LinMot CANopen SG5 Manual page 43

Index Sub-
Index
2000h + 83h
EntryNr
This command has to be executed first if one wants to write a CT entry to the RAM
(SG5) or FLASH (SG7). This command writes the block size of the CT entry.
Afterwards the data for the entry can be written with the command "CT: Write Entry
Data". The result of this command can be checked with the "CT: Get Last CT Service
Command Result" command:
00h: No Error
D1h: Invalid block size
D4h: Invalid entry number
Command Table: Write Entry (Entry Nr.)
COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:
SDO CS
23h
Data
Byte 01 (LSB)
xx xx: Block size of CT entry
Index Sub-
Index
2000h + 84h
EntryNr
The CT entry data can be written in increments of 4 Bytes.
To write the entry data, this command has to be repeatedly called, while each call
contains the next 4 bytes of data.
The entry will be activated when the last byte of the entry data has been written. This
can be checked with the "CT: Get Last CT Service Command Result" command:
00h: Entry Data Block is finished
04h: Entry Data Block is not finished
D0h: Error: Entry Data Block was already finished
Command Table: Write Entry Data
COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:
SDO CS
Data 23h
Byte 01 (LSB)
xx xx xx xx: CT entry Data
NTI AG / LinMot
Description
CT: Write Entry (Entry Nr.)
Index Sub-
Index
EntryNr 20h 83h
02 03 04
Description
CT: Write Entry Data
Index Sub-
Index
EntryNr 20h 84h
02 03 04
Access
Type
wo
Block Size
xxh xxh -
05 06 07
Access
Type
wo
CT Entry Data
xxh xxh xxh
05 06 07
Data Type
Unsigned32
-
08
(MSB)
Data Type
Unsigned32
xxh
08
(MSB)
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