Lenze I/O system 1000 - Reading a Parameter (Example)

5 CANopen communication
5.4 Transmitting parameter data
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Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
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5.4.3 Reading a parameter (example)
Task
An I/O system 1000 has been assigned node address 21. The function of the first channel is to be
read at the first analog I/O compound module (EPM-S500, 2 analog outputs 0 ... 10 V).
Telegram to the I/O system
[5-11] Read parameters
Formula Info
Identifier = Basic identifier + node address
= 1536 + 2 =1538 = 0x602
• Basic identifier for parameter channel 1
(output) = 1536
• Node address of the I/O system = 2
Command code = 0x40 • "Read Request" command (request for
reading a parameter of the I/O system)
Index = I-3100 • First channel of the analog module
Subindex = 1 • First analog module
Data 1 ... 4:
•Data 1
•Data 2
•Data 3
•Data 4
= 0x00
= 0x00
= 0x00
= 0x00
• Read request only
11 Bit 8 bytes of user data
Identifier Comman
d code
Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x602 0x40 0x00 0x31 1 0x0F
(LSB)
0x00 0x00 0x00
(MSB)
Read Request
Read Response
Identifier = 1538
Identifier = 1410