LinMot CANopen SG5 Manual page 33

Index Sub-
Index
2000h 43h
This command is used the get the results of curve service commands which are
initiated with an SDO write command from the PLC.
The result of the last executed curve service command is given in the following
format:
Get Last Curve Service Command Result
COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:
SDO CS
40h
Data
Byte 01 (LSB)
Return Value
COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:
SDO CS
Data 42h
Byte 01 (LSB)
zz: Result of the executed command. See the corresponding command for details on how to
interpret these results, as its meaning differs from command to command.
yy yy: Index of the last executed curve service command which can have a result.
xx: Sub-Index of the last executed curve service command which can have a result
Index Sub-
Index
2000h + 50h
CurveID
With this command a curve with the ID "CurveID" will be created. Up to 100 curves
can be programmed into the drive. If a curve with the same ID already exists, an error
will be generated which can be checked with the "Get Last Curve Service Command
Result" command:
00h: No Error
D4h: Curve already exists
Curve Service: Add Curve
COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:
SDO CS
23h
Data
Byte 01 (LSB)
xx xx: Size of the curve info block in bytes
yy yy: Size of the curve data block in bytes
NTI AG / LinMot
Description
Curve Service: Get Last Curve
Service Command Result
Index Sub-
Index
00h 20h 43h
02 03 04
Index Sub-
Index
00h 20h 43h
02 03 04
Description
Curve Service: Add Curve
Index Sub-
Index
CurveID 20h 50h
02 03 04
Access
Type
ro
- - -
05 06 07
Result CSCindex
zzh yyh yyh
05 06 07
Access
Type
wo
InfoBlockSize DataBlockSize
xxh xxh yyh
05 06 07
Data Type
Unsigned32
-
08
(MSB)
CSCsu
b-index
xxh
08 (MSB
.
Data Type
Unsigned32
yyh
08
(MSB)
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