Lenze E84DGFCC - Manual (Page 62)

Communication manual 8400 motec CANopen
Parameter data transfer
Parameter data telegram examples
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EDS84DMOTCAN EN 3.0 - 11/2011
9.3 Parameter data telegram examples
9.3.1 Reading parameters
Task: The heatsink temperature of 43 °C (code: C00061, data format: INTEGER32, scaling
factor: 1) of the controller with node address "5" is to be read.
Telegram to the drive
Response message from drive (if data have been transmitted correctly)
Identifier User data
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
0x0605 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00
Explanations on the telegram to the drive
Identifier
= 1536 + node address = 1536 + 5 = 1541 = 0x0605
(1536 = SDO1 basic identifier to the controller)
Command = 0x40 = "Read request" (read request of a parameter from the controller)
Index = 24575 - code number = 24575 - 61 = 24514 = 0x5FC2
Subindex = 0 (code C00061 does not have any subcodes)
Identifier User data
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
0x0585 0x43 0xC2 0x5F 0x00 0x2B 0x00 0x00 0x00
Explanations on the telegram from the drive
Identifier
= 1408 + node address = 1408 + 5 = 1413 = 0x0585
(1408 = SDO1 basic identifier from the controller)
Command = 0x43 = "Read response" (response to the read request with current value)
Index As in telegram to the drive
Subindex
Data 1 ... 4
= 0x0000002B = 43 [°C]