Lenze E84DGFCC Manual do Utilizador descarregar pdf (Página 62)

Communication manual 8400 motec CANopen

Parameter data transfer

Parameter data telegram examples

62 L 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]

1 2 ... 57 58 59 60 61 62 63 64 65 66 67 ... 110 111

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Lenze E84DGFCC Manual do Utilizador Página 62