Lenze E84DGFCC - Manual (Page 58)

Communication manual 8400 motec CANopen
Parameter data transfer
User data
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EDS84DMOTCAN EN 3.0 - 11/2011
More precisely, the command byte comprises the following information:

Tip!
More commands are defined in CANopen specification DS301, V4.02 (e.g.
segmented transfer).
9.2.2 Addressing by means of index and subindex
A parameter (a Lenze code) is addressed as per the following formula:
Index = 24575 - (Lenze code number)
Example
The C00011 parameter (motor reference speed) is to be addressed.
Calculation:
 Index:
– Decimal: 24575 - 11 = 24564
– Hexadecimal: 0x5FFF - 0xB = 0x5FF4
 Subindex: 0x00 (subindex 0 since the parameter does not have any subcodes)
Entries:
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 byte
e: expedited (shortened block service)
s: segmented (normal block service)
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
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
0xF4 0x5F 0x00