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System bus (CAN) for Lenze PLC devices
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Global Drive

System bus (CAN)

for Lenze PLC devices

Manual

Summary of content (178 pages)

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L Manual Global Drive System bus (CAN) for Lenze PLC devices
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This documentation is valid for the following Lenze PLC devices: Automation system Type designation As of hardware version As of software version 9300 Servo PLC 9300 Servo PLC EVS93XX−xI EVS93XX−xT 2K 2K 2.0 2.0 Drive PLC ECSxA EPL10200 ECSxAxxx Px 1A 2.0 6.0 Important note: The software is supplied to the user as described in this document. Any risks resulting from its quality or use remain the responsibility of the user.
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System bus (CAN) for Lenze PLC devices Contents 1 Preface and general information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 1−1 About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.1 Conventions used in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.2 Structure of the description . . . . . . . . . . .
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System bus (CAN) for Lenze PLC devices Contents 3.11 Remote parameterisation (gateway function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3−10 3.12 Monitoring processes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.12.1 Time monitoring for CAN1_IN ... CAN3_IN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.12.2 Bus−off . . . . . . . . . . . . .
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System bus (CAN) for Lenze PLC devices Contents 5.9 System bus management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5−8 5.10 Monitoring processes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.10.1 Time monitoring for FIF−CAN1_IN ... FIF−CAN3_IN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.10.2 Bus−off . . . . . . . . . . . .
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System bus (CAN) for Lenze PLC devices Contents 7.3 CAN1_IO (node number: 31) − ECSxA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.1 Inputs_CAN1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.2 Outputs_CAN1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.3 Process data telegram . . . . . . . . .
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System bus (CAN) for Lenze PLC devices Contents 9 CAN−AUX system blocks (only ECSxA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9−1 9.1 CANaux1_IO (node number: 34) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1.1 Inputs_CANaux1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1.2 Outputs_CANaux1 . . . . . . . . . . . . . . . . . . . . . .
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System bus (CAN) for Lenze PLC devices Contents 12 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi PLC−Systembus EN 2.
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System bus (CAN) for Lenze PLC devices Preface and general information 1.1 About this Manual 1 Preface and general information 1.1 About this Manual This Manual contains information on the system bus interfaces of the Lenze PLC devices 9300 Servo PLC, Drive PLC and ECSxA.
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System bus (CAN) for Lenze PLC devices Preface and general information 1.1 1.1.1 About this Manual Conventions used in this Manual This Manual uses the following conventions to distinguish between different types of information: Variable identifier ... are presented in italics in the explanatory text: · "Via wDrvNr...
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System bus (CAN) for Lenze PLC devices Preface and general information 1.1 1.1.
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System bus (CAN) for Lenze PLC devices Preface and general information 1.1 1.1.3 About this Manual Pictographs used in this Manual Pictographs used 1.1.4 1−4 Signal words Warning of material damage Stop! Warns of potential damage to material. Possible consequences if disregarded: Damage of the controller/drive system or its environment. More notes Tip! Note! Indicates a tip or note.
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System bus (CAN) for Lenze PLC devices General information 2 General information on the system bus (CAN) 2.1 Introduction All Lenze drive and automation systems are provided with an integrated system bus interface for the networking of control components on a field level. Via the system bus interface, among other things process data and parameter data can be exchanged between the nodes.
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System bus (CAN) for Lenze PLC devices General information 2.
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System bus (CAN) for Lenze PLC devices General information 2.3 Identification of the nodes Assign a node address − also called Node ID − in the range of 1 to 63 to each node within the system bus network as a definite identification. · The same node address may not be assigned more than once within the network. 2.4 Structure of the CAN telegram Control field RTR bit Start User data 0 ... 8 byte Identifier 1 bit 11 bit 1 bit Description see chapter 2.4.1 Fig. 2−1 CRC delimit. ACK delimit.
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System bus (CAN) for Lenze PLC devices General information The following table contains the preset basic identifiers of the Lenze devices: Identifier = basic identifier + node address of the node dec hex Tx (transmission) 0 0 Rx (reception) 0 0 Tx (transmission) 128 80 Rx (reception) 128 80 Output (transmission) 1536 600 Input (reception) 1408 580 Output (transmission) 1600 640 Input (reception) 1472 5C0 CAN1_IN 512 200 CAN1_OUT 384 180 CAN2_IN 640 280 CAN2_OUT 641 2
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System bus (CAN) for Lenze PLC devices General information 2.4.2 User data Via the user data area of the CAN telegram, three different types of data are transported: Data type Information Network management data Information on the structure of communication via the CAN network. Chapter 2.5(^ 2−6) Process data Process data are data for control−oriented concerns, e. g. setpoints and actual values. · Process data are transmitted as so−called PDOs (Process Data Objects) with a high priority.
