Lenze E84DGFCC - Manual (Page 64)

Communication manual 8400 motec CANopen
Parameter data transfer
Parameter data telegram examples
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EDS84DMOTCAN EN 3.0 - 11/2011
9.3.3 Reading block parameters
Task: The firmware version (code C00099) is to be read from the parameter set of the
controller with node address "12". The firmware version has a length of 11 ASCII characters
which are transmitted as a block parameter. Depending on the block, the data width from
the 2nd to 8th byte is assigned within the user data.
Telegram 1 to the drive: Read request
Response message 1 from the drive: Indication of the block length (11 characters)
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
0x060C 0x40 0x9C 0x5F 0x00 0x00 0x00 0x00 0x00
Explanations on the telegram to the drive
Identifier
= 1536 + node address = 1536 + 12 = 1548 = 0x060C
(1536 = SDO1 basic identifier to the controller)
Command = 0x40 = "Read request" (read request of a parameter from the controller)
Index = 24575 - code number = 24575 - 99 = 24476 = 0x5F9C
Subindex = 0 (code C00099 does not have any subcodes)
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
0x058C 0x41 0x9C 0x5F 0x00 0x0B 0x00 0x00 0x00
Explanations on the telegram from the drive
Identifier
= 1408 + node address = 1408 + 12 = 1420 = 0x058C
(1408 = SDO1 basic identifier from the controller)
Command = 0x41 = "Read response" (response is block telegram)
Index As in telegram to the drive
Subindex
Data 1 ... 4
= 0x0000000B = data length of 11 characters in the ASCII format