Lenze 931K - Manual (Page 23)

CANopen communication
Parameter data transfer (SDO transfer)
Reading parameters (example)
5
l
23 KHB 13.0002−EN 4.1
5.2.2 Reading parameters (example)
Problem
The numerator setting (object 6093_01) of the drive controller with node address 1 is to
be read via the parameter channel.
Telegram to the drive controller
Value Info
Identifier = Basic identifier + node address
= 600 + 1 = 601
h
l Basic identifier for parameter channel = 600
h
l Node address = 1
Data length = 08
Command code = 40
h
l Read request" command (request to read a
parameter)
Index = 6093
h
l Index of the position_factor
Subindex = 1 l Subindex = 1 (numerator)
Data 1
Data 2
Data 3
Data 4
Data 1 ... 4 = 00
h
= 00
h
= 00
h
= 00
h
= 00 00 00 00
h
l Read request only
11 bits 4 bits User data
Identifier
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
Data 1 Data 2 Data 3 Data 4
601
h
08
h
40
h
93
h
60
h
01
h
00
h
00
h
00
h
00
h
Telegram from the drive controller
Value Info
Identifier = Basic identifier + node address
= 580 + 1 = 581
h
l Basic identifier for parameter channel = 580
h
l Node address = 1
Data length = 08
Command code = 43
h
l Read response" command (response to the read
request with the actual value)
Index = 6093
h
l Index of the position_factor
Subindex = 1 l Subindex = 1 (numerator)
Data 1
Data 2
Data 3
Data 4
Data 1 ... 4 = C0
h
= 4B
h
= 03
h
= 00
h
= C0 4B 03 00
h
l Assumption: The set numerator value is 00 03 4B C0
h
(216000
d
).
11 bits 4 bits User data
Identifier
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
Data 1 Data 2 Data 3 Data 4
581
h
08
h
43
h
93
h
60
h
01
h
C0
h
4B
h
03
h
00
h