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System bus (CAN) for Lenze PLC devices General information 2.5 Network management (NMT) The CAN telegram for the network management is structured as follows: 11bit 2 bytes user data Identifier Command 00000000000 Device address · By means of this telegram the master can carry out state changes for the entire CAN network.
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System bus (CAN) for Lenze PLC devices General information 2.6 Transmission of process data Process data are data for control−oriented concerns, e. g. setpoints and actual values. · Process data are transferred as so−called PDOs (Process Data Objects) with a high priority via the system bus.
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System bus (CAN) for Lenze PLC devices General information Process data channel 2/3: CAN2_IO/CAN3_IO The SBs CAN2_IO and CAN3_IO are designed for the data exchange of event− or time−controlled process data among the devices. These SBs can also be used for the data exchange with decentralised input/output terminals and higher−level host systems.
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System bus (CAN) for Lenze PLC devices General information 2.6.2 Sync telegram for cyclic process data For the transmission of cyclic process data, a specific telegram − the sync telegram − is required for the synchronisation.
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System bus (CAN) for Lenze PLC devices General information 2.6.3 Process data telegram The process data telegram is structured as follows: 11bit Identifier 8 bytes user data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Identifier Information on the identifier can be found in chapter 2.4.1. (^ 2−3) User data The 8 bytes user data received or to be transmitted respectively can be read or written simultaneously by several variables of different data types.
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System bus (CAN) for Lenze PLC devices General information 2.7 Transmitting parameter data For Lenze devices, parameter data are the so−called codes. · Parameter settings for instance are carried out in the case of a one−time setting of the system during commissioning, or in the case of a material change of the production machine. · Parameter data are transferred as so−called SDOs (Service Data Objects) via the system bus and are acknowledged by the receiver, i. e.
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System bus (CAN) for Lenze PLC devices General information 2.7.1.
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System bus (CAN) for Lenze PLC devices General information 2.7.1.3 Addressing the parameter (index/subindex) Identifier Command code Index Low byte High byte Subindex Data 1 Data 2 Data 3 Data 4 The addressing of the parameter or of the Lenze code which is to be read or written is effected via the index of the telegram: Index + 24575 * Lenze code number · The value for the index is to be entered divided into a low and a high byte in the left−justified Intel format (see example).
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System bus (CAN) for Lenze PLC devices General information 2.7.1.4 Data of the parameter (data 1 ... data 4) Identifier Index Command code Low byte High byte Subindex Data 1 Data 2 Data 3 Data 4 For the data of the parameter up to 4 bytes (data 1 ... data 4) are provided. · The data are presented in the left−justified Intel format with data 1 as LSB and data 4 as MSB (see example). Example: For a code in the "Fixed32" data format, the value "20" is to be transmitted.
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System bus (CAN) for Lenze PLC devices General information 2.7.2 Writing parameters (example) Task The acceleration time (C0012) of the controller with the node address 1 is to be set to 20 s via the parameter data channel 1.
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System bus (CAN) for Lenze PLC devices General information Telegram from controller (acknowledgement if carried out correctly) Formula = basic identifier + node address = 1408 + 1 = 1409 Command code = 60hex Information · Basic identifier for parameter data channel 1 (input) = 1408 · Node address of the controller = 1 Identifier Index Subindex Data 1 ...
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System bus (CAN) for Lenze PLC devices General information 2.7.3 Reading a parameter (example) Task The heatsink temperature (C0061) of the controller with the node address 5 is to be read via the parameter data channel 1.
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System bus (CAN) for Lenze PLC devices General information Telegram from the controller (value of the parameter requested) Formula = basic identifier + node address = 1408 + 5 = 1413 Command code = 43hex Information · Basic identifier for parameter data channel 1 (input) = 1408 · Node address of the controller = 5 Identifier · "Read Response" command (response to the read request with the current value) Index Subindex = index of the read request = subindex of the read request Data 1 ...
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System bus (CAN) for Lenze PLC devices General information 2.8 Free CAN objects If many nodes are connected to the system bus (CAN), it may occur that the CAN objects (CAN1_IO ... CAN3_IO) which are fixedly integrated in the PLC are not sufficient for the communication intended, and further CAN objects are required. By using the functions/function blocks of the LenzeCanDrv.lib function library, so−called "free CAN objects" can be added to the fixedly integrated CAN objects.
