Lenze E94AYCET - Manual (Page 69)

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17
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9 Parameter data transfer
9.2 Reading and writing parameters
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9.2 Reading and writing parameters
Parameters ...
• for instance are set for one-time system settings or if materials are changed within a machine;
• are transmitted with a low priority.
In the case of Lenze drive, the drive-specific parameters to be changed are contained in codes or in
case of the CANopen device profile "CiA402" as device profile objects.
Indexing of the Lenze codes
If they are accessed via a communication module, the codes of the drive are addressed by the index.
The index of Lenze code numbers within the manufacturer-specific area of the object directory is
between 8192 (0x2000) and 24575 (0x5FFF).
Structure of a mailbox datagram
Mailbox data are transmitted in a datagramm within an EtherCAT frame. The data area of the
mailbox datagram has the following structure:
Conversion formula
Index [dec]
Index [hex]
24575 - Lenze code 0x5FFF - Lenze code
hex
Example of C00002 (device commands)
Index [dec]
Index [hex]
24575 - 2 = 24573 0x5FFF - 2 = 0x5FFD
Mailbox
Header
CoE
Header
SDO control
byte
Index Subindex Data Data
6 bytes 2 bytes 1 byte 2 bytes 1 byte 4 bytes 1 ... n bytes