Lenze 9300 Servo PLC, Руководство пользователя

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System bus (CAN) with Servo PLC & Drive PLC
General information
2-13
l
PLC-Systembus EN 1.1
2.6.2 Writing a parameter (example)
Task
Setting the acceleration time (C0012) of the controller with node address 1 via parameter channel
1 to 20 s.
Telegram to the controller:
Formula Info
Identifier = Basic iden node address
= 1536 + 1
=
1537
•
Basic identifier for parameter channel 1 (output) = 1536
•
Node address of the controller = 1
Command code
=
23
hex
•
Command “Write Request” (send parameters to controller)
Index
= 24575 - Lenze code number
= 24575 - 12
= 24563
=
5F F3
hex
•
Code = C0012 (acceleration time)
Subindex = 0
•
Subcode = 0 (no subcode)
Data 1 ... 4 = 20 x 10000
= 200000
=
00 03 0D 40
hex
•
Value = 20 s
•
Fixed32 data format (4 fixed decimal places);
Multiply value by 10000
11 Bit 8-byte user data
Identifier
Command
Index
Subindex Data 1 Data 2 Data 3 Data 4 Identifier
Command
code
Low-byte High-byte
Subindex Data 1 Data 2 Data 3 Data 4
1537 23
hex
F3
hex
5F
hex
0 40
hex
0D
hex
03
hex
00
hex
(LSB) (MSB)
Identifier = 1537
L
SDO 1 / Node-ID 1
Identifier = 1409
Write Request
(C0012 = 20 s)
Write Response
Telegram from the controller (acknowledgement if data were properly transmitted):
Formula Info
Identifier
= Basic iden node address
= 1408 + 1
=
1409
•
Basic identifier for parameter channel 1 (input) = 1408
•
Node address of the controller = 1
Command code = 60
hex
•
Command “Write Response” (acknowledgement from the controller)
Index = Index of the read request
Subindex = Subindex of the read request
Data 1 ... 4 = 0
•
Acknowledgement only
11 Bit 8-byte user data
Identifier
Command
Index
Subindex Data 1 Data 2 Data 3 Data 4 Identifier
Command
code
Low-byte High-byte
Subindex Data 1 Data 2 Data 3 Data 4
1409 60
hex
F3
hex
5F
hex
0 0 0 0 0
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