Lenze 931M-931W - Manual (Page 23)

CANopen communication
Parameter data transfer (SDO transfer)
Writing parameters (example)
5

23 KHB 13.0003-EN 2.0
5.2.3 Writing parameters (example)
Problem
The operating mode (object 6060_00) of the controller with node address 1 is to be set to
03 (speed) via the SDO (parameter data 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 = 23
h z “Write request” command (send parameter to the
drive)
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
601
h
05
h
23
h
60
h
60
h
00
h
03
h
– – –
Telegram from the drive controller (acknowledgement for faultless execution)
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 = 60
h z “Write response” command (acknowledgement from
the drive controller)
Index = 6060
h z Operating mode index
Subindex = 0 z Subindex = 0
Data 1 = 00
h z
Acknowledgement 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
581
h
05
h
60
h
60
h
60
h
00
h
00
h
– – –