LinMot CANopen SG5 Manual page 34

Index Sub-
Index
2000h + 53h
CurveID
The Curve Data Block can be written in increments of 4 Bytes at a time. This way one
setpoint (32Bit) can be written at a time. To write the Data Block, this command has to
be repeatedly called, with each call containing the next setpoint of the Data Block.
With the "Get Last Curve Service Command Result" command, one can check if the
Info Block has already been written:
00h: Data Block is finished
04h: Data Block is not finished
D0h: Error: Data Block was already finished
Curve Service: Add Curve Data (32Bit)
COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:
SDO CS
23h
Data
Byte 01 (LSB)
xx xx xx xx: Curve data block data: one setpoint as a 32Bit value
Index Sub-
Index
2000h + 54h
CurveID
The Curve Info Block can be written in increments of 4 bytes at a time.
To write the info block, this command has to be repeatedly called, with each call
containing the next 4 bytes of the info block. With the "Get Last Curve Service
Command Result" command, one can check if the info block has already been
written:
00h: Info Block is finished
04h: Info Block is not finished
D0h: Error: Info Block was already finished
Curve Service: Add Curve Info Block (32Bit)
COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:
SDO CS
23h
Data
Byte 01 (LSB)
xx xx xx xx: Curve info block data
34 / 55
Description
Curve Service: Add Curve Data
(32 Bit)
Index Sub-
Index
CurveID 20h 53h
02 03 04
Description
Curve Service: Add Curve Info
Block (32 Bit)
Index Sub-Index
CurveID 20h 54h
02 03 04
Access
Type
wo
InfoBlock Data
xxh xxh xxh
05 06 07
Access
Type
wo
InfoBlock Data
xxh xxh xxh
05 06 07
Data Type
Unsigned32
xxh
08
(MSB)
Data Type
Unsigned32
xxh
08
(MSB)
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