Lenze E94AxPExxxx - Manual (Page 363)

Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
363
10 "CAN on board" system bus
10.7 Parameter data transfer
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10.7.3.2 Write parameters
Task: The rated current of the connected motor with I
rated
= 10.2 A (code C00088 ) is to be entered in
the controller.
Telegram to drive
Response telegram from drive (if data have been correctly transmitted)
Identifier User data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6. byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x0602 0x23 0xA7 0x5F 0x00 0x66 0x00 0x03 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 = 10,2 x 10 = 102 = 0x00030066
(Value for motor current, data type U32; display factor 1/10)
Identifier User data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6. 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