Lenze ECSES Series - Page 455

Appendix
Communication with MotionBus/system bus (CAN)
Parameter data transfer
13
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455
EDBCSXS064 EN 4.0
13.4.4.1 User data
Structure of the parameter data telegram
User data (up to 8 bytes)
1. byte 2. byte 3. byte 4. byte 5. byte 6. byte 7. byte 8. byte
Command
Index
Low byte
Index
High byte
Subindex
Data 1 Data 2 Data 3 Data 4
Low word High word
Low byte High byte Low byte High byte
Display
 Note!
The user data is shown in motorola format.
Examples for parameter data transfer can be found from  458.
Command
The command contains the services for writing and reading the parameters and
information on the length of the user data:
Command
Bit 7
MSB
Bit6 Bit5 Bit4 Bit3 Bit 2 Bit 1 Bit 0
LSB
Command specifier (cs) toggle (t) Length e E
Write request 0 0 1 0
00 = 4 bytes
01 = 3 bytes
10 = 2 bytes
11 = 1 byte
1 1
Write response 0 1 1 0 0 0
Read request 0 1 0 0 0 0
Read response 0 1 0 0 1 1
Error response 1 0 0 0 0 0 0 0
 Tip!
Further commands are defined in the CANopen specification DS301,V4.02
(e.g. segmented transfer).