Lenze E94AYCCA - Manual (Page 166)

E94AYCCA communication manual (CANopen®)
Implemented CANopen objects
166
L
EDS94AYCCA EN 5.0 - 06/2012
Example The parameter data channel 2 of the controller with the node address 4 is to be activated.
 For this purpose, bit 31 in the subindexes 1 and 2 of the I-1201 object must be set to the
value "0" (≡ "SDO valid").
 Both "Write request" commands must be transmitted from the master to the nodes via
the basic SDO channel.
Calculation of the identifiers
 Identifier (COB-ID) = basic identifier + node address (node ID)
 Basic identifier SDO2 from the master to the drive: 1600 (0x640)
 identifier = 0x640 + 0x4 = 0x644
 Basic identifier SDO2 from the drive to the master: 1472 (0x5C0)
 identifier = 0x5C0 + 0x4 = 0x5C4
Resulting data (data 1 ... data 4)
[14-11] Data telegram assignment for subindices 1
[14-12] Data telegram assignment for subindices 2
Assignment of the user data
[14-13] Assignment of the user data for writing the subindex 1
[14-14] Assignment of the user data for writing the subindex 2
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0 0 Extended identifier = 0 11-bit identifier = 0x644
0x00 0x00 0x06 0x44
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0 0 Extended identifier = 0 11-bit identifier = 0x5C4
0x00 0x00 0x05 0xC4
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x23 0x01 0x12 0x01 0x44 0x06 0x00 0x00
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x23 0x01 0x12 0x02 0xC4 0x05 0x00 0x00