Baldor FPX A05T Installation & Operating Manual page 72

To read a parameter from the drive:
PC Master
Where:
X
ID
0x
D0 - D7
Ind_lo
Ind_hi
Sub
P_lsb
P_msb
Note: If the first data byte in the returned message from the drive = 0x80, the
To send a velocity command to the drive:
ID D0 D1
0x601 0x20 0x8F 0x21
0x581 0x60 0x8F 0x21
0x601 0x20 0x83 0x21
0x581 0x60 0x8F 0x21
0x601 0x20 0x90 0x20
0x581 0x60 0x8F 0x21
Note: Every command is answered by the drive. Allow time for the response.
Summary:
With a CAN_OPEN master you don't need to know each data byte. Therefore you
only should be informed about the object dictionary, which you will find in the
Appendix.
Appendix:
MN1276
D0 D1
0x40 Ind_lo Ind_hi
ID = 0x600 + NODE_ID <--------------------------------------------
0x60 Ind_lo Ind_hi
ID = 0x580 + NODE_ID <--------------------------------------------
Don't care
Identifier
Hexadecimal data format
Data byte 0 to 7 of CAN message
Low byte of Index of Object dictionary
High byte of Index of Object dictionary
Subindex of Object dictionary. If Object has only one entry, Subindex must always be 0
Low byte of requested parameter
High byte of requested parameter
commanded action failed.
1. Verify that the correct motor and drive parameters and operating mode
are set. This is done by CAN or RS232 communications.
2. Send the following CAN messages to the drive.
D2 D3 D4 D5
0x00 0x08 XXX
0x00 0x00 0x00
0x00 XXX XXX
0x00 0x00 0x00
0x00 Vl Vm
0x00 0x00 0x00
Object dictionary
ASCII command set description
D2 D3 D4 D5
Sub XXX XXX
Sub 0x00 0x00
D6 D7 Description
XXX XXX Select CAN card for velocity command.
0x00 0x00 Drive response with "OK".
XXX XXX Enable drive.
0x00 0x00 Drive response with "OK".
XXX XXX Velocity command (Vl=lsb; Vm=msb. Scaling=bits/msec)
0x00 0x00 Drive response with "OK".
Drive
D6 D7
XXX XXX
0x00 0x00
Accessories & Options 9-9