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System bus (CAN) for Lenze PLC devices General information 2.
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System bus (CAN) for Lenze PLC devices General information 2.10 Monitoring mechanisms In the CANopen communication profile (CiA DS301, version 4.01) two optional monitoring mechanisms for ensuring the function of system bus nodes are specified, "Heartbeat" and "Node Guarding". Note! The "Heartbeat" and "Node Guarding" monitoring mechanisms are supported by the 9300 Servo PLC, Drive, PLC and by the ECSxA axis module as of V6.0.
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System bus (CAN) for Lenze PLC devices General information 2.10.2 "Node Guarding" In contrast to the "Heartbeat" monitoring mechanism, for the "Node Guarding" an enquiry message from the monitoring node (NMT Master) is required. NMT Master NMT Slave RTR Request 8 1 s t Node Guard Time Indication Confirmation Response Node Life Time Node Life Time RTR Request 8 1 Indication s t Confirmation Response t: Toggle bit s: NMT Slave state: Node Guarding Event Fig.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3 Configuration (system bus − CAN interface) Tip! Changes with regard to the CAN baud rate, the CAN addresses, and the identifiers for PDOs only are accepted after a reset node. A reset node can be effected by · Reconnection of the mains · Reset node command via NMT command. (^ 2−6) · Reset node via C0358 (^ 3−8) 3.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.2 CAN boot−up If the initialisation of the system bus and the associated state change from Pre−operational to Operational is not taken over by a higher−level master system, the PLC or a controller can be designated as a "quasi" master to accomplish this task.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.3 Node address (node ID) Assign a node address − also called Node ID − within the range of 1 to 63 to each node within the system bus network as a definite identification. · The same node address may not be assigned more than once within the network.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.4 Identifiers of the process data objects The identifiers for the CAN1_IO ...
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration · Please note that the identifier of the telegram to be transmitted has to comply with the identifier of the process data input object to be activated. · In the case of an individual address allocation, the identifier for the process data objects is composed as follows: Identifier + 384 ) value of C0354/x x = subcode · Thus, identifiers in the range of 385 ... 896 can be allocated for the process data objects. 3.4.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.5 Cycle time (CAN2_OUT/CAN3_OUT) The transmission of the output data of CAN2_OUT and CAN3_OUT can be carried out in an event−controlled or time−controlled manner.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.7 Synchronisation Tip! By means of the CAN_Synchronization SB, the internal time base of the PLC can be synchronised with the arrival of the sync telegram. Thus, the internal calculating processes (e. g. control−oriented processes) of the PLC can be synchronised with the calculating processes of other nodes which can also process the sync telegram. Detailed information on the CAN_Synchronization SB can be found in chapter 7.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.8 Reset node Changes with regard to the CAN baud rate, the node addresses and the identifiers only are accepted after a reset node. A reset node can be effected by · Reconnection of the mains · Reset node command via NMT command. (^ 2−6) · Reset node command via the CAN_Management SB (^ 7−20) · Reset node via C0358: Code LCD Possible settings Information Lenze Selection C0358 Reset node 3.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.10.1 Functional principle considering as example Task Within the PLC, a function has been realised from the user side, which can be parameterised via the user code C3200/5. The index 21375dec is automatically assigned to code C3200: Index = 24575dec − code = 24575dec − 3200 = 21375dec On the basis of the communication profile used, this function, however, is to be parameterisable via the index 4101dec/subindex 2 instead.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.11 Remote parameterisation (gateway function) The drive PLC, 9300 Servo PLC, and the ECSxA axis module as of the V6.x operating system support the remote parameterisation of other system bus nodes. All write/read accesses to parameters then are no more carried out in the PLC, but are diverted to the node selected for remote maintenance. · The diversion is effected via the SDO1 parameter data channel of the node selected.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.12 Monitoring processes 3.12.1 Time monitoring for CAN1_IN ... CAN3_IN For the inputs of the CAN1_IN ...
