Lenze I/O system 1000 System Manual - Manual (Page 277)

CANopen communication
Transmitting parameter data
Telegram structure
8
l
277 EDSIO1000 EN 7.0
Instruction code
Identifier
Instruction
code
Index
Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
The instruction code contains the command to be executed and information about the
parameter data length. It is structured as follows:
Bit 7
(MSB)
Bit6 Bit 5 Bit4 Bit3 Bit2 Bit 1 Bit 0
Command Command Specifier (cs) Length E s
Write Request 0 0 1 0 00 = 4 bytes
01 = 3 bytes
10 = 2 bytes
11 = 1 byte
1 1
Write Response 0 1 1 0 0 0
Read Request 0 1 0 0 0 0
Read Response 0 1 0 0 1 1
Error Response 1 0 0 0 0 0 0 0
Instruction code for parameters with 4 bytes of data length:
Command 4 bytes of data Information
hex dec
Write Request 23 35 Transmitting parameters to a node
Write Response 60 96 Node response to the Write Request (acknowledgement)
Read Request 40 64 Request to read a parameter from a node
Read Response 43 67 Response to the read request with the actual value
Error Response 80 128 Node reports a communication error
Instruction Error Response"
If an error occurs, the addressed node generates an Error Response".
In data 4, this telegram always contains the value 6", in data 3 it contains an error code:
Command code Error Response Data 3 Data 4 Error message
80
h
3
6
Access denied
5 Wrong subindex
6 Wrong index
Parameter addressing (Index/subindex)
Identifier
Instruction
code
Index
Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
The index of the telegram is used to address the index to be read or written:
ƒ The index value must be entered in flush−left Intel format and divided into Low byte
and High byte (see example).
ƒ For subindices, the number of the associated subindex must be entered into the
telegram’s subindex.
ƒ For indices without subindex, the subindex always has the value 0’.