Lenze I51AE175B User Manual

9.4.10 Service data objects
Service data objects (SDOs) make it possible to read and write all parameters of the inverter
via CANopen.
Details
•
Two independent SDO channels are provided at the same me. SDO channel 1 is always
acve. SDO channel 2 can be acvated via 0x2301:005 (P510.05).
•
An SDO is always transmied with conrmaon, i. e. the recepon of an SDO frame is
acknowledged by the receiver.
•
The ideners for SDO1 and SDO2 are generated from the basic idener (in compliance
with the "Predened Connecon Set") and the node address set:
Object Direcon Idener
to the device from the device
SDO1
l
Basic idener 0x600 + node address
l
Basic idener 0x580 + node address
SDO2
l
Basic idener 0x640 + node address
l
Basic idener 0x5C0 + node address
Structure of the SDO frame user data
The user data are shown in Motorola format:
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
See table below. LOW byte HIGH byte LOW word HIGH word
Address of the parameter to be read or wrien. LOW byte HIGH byte LOW byte HIGH byte
The following commands can be transmied or received for wring and reading the parame-
ters:
Command 1st byte Data length Info
hex dec
Write request 0x23 35 4 bytes Wring of a parameter to the inverter.
0x2B 43 2 bytes
0x2F 47 1 byte
0x21 33 Block
Write response 0x60 96 4 bytes Inverter acknowledges a write request.
Read request 0x40 64 4 bytes Reading of a parameter from the inverter.
Read response 0x43 67 4 bytes Inverter response to a read request with the current parameter value.
0x4B 75 2 bytes
0x4F 79 1 byte
0x41 65 Block
Error response 0x80 128 4 bytes Inverter response to the incorrect execuon of the read/write request.
More precisely, the command byte comprises the following informaon:
Command 1st byte
Command specier (cs) Toggle (t) Length* e s
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Write request 0 0 1 0 0/1 0/1 1 1
Write response 0 1 1 0 0 0 0 0
Read request 0 1 0 0 0 0 0 0
Read response 0 1 0 0 0/1 0/1 1 1
Error response 1 0 0 0 0 0 0 0
*Bit coding of the length: 00 = 4 bytes, 01 = 3 bytes, 10 = 2 bytes, 11 = 1 byte
e: expedited (shortened block service)
s: segmented (normal block service)
More commands are dened in the DS301 V4.02 CANopen specicaon (e. g. segmented
transfer).
Conguring the network
CANopen
Service data objects
218

Lenze I51AE175B Specifications

General

Brand	Lenze
Model	I51AE175B
Category	Inverter
Language	English