Lenze L-force HighLine C 8400 Series Reference Manual page 673

Example
Parameter data channel 2 of the controller with node address 4 shall be activated.
 For this, bit 31 must be set to "0" (≡ "SDO is valid") in subindices 1 and 2 of the object
1201.
 The master must send the two "write request" commands to the nodes via the basic
SDO channel.
Identifier calculation
 Identifier (COB-ID) = basic identifier + node address (node ID)
 Basic identifier SDO2 from master to drive: 1600 (0x640)
 Identifier = 0x640 + 0x4 = 0x644
 Basic identifier SDO2 from drive to master: 1472 (0x5C0)
 Identifier = 0x5C0 + 0x4 = 0x5C4
Resulting data (data 1 ... data 4)
8th byte
Data 4
Bit 31 Bit 30
0 0
0x00
[10-7] Data telegram assignment for subindex 1
8th byte
Data 4
Bit 31 Bit 30
0 0
0x00
[10-8] Data telegram assignment for subindex 2
User data assignment
1st byte
Command
0x23
[10-9] User data assignment for writing to subindex 1
1st byte
Command
0x23
[10-10] User data assignment for writing to subindex 2
Firmware ≤ 11.00 - DMS 6.0 EN - 10/2011
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
7th byte
Data 3
Bit 29 ... bit 11
Extended identifier = 0
0x00
7th byte
Data 3
Bit 29 ... bit 11
Extended identifier = 0
0x00
2nd byte 3rd byte 4th byte
Index Subindex
0x01 0x12
2nd byte 3rd byte 4th byte
Index Subindex
0x01 0x12
L
8400 HighLine C | Reference manual
Implemented CANopen objects
6th byte
Data 2
0x06
6th byte
Data 2
0x05
5th byte 6th byte
Data 1 Data 2
0x01 0x44 0x06
5th byte 6th byte
Data 1 Data 2
0x02 0xC4 0x05
System bus "CAN on board"
5th byte
Data 1
Bit 10 ... bit 0
11-bit identifier = 0x644
0x44
5th byte
Data 1
Bit 10 ... bit 0
11-bit identifier = 0x5C4
0xC4
7th byte 8th byte
Data 3 Data 4
0x00 0x00
7th byte 8th byte
Data 3 Data 4
0x00 0x00
I-
673