Lenze E94AYCCA - Manual (Page 64)

E94AYCCA communication manual (CANopen®)
Parameter data transfer
User data
64
L
EDS94AYCCA EN 5.0 - 06/2012
9.2.1 Command
The following commands can be transmitted or received for writing and reading the
parameters:
In detail, the command byte contains the following information:

Tip!
Further commands are defined in the CANopen specification DS301, V4.02 (e.g.
segmented transfer).
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte Low word High word
Low byte High byte Low byte High byte
Command 1st byte Data length Information
hex dec
Write request 0x23 35 4 bytes Writing a parameter to the controller.
0x2B 43 2 bytes
0x2F 47 1 byte
0x21 33 Block
Write response 0x60 96 4 bytes Acknowledgement by the controller regarding a write
request.
Read request 0x40 64 4 bytes Reading a parameter from the controller.
Read response 0x43 67 4 bytes Response from the controller to a read request with the
current parameter value.
0x4B 75 2 bytes
0x4F 79 1 byte
0x41 65 Block
Error response 0x80 128 4 bytes Response from the controller when the read/write request
could not be executed correctly.
Error messages ( 67)
Command 1st byte
Command specifier (cs) Toggle (t) Length* e s
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Write request 0 0 1 0 0/1 0/1 1 1
Write response 0 1 1 0 0 0 0 0
Read request 0 1 0 0 0 0 0 0
Read response 0 1 0 0 0/1 0/1 1 1
Error response 1 0 0 0 0 0 0 0
*Bit coding of the length: 00 = 4 bytes, 01 = 3 bytes, 10 = 2 bytes, 11 = 1 bytes
e: expedited (shortened block service)
s: segmented (normal block service)