Accessories & Options 9-9
MN1276
To read a parameter from the drive:
0x40 Ind_lo Ind_hi Sub XXX XXX XXX XXX
D0 D1 D2 D3 D4 D5 D6 D7
DrivePC Master
0x60
Ind_lo Ind_hi Sub 0x00 0x00 0x00 0x00
ID = 0x600 + NODE_ID <--------------------------------------------
ID = 0x580 + NODE_ID <--------------------------------------------
Where:
X Don’t care
ID Identifier
0x Hexadecimal data format
D0-D7 Databyte0to7ofCANmessage
Ind_lo Low byte of Index of Object dictionary
Ind_hi High byte of Index of Object dictionary
Sub Subindex of Object dictionary. If Object has only one entry, Subindex must always be 0
P_lsb Low byte of requested parameter
P_msb High byte of requested parameter
Note: If the first data byte in the returned message from the drive = 0x80, the
commanded action failed.
To send a velocity command to the drive:
1. Verify that the correct motor and drive parameters and operating mode
are set. This is done by CAN or RS232 communications.
2. Send the following CAN messages to the drive.
0x20 0x8F 0x21 0x00 0x08 XXX XXX XXX
D0 D1 D2 D3 D4 D5 D6 D7
0x60
0x8F 0x21 0x00 0x00 0x00 0x00 0x00
0x601
ID
0x581
Select CAN card for velocity command.
Description
Drive response with “OK”.
0x20 0x83 0x21 0x00 XXX XXX XXX XXX0x601 Enable drive.
0x60 0x8F 0x21 0x00 0x00 0x00 0x00 0x000x581 Drive response with “OK”.
0x20 0x90 0x20 0x00 Vl Vm XXX XXX0x601 Velocity command (Vl=lsb; Vm=msb. Scaling=bits/msec)
0x60 0x8F 0x21 0x00 0x00 0x00 0x00 0x000x581 Drive response with “OK”.
Note: Every command is answered by the drive. Allow time for the response.
Summary:
With a CAN_OPEN master you don’t need to know each data byte. Therefore you
only should be informed about the object dictionary, which you will find in the
Appendix.
Appendix: Object dictionary
ASCII command set description
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