User guide

EDS84DMOTCAN EN 3.0 - 11/2011 L 57
Communication manual 8400 motec CANopen
Parameter data transfer
User data
9.2 User data
Structure of the user data of the parameter data telegram
The following subchapters provide detailed information on user data.
9.2.1 Command
The following commands can be transmitted or received for writing and reading the
parameters:
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
Low byte High byte Low word High word
Low byte High byte Low byte High byte
 Note!
For the user data, the Motorola format is used.
Parameter data telegram examples
( 62)
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
Low byte High byte Low word High word
Low byte High byte Low byte High byte
Command 1st byte Data length Info
hex dec
Write request 0x23 35 4 bytes Writing of a parameter to the controller.
0x2B 43 2 bytes
0x2F 47 1 byte
0x21 33 Block
Write response 0x60 96 4 bytes Controller acknowledges a write request.
Read request 0x40 64 4 bytes Reading of a parameter from the controller.
Read response 0x43 67 4 bytes Controller's response to a read request with the current
parameter value.
0x4B 75 2 bytes
0x4F 79 1 byte
0x41 65 Block
Error response 0x80 128 4 bytes Response of the controller if the write/read request could
not be executed correctly.
Error messages
( 60)