
02 yyh
03
Sub-Index
01h
04
-
05
-
06
yy yy: 2000h + UPID
-
07
-
08 (MSB)
Write RAM Value by UPID
COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:
Data
SDO CS
23h
Byte 01 (LSB) yyh
Index
02 yyh
03
Sub-Index
01h
04 xxh
05
Data xxh
06
yy yy: 2000h + UPID xx xx xx xx: Value to write (size depends on the UPID that will be written)
xxh
07
Data xxh
08 (MSB)
NTI AG / LinMot
® www.LinMot.com
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CANopen Interface Manual
Index
2000h +
UPID
Sub-Index Description
02h ROM Value
Access Type rw
Data Type
Bool - Unsigned32
Read / Write the ROM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be read or written. If a value in the ROM is changed, it is not immediately reflected in the RAM. Values are read from the ROM to the RAM on startup of the drive. Use the “RAM/ROM Write” command (sub-index 06h) to change both values at the same time.
Read ROM Value by UPID
COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:
Data
SDO CS
40h
Byte 01 (LSB) yyh
Index
02 yyh
03
Sub-Index
02h
04
-
05
-
06
yy yy: 2000h + UPID
Write ROM Value by UPID
COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:
Data
SDO CS
23h
Byte 01 (LSB) yyh
Index
02 yyh
03
Sub-Index
02h
04 xxh
05
Data xxh
06
yy yy: 2000h + UPID xx xx xx xx: Value to write (size depends on the UPID that will be written)
-
07
-
08 (MSB) xxh
07
Data xxh
08 (MSB)
Index
2000h +
UPID
Sub-Index Description
03h Min Value
Access Type Data Type ro Bool - Unsigned32
The minimal possible value of the UPID is returned.
Read Min Value by UPID
COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:
Data
SDO CS
40h
Byte 01 (LSB) yyh
Index
02 yyh
03
Sub-Index
03h
04
-
05
-
06
yy yy: 2000h + UPID
-
07
-
08 (MSB)
NTI AG / LinMot
® www.LinMot.com
Page 35/60
CANopen Interface Manual
Index
2000h +
UPID
Sub-Index Description
04h Max Value
Access Type ro
Data Type
Bool - Unsigned32
The maximal possible value of the UPID is returned.
Read Max Value by UPID
COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:
Data
SDO CS
40h
Byte 01 (LSB) yyh
Index
02 yyh
03
Sub-Index
04h
04
-
05
-
06
yy yy: 2000h + UPID
-
07
-
08 (MSB)
Index
2000h +
UPID
Sub-Index Description
05h Default Value
Access Type ro
The default value of the UPID is returned.
Data Type
Bool - Unsigned32
Read Default Value by UPID
COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:
Data
SDO CS
40h
Byte 01 (LSB) yyh
Index
02 yyh
03
Sub-Index
05h
04
-
05
-
06
yy yy: 2000h + UPID
-
07
-
08 (MSB)
Index
2000h
+ UPID
Sub-Index Description
06h RAM/ROM Write
Access Type Data Type wo Bool - Unsigned32
Write the RAM and ROM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be written.
Write RAM/ROM Value by UPID
COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:
Data
SDO CS
23h
Byte 01 (LSB) yyh
Index
02 yyh
03
Sub-Index
06h
04 xxh
05
Data xxh
06
yy yy: 2000h + UPID xx xx xx xx: Value to write (size depends on the UPID that will be written)
xxh
07
Data xxh
08 (MSB)
NTI AG / LinMot
® www.LinMot.com
Page 36/60
CANopen Interface Manual
Index
2000h
Sub-Index Description
20h Start Getting UPID List
Access Type wo
Data Type
Unsigned16
With this command, the starting UPID can be set from which the command “Get
Next UPID List item” begins returning info when called. This command has to be sent at least once before information on UPIDs can be retrieved via the “Get Next
UPID List item” command.
Start getting UPID List
COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:
Data
SDO CS
23h
Byte 01 (LSB) yyh
Index
02 yyh
03
Sub-Index
20h
04 xxh
05
Data xxh
06
xx xx xx xx: Any Data yy yy: 2000h + UPID
xxh
07
Data xxh
08 (MSB)
Index
2000h
Sub-Index Description
21h Get Next UPID List item
Access Type Data Type ro Unsigned32
With this command information on UPIDs can be read. After the initialization with the command “Start getting UPID List”, information on UIPIDs can be read with this command. The command can be repeatedly issued. With each new command, the information on the next existing UPID is sent.
When the end of the list is reached, the UPID FFFFh is sent.
Get Next UPID List item
COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:
Data
SDO CS
40h
Byte 01 (LSB) yyh
Index
02 yyh
03
Sub-Index
21h
04
-
05
-
06
yy yy: 2000h + UPID
-
07
-
08 (MSB)
Return Value
COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:
Data
SDO CS
42h
Byte 01 (LSB) yyh
Index
02 yyh
03
Sub-Index
21h
04
Address Usage yyh yyh
05 06
yy yy: Address Usage xx xx: UPID which was found
Address Usage is interpreted as follows:
UPID found xxh xxh
07 08 (MSB
Bit Nr.: 0
(LSB)
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
(MSB)
NTI AG / LinMot
® www.LinMot.com
Page 37/60
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