Lenze I/O system 1000 - Command Code

5 CANopen communication
5.4 Transmitting parameter data
101
Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
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5.4.1.1 Command code
The instruction code contains the command to be executed and information about the parameter
data length. It is structured as follows:
Instruction code for parameters with 4 bytes of data length:
"Error Response" command
If an error occurs, the addressed node generates an "Error Response".
In data 4, this telegram always contains the value "6", in data 3 it contains an error code:
Bit 7
(MSB)
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Command Command Specifier (cs) Length e s
Write request0010 00 = 4 bytes
01 = 3 bytes
10 = 2 bytes
11 = 1 byte
11
Write Response
0
0110 00 = 4
bytes
01 = 3
bytes
10 = 2
bytes
11 = 1
byte
0
Read Request 00100 0
Read Response 10100 1
Error response10000000
Command 4 byte data Info
hex dec
Write request 23 35 Transmitting parameters to a node
Write response 60 96 Node response to the Write Request (acknowledgement)
Read request 40 64 Request to read a parameter from a node
Read response 43 67 Response to the read request with the actual value
Error response 80 128 Node reports a communication error
Command code Error Response Data 3 Data 4 Error message
0x80 3 6 Access denied
5Wrong subindex
6Wrong index