User guide

9 System bus "CAN on board"
9.7 Parameter data transfer
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Lenze · 8400 BaseLine C · Reference manual · DMS 1.6 EN · 01/2014 · TD05
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9.7.2.1 Command
The following commands can be transmitted or received for writing and reading the parameters:
More precisely, the command byte comprises the following information:
 Tip!
More commands are defined in 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 Info
hex dec
Write request 0x23 35 4 bytes Writing of a parameter to the controller.
0x2B 43 2 bytes
0x2F 47 1 byte
0x21 33 Block
Write response 0x60 96 4 bytes Controller acknowledges a write request.
Read request 0x40 64 4 bytes Reading of a parameter from the controller.
Read response 0x43 67 4 bytes Controller's response to a read request with the current pa-
rameter value.
0x4B 75 2 bytes
0x4F 79 1 byte
0x41 65 Block
Error response 0x80 128 4 bytes Controller's response if the write/read request could not be
executed correctly. Error messages
( 199)
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)