Network via canopen, Transmitting parameter data telegram structure – Lenze EPM−T9XX Modular system User Manual
Page 233
Transmitting parameter data
Telegram structure
Network via CANopen
9.4
9.4.1
L
9.4−3
EDSPM−TXXX−9.0−11/2009
Identifier
Instruction
code
Index
Subindex
Data 1
Data 2
Data 3
Data 4
Low byte High byte
The index of the telegram is used to address the index to be read or written:
l
The index value must be entered in flush−left Intel format and divided into
Low byte and High byte (see example).
l
For subindices, the number of the associated subindex must be entered into
the telegram’s subindex.
l
For indices without subindex, the subindex always has the value 0’.
The subindex 1 of index I2400
h
(monitoring time for PDO1) is to be addressed:
11 bit
8 bytes of user data
Identifier
Instruction
code
Index
Subindex
Data 1
Data 2
Data 3
Data 4
Low byte High byte
00
h
24
h
1
Identifier
Instruction
code
Index
Subindex
Data 1
Data 2
Data 3
Data 4
Low byte High byte
Up to 4 bytes (data 1 ... data 4) are available for parameter data.
Data are entered in left−justified Intel format with data 1 as LSB and data 4 as MSB
(see example).
The value "1 s" is to be transmitted for the index 2400
h
(monitoring time).
Data
1...4
= 1 × 1000 = 1000 = 00 00 03 E8
h
11 bit
8 bytes of user data
Identifier
Instruction
code
Index
Subindex
Data 1
Data 2
Data 3
Data 4
Low byte High byte
E8
h
03
h
00
h
00
h
(LSB)
(MSB)
Parameter addressing
(Index/subindex)
Example
Parameter data (data 1 ... data 4)
Example