Lenze L-force CANopen EMF2178IB - Page 108

Implemented CANopen objects
Overview
I−1200/I−1201: Server SDO parameters
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EDSMF2178IB EN 3.0
Example:
Parameter data channel 2 (SDO2) of the controller with node address"4" is to be
deactivated. The master must send this command to the communication module via
parameter data channel 1 (SDO1).
In sending direction, the basic identifier for SDO2 has the value "1600" (basic identifier for
response: "1472").
Identifier = basic identifier + node address = 1604 (0x0644)
For deactivating the parameter data channel (= invalid), set bit 31 in I−1201, subindices 1
and 2 to "1". After this, enter the following values under subindices 1 and 2:
I−1201/1: 0x80000000 + 0x644 = 0x80000644
I−1201/2: 0x80000000 + 0x5C4 = 0x800005C4
ƒ User data assignment for I−1201/1:
User data
Byte 1 2nd byte 3rd byte Byte 4 Byte 5 Byte 6 7th byte Byte 8
Command
Index
Low byte
Index
High byte
Subindex U32
0x23
(write request)
0x01 0x12 0x01
Client ® server (rx)
0x44 0x06 0x00 0x80
ƒ User data assignment for I−1201/2:
User data
Byte 1 2nd byte 3rd byte Byte 4 Byte 5 Byte 6 7th byte Byte 8
Command
Index
Low byte
Index
High byte
Subindex U32
0x23
(write request)
0x01 0x12 0x02
Server ® client (tx)
0xC4 0x05 0x00 0x80