Lenze L-force 9400 Series Software Manual

EDS94ARNExxxx EN 2.3 - 06/2014 L 123
9400 regenerative power supply module | Parameter setting
"CAN on board" system bus
Parameter data transfer
6.7.2.1 Command
The following commands can be sent/received for writing and reading the parameters:
In detail, the command byte contains the following information:
 Tip!
Further commands are defined in the CANopen specification DS301 V4.02 (e.g.
segmented transfer).
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte Low word High word
Low byte High byte Low byte High byte
Command 1st byte Data length Information
hex dec
Write request 0x23 35 4 bytes Writing a parameter to the controller.
0x2B 43 2 byte
0x2F 47 1 byte
0x21 33 Block
Write response 0x60 96 4 bytes Acknowledgement from the controller to a write request.
Read request 0x40 64 4 bytes Reading a parameter from the controller.
Read response 0x43 67 4 bytes Response of the controller to a read request with the current
parameter value.
0x4B 75 2 byte
0x4F 79 1 byte
0x41 65 Block
Error response 0x80 128 4 bytes Response of the controller when the write/read request
could not be executed successfully. Error messages
( 126)
Command 1st byte
Command specifier (cs) Toggle (t) Length* e s
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Write request 00100/10/111
Write response 01100000
Read request 01000000
Read response 01000/10/111
Error response 10000000
*Bit coding of the length: 00=4bytes, 01=3bytes, 10=2bytes, 11=1byte
e: expedited (shortened block service)
s: segmented (normal block service)

Lenze L-force 9400 Series Specifications

General

Brand	Lenze
Model	L-force 9400 Series
Category	Servo Drives
Language	English