Lenze 931K - Manual (Page 19)

CANopen communication
Parameter data transfer (SDO transfer)
Telegram structure
5
l
19 KHB 13.0002−EN 4.1
5.2 Parameter data transfer (SDO transfer)
5.2.1 Telegram structure
The telegram for parameter data has the following structure:
11 bits 4 bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
Data 1 Data 2 Data 3 Data 4
Error code
ƒ The following subchapters explain in detail the different parts of the telegram.
Identifier
11 bits 4 bits User data (up to 8 bytes)
Identifier
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
Data 1 Data 2 Data 3 Data 4
With the exception of the network management and the sync telegram, the identifier
contains the node address of the drive:
Identifier (COB ID) = basic identifier + adjustable node address (node ID)
The identifier assignment is specified in the CANopen protocol.
The ex works default setting of the basic identifier is:
Object
Direction Basic identifier
From the drive To the drive Hex
SDO (parameter data channel)
X 580
X 600