Lenze 9400 Series User Manual

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06 69
9 Parameter data transfer
9.2 Reading and writing parameters
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9.2.1 Reading parameters (SDO upload)
1. The master sends "Initiate Domain Upload Request".
2. The slave acknowledges the request with a positive response ("Initiate Domain Upload
Response").
In the event of an error the slave responds with "Abort Domain Transfer".
SDO Upload Request
Detailed breakdown of the data for an "SDO Upload Request":
 Note!
In the case of jobs for the inverter, please make sure that you convert the code into an
index.
Indexing of the Lenze codes
( 68)
SDO frame area Data field Data type / length Value / description
Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data
Address WORD 2 bytes Station address of the source if an EtherCAT
master is the initiator.
Station address of the target if an EtherCAT slave
is the initiator.
Channel WORD 6 bits
(0 ... 5)
0x00: Reserved
Priority 2 bits
(6, 7)
0x00: Lowest priority
...
0x03: Highest priority
Type 4 bits
(8 ... 11)
0x03: CANopen over EtherCAT (CoE)
Reserved 4 bits
(12 ... 15)
0x00
CANopen header Number WORD 9 bits
(0 ... 8)
0x00
Reserved 3 bits
(9 ... 11)
0x00
Service 4 bits
(12 ... 15)
0x02: SDO request
SDO Reserved BYTE 4 bits
(0 ... 3)
0x00
Complete access 1 bit
(4)
0x00: The entry addressed with index and
subindex is read.
0x01: The complete object is read. (Currently not
supported.)
Command specifier 3 bits
(5 ... 7)
0x02: Upload request
Index WORD 2 bytes Index of the object
Subindex BYTE 1 byte Subindex of the object
0x00 or 0x01 if "Complete access" = 0x01.
Reserved DWORD 4 bytes 0x00

Lenze 9400 Series Specifications

General

Brand	Lenze
Model	9400 Series
Category	Servo Drives
Language	English