Lenze 931M-931W - Manual (Page 22)

CANopen communication
Parameter data transfer (SDO transfer)
Reading parameters (example)
5

22 KHB 13.0003-EN 2.0
5.2.2 Reading parameters (example)
Problem
The operating mode (object 6060_00) of the controller with node address 1 is to be read
via the parameter channel.
Telegram to the drive controller
Value Info
Identifier = Basic identifier + node address
= 600 + 1 = 601
h
z Basic identifier for parameter channel = 600
h
z Node address = 1
Data length = 05
Command code = 40
h z “Read request” command (request to read a
parameter)
Index = 6060
h z Operating mode index
Subindex = 0 z Subindex = 0
Data 1 = 00
h z
Read request only
11 bits 4 bits User data
Identifier
Data
length
Command
code
Index
low byte
Index
high byte Subindex
Data 1 Data 2 Data 3 Data 4
601
h
05
h
40
h
60
h
60
h
00
h
00
h
– – –
Telegram from the drive controller
Value Info
Identifier = Basic identifier + node address
= 580 + 1 = 581
h
z
Basic identifier for parameter channel = 580
h
z Node address = 1
Data length = 05
Command code = 43
h z “Read response” command (response to the read
request with the actual value)
Index = 6060
h z Operating mode index
Subindex = 0 z Subindex = 0
Data 1 = 03
h z
Assumption: The operating mode is set to 03
h
(speed).
11 bits 4 bits User data
Identifier
Data
length
Command
code
Index
low byte
Index
high byte Subindex
Data 1 Data 2 Data 3 Data 4
581
h
05
h
43
h
60
h
60
h
00
h
03
h
– – –