Lenze EMF2178IB User Manual download pdf (Page 108)

Implemented CANopen objects

Overview

I−1200/I−1201: Server SDO parameters

108

EDSMF2178IB EN 3.0

Example:

Parameter data channel 2 (SDO2) of the controller with node address"4" is to be

deactivated. The master must send this command to the communication module via

parameter data channel 1 (SDO1).

In sending direction, the basic identifier for SDO2 has the value "1600" (basic identifier for

response: "1472").

Identifier = basic identifier + node address = 1604 (0x0644)

For deactivating the parameter data channel (= invalid), set bit 31 in I−1201, subindices 1

and 2 to "1". After this, enter the following values under subindices 1 and 2:

I−1201/1: 0x80000000 + 0x644 = 0x80000644

I−1201/2: 0x80000000 + 0x5C4 = 0x800005C4

ƒ User data assignment for I−1201/1:

User data

Byte 1 2nd byte 3rd byte Byte 4 Byte 5 Byte 6 7th byte Byte 8

Command

Index

Low byte

Index

High byte

Subindex U32

0x23

(write request)

0x01 0x12 0x01

Client ® server (rx)

0x44 0x06 0x00 0x80

ƒ User data assignment for I−1201/2:

User data

Byte 1 2nd byte 3rd byte Byte 4 Byte 5 Byte 6 7th byte Byte 8

Command

Index

Low byte

Index

High byte

Subindex U32

0x23

(write request)

0x01 0x12 0x02

Server ® client (tx)

0xC4 0x05 0x00 0x80

1 2 ... 103 104 105 106 107 108 109 110 111 112 113 ... 153 154

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