Lenze I/O system 1000 System Manual - Manual (Page 276)

CANopen communication
Transmitting parameter data
Telegram structure
8
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276 EDSIO1000 EN 7.0
8.4 Transmitting parameter data
Parameter data are the so−called indices.
Parameters are usually set only once during commissioning.
Parameter data are transmitted as so−called SDOs (Service Data Objects) via the system bus
and acknowledged by the receiver, i.e. the transmitter gets a feedback if the transmission
was successful.
8.4.1 Telegram structure
Structure of the telegram for parameter data:
11 bits 8 bytes of user data
Identifier
Instruction
code
Index
Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
ƒ The subchapters below explain the individual telegram components in detail.
ƒ The chapter 8.4.2 contains an example of how to write a parameter. (
¶ 279)
ƒ The chapter 8.4.3 contains an example of how to read a parameter. (
¶ 280)
Identifier
Identifier
Instruction
code
Index
Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
One parameter channel is available for parameter data transmission, which is addressed
via the identifier.
Identifier = Basic identifier + node address of the device
dec hex
SDO Parameter channel 1
Output (transmit) 1408 580
+ value set with coding switch
Input (receive) 1536 600