Lenze E84DGFCC - Manual (Page 98)

Communication manual 8400 motec CANopen
Implemented CANopen objects
98
L
EDS84DMOTCAN EN 3.0 - 11/2011
Example Parameter data channel 2 of the controller with node address 4 is to be activated.
 For this, bit 31 must be set to the value "0" (SDO is valid) in subindexes 1 and 2 of object
I-1201 .
 The master must send the two "write request" commands to the nodes via the basic
SDO channel.
Identifier calculation
 Identifier (COB-ID) = basic identifier + node address (node ID)
 Basic identifier SDO2 from master to drive: 1600 (0x640)
 identifier = 0x640 + 0x4 = 0x644
 Basic identifier SDO2 from drive to master: 1472 (0x5C0)
 identifier = 0x5C0 + 0x4 = 0x5C4
Resulting data (data 1 ... data 4)
[13-7] Data telegram assignment for subindex 1
[13-8] Data telegram assignment for subindex 2
User data assignment
[13-9] User data assignment for writing to subindex 1
[13-10] User data assignment for writing to 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