Lenze E84DGFCC Manual do Utilizador descarregar pdf (Página 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

1 2 ... 93 94 95 96 97 98 99 100 101 102 103 ... 110 111

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Lenze E84DGFCC Manual do Utilizador Página 98