Canopen communication – Lenze I/O system 1000 System Manual User Manual

Page 278

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CANopen communication

Transmitting parameter data
Telegram structure

278

EDSIO1000 EN 7.0

Example

The subindex 1 of index I2400

(monitoring time for PDO1) is to be addressed:

11 bits

8 bytes of user data

Identifier

Instruction

code

Index

Subindex

Data 1

Data 2

Data 3

Data 4

Low byte

High byte

Parameter data (data 1 ... data 4)

Identifier

Instruction

code

Index

Subindex

Data 1

Data 2

Data 3

Data 4

Low byte

High byte

Up to 4 bytes (data 1 ... data 4) are available for parameter data.

Data are entered in left−justified Intel format with data 1 as LSB and data 4 as MSB (see
example).

Example

The value "1 s" is to be transmitted for the index 2400

(monitoring time).

Data

1...4

= 1 × 1000 = 1000 = 00 00 03 E8

11 bits

8 bytes of user data

Identifier

Instruction

code

Index

Subindex

Data 1

Data 2

Data 3

Data 4

Low byte

High byte

(LSB)

(MSB)