Lenze E84DGFCC - Manual (Page 63)

EDS84DMOTCAN EN 3.0 - 11/2011
L
63
Communication manual 8400 motec CANopen
Parameter data transfer
Parameter data telegram examples
9.3.2 Write parameters
Task: The rated current of the connected motor is to be entered with I
N
= 10.20 A (code
C00088) into the controller with node address "2".
Telegram to the drive
Response message from drive (if data have been transmitted correctly)
Data 1 ... 4 Calculation
Value for motor current, (data type U16; display factor 1/100) 10.20 x 100 = 1020 (0x03 FC)
Identifier User data
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
0x0602 0x23 0xA7 0x5F 0x00 0xFC 0x03 0x00 0x00
Explanations on the telegram to the drive
Identifier
= 1536 + node address = 1536 + 2 = 1538 = 0x0602
(1536 = SDO1 basic identifier to the controller)
Command = 0x23 = "Write request" (write request of a parameter to the controller)
Index = 24575 - code number = 24575 - 88 = 24487 = 0x5FA7
Subindex = 0 (code C00088 does not have any subcodes)
Data 1 ... 4 = 10.20 x 100 = 1020 = 0x000003FC
(motor current value; data type U32; display factor 1/100)
Identifier User data
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
0x0582 0x60 0xA7 0x5F 0x00 0x00 0x00 0x00 0x00
Explanations on the telegram from the drive
Identifier
= 1408 + node address = 1408 + 2 = 1410 = 0x0582
(1408 = SDO1 basic identifier from the controller)
Command = 0x60 = "Write response" (acknowledgement of the write access from the controller)
Index As in telegram to the drive
Subindex