EDS94AYCEN EN 9.0 - 09/2012 L 49
E94AYCEN communication manual (Ethernet)
Parameter data transfer
Telegram examples
7.7.3 Example 3: Setting the deceleration time for quick stop (QSP) (write request)
The deceleration time for quick stop (QSP) is to be set to 50 ms in the controller.
Code to be written: C00105
Request
SDO command (GSV) = 0x83 = "Write parameter"
GCI message qualifier (GMQ) = 0x00 = 00000000B = "Request"
Transaction ID (GTI) here "42" (optional consecutive number 0 ... 255)
Length of the user data (SIZE) = 0x0014 = 20 bytes
GCI header
GMT GSV GMQ GTI SIZE SIZE res res
0x01 0x83 0x00 0x2A 0x14 0x00 0x00 0x00
Fixed Writing
parameters
Request Transactions ID Length of the user data = 20 bytes Reserved
User data area P0
Byte 1 Byte 2 Byte 3 Byte 4
Reserved Data type Reserved Reserved
0x00 0x00 0x07 0x00
UNSIGNED_32
User data area P1 User data area P2
Byte 1 Byte 2 Byte 3 Byte 4 Byte 1 Byte 2 Byte 3 Byte 4
Code Reserved Reserved Subcode Reserved Reserved
0x69 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Code = 105 = 0x0069 Subcode = 0
User data area P3 User data area P4
Byte 1 Byte 2 Byte 3 Byte 4 Byte 1 Byte 2 Byte 3 Byte 4
Parameter value of data type UNSIGNED_32 Reserved
0x32 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Value to be written = 0.05 [s] x 1000 (internal factor) = 50 = 0x32
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