Lenze 931K - Manual (Page 21)

CANopen communication
Parameter data transfer (SDO transfer)
Telegram structure
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21 KHB 13.0002−EN 4.1
Index low byte / index high byte
11 bits 4 bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
Data 1 Data 2 Data 3 Data 4
The object to be addressed is contained in bytes 2 and 3 of the telegram.
ƒ The value for the index is split up into low byte and high byte and entered in the
left−justified Intel format.
Subindex
11 bits 4 bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
Data 1 Data 2 Data 3 Data 4
ƒ If an object (e.g. controller parameter) consists of several sub−objects, the
sub−objects are addressed via subindexes. The number of the corresponding
subindex is entered in byte 4 of the telegram. (See following tables for sub−objects).
ƒ If an object has no sub−objects, the value "0" is entered in byte 4 of the telegram.
(See following sub−object tables).
Data (data 1 ... data 4)
11 bits 4 bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
Data 1 Data 2 Data 3 Data 4
For the data of the parameter up to 4 bytes (data 1 ... data 4) are available.
The data is represented in the left−justified Intel format with data 1 as the LSB and data 4
as the MSB.