Manual

E94AYCCA communication manual (CANopen®)
Parameter data transfer
Examples for a parameter data telegram
70 L EDS94AYCCA EN 5.0 - 06/2012
9.3.2 Writing parameters
Task:
The rated current of the connected motor with I
rated
=10.2A (code C00088) is to be
entered in the controller with node address "2".
Telegram to drive
Response telegram 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
0x0602 0x23 0xA7 0x5F 0x00 0x66 0x00 0x00 0x00
Explanations of the telegram to the drive
Identifier = 1536 + node address = 1536 + 2 = 1538 = 0x0602
(1536 = basic identifier SDO1 to the controller)
Command = 0x23 = "Write Request" (write request of a parameter to the controller)
Index = 24575 - code number = 24575 - 88 = 24487 = 0x5FA7
Subindex = 0 (code C00088 has no subcodes)
Data 1 ... 4 = 10.2 x 10 = 102 = 0x00000066
(Value for motor current, data type U32; display factor 1/10)
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
0x0582 0x60 0xA7 0x5F 0x00 0x00 0x00 0x00 0x00
Explanations of the telegram from the drive
Identifier = 1408 + node address = 1408 + 2 = 1410 = 0x0582
(1408 = basic identifier SDO1 from the controller)
Command = 0x60 = "Write Response" (acknowledgement of the write access from the controller)
Index as in telegram to the drive
Subindex