EDS94AYCCA EN 5.0 - 06/2012
L
71
E94AYCCA communication manual (CANopen®)
Parameter data transfer
Examples for a parameter data telegram
9.3.3
Reading block parameters
Task: The firmware version (code
C00099
) is to be read from the parameter set of the
controller with node address "12". The firmware version has a length of 11 ASCII characters
and is transmitted as a block parameter. In each block, the data width from the 2nd to the
8th byte within the user data is occupied.
Telegram 1 to the drive: read request
Response telegram 1 from the drive: Data of the block length (11 characters)
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
0x060C
0x40
0x9C
0x5F
0x00
0x00
0x00
0x00
0x00
Explanations of the telegram to the drive
Identifier
= 1536 + node address = 1536 + 12 = 1548 = 0x060C
(1536 = basic identifier SDO1 to the controller)
Command
= 0x40 = "Read Request" (read request of a parameter from the controller)
Index
= 24575 - code number = 24575 - 99 = 24476 = 0x5F9C
Subindex
= 0 (code
C00099
has no 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
0x058C
0x41
0x9C
0x5F
0x00
0x0B
0x00
0x00
0x00
Explanations of the telegram from the drive
Identifier
= 1408 + node address = 1408 + 12 = 1420 = 0x058C
(1408 = basic identifier SDO1 from the controller)
Command
= 0x41 = "Read Response" (response is a block telegram)
Index
as in telegram to the drive
Subindex
Data 1 ... 4
= 0x0000000B = data length of 11 characters in ASCI format