Canopen communication – Lenze I/O system 1000 System Manual User Manual
Page 278
CANopen communication
Transmitting parameter data
Telegram structure
l
278
EDSIO1000 EN 7.0
Example
The subindex 1 of index I2400
h
(monitoring time for PDO1) is to be addressed:
11 bits
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
Parameter data (data 1 ... data 4)
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).
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 bits
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)