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.12.3 Time−out when remote parameterisation is activated If a time−out occurs during the remote parameterisation (gateway function) activated via C0370, the system error message CE5 is output. The response to this can be configured via C0603: Code Possible settings LCD Information Lenze Selection C0603 MONIT CE5 3 System bus: Monitoring configuration Time−out when remote parameterisation is activated (C0370) 0 2 3 3.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.13 Diagnostics The following codes can be used for diagnostics purposes: Code Information displayed Information C0359 Operating status of the system bus Chapter 3.13.1 ^ 3−13 C0360 Number of the telegrams sent and received Chapter 3.13.2 ^ 3−14 C0361 Bus load (in %) Chapter 3.13.3 ^ 3−15 · Settings cannot be carried out via these codes. 3.13.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.13.2 Telegram counter Via C0360 you can have the number of the telegrams sent and received by the PLC via CAN1_IO ... CAN3_IO displayed. · Only the telegrams which are valid for the PLC are counted. · Each transmit and receive channel is evaluated separately. · The max. counter content is 65535 (16 bit); if this value is exceeded, the corresponding counter starts with 0 again.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3.13.3 Bus load by the PLC Via C0361 you can receive a percentage display of the extent to which the system bus is loaded by the telegrams of the PLC. · Only valid telegrams are considered. · Each transmit and receive channel is evaluated separately.
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System bus (CAN) for Lenze PLC devices "CAN" system bus interface configuration 3−16 PLC−Systembus EN 2.
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System bus (CAN) for Lenze PLC devices Configuration (AIF interface) 4 Configuration (AIF interface) By means of an according fieldbus module (e. g. 2175) you can use the AIF interface of the 9300 Servo PLC, drive PLC and of the ECSxA axis module as an additional system bus interface.
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System bus (CAN) for Lenze PLC devices Configuration (AIF interface) 4.2 CAN boot−up If the initialisation of the system bus and the associated state change of Pre−operational to Operational is not taken over by a higher−level master system, the PLC or a controller can be designated as a "quasi" master to accomplish this task.
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System bus (CAN) for Lenze PLC devices Configuration (AIF interface) 4.3 Node address (node ID) Assign a node address − also called Node ID − within the range of 1 to 63 to each node within the system bus network as a definite identification. · The same node address may not be allocated more than once within the network.
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System bus (CAN) for Lenze PLC devices Configuration (AIF interface) 4.4 Identifiers of the process data objects The identifiers for the XCAN1_IO ...
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System bus (CAN) for Lenze PLC devices Configuration (AIF interface) · Please note that the identifier of the telegram to be transmitted has to comply with the identifier of the process data input object to be activated. · In the case of an individual address allocation, the identifier for the process data objects is composed as follows: Identifier + 384 ) value of C2354/x x = subcode · Thus, identifiers in the range of 384 ... 2047 can be allocated for the process data objects. 4.4.
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System bus (CAN) for Lenze PLC devices Configuration (AIF interface) 4.5 Cycle time (XCAN1_OUT ... XCAN3_OUT) The transmission of the output data of XCAN1_OUT ... XCAN3_OUT can be carried out in an event−controlled or time−controlled manner.
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System bus (CAN) for Lenze PLC devices Configuration (AIF interface) 4.6 Synchronisation Tip! By means of the CAN_Synchronization SB the internal time base of the PLC can be synchronised with the arrival of the sync telegram. Thus, the internal calculating processes (e. g. control−oriented processes) of the PLC can be synchronised with the calculating processes of other nodes which can also process the sync telegram. Detailed information on the CAN_Synchronization SB can be found in chapter 7.7.
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System bus (CAN) for Lenze PLC devices Configuration (AIF interface) 4.7 Reset node Changes with regard to the CAN baud rate, the node addresses, and the identifiers only are accepted after a reset node. A reset node can be effected by · Reconnection of the mains · Reset node command via NMT command.
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System bus (CAN) for Lenze PLC devices Configuration (AIF interface) 4.8.2 Bus off If the PLC has disconnected from the system bus due to too many incorrectly received telegrams, the signal "BusOffState" (CE14) is set. The response to this can be configured via C2382/4: Code Possible settings LCD Information Lenze Selection C2382 XCAN Conf.
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System bus (CAN) for Lenze PLC devices Configuration (AIF interface) 4.9 Diagnostics The following codes can be used for diagnostics purposes: Code Information displayed Information C2121 AIF−CAN operating status Chapter 4.9.1 ^ 4−10 · Settings cannot be carried out via these codes. 4.9.
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5 Configuration (FIF interface) By means of an appropriate function module (e. g. CAN−I/O system bus) you can use the FIF interface of the Drive PLC as an additional system bus interface.
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5.2 CAN boot−up If the initialisation of the system bus and the associated state change from Pre−operational to Operational is not taken over by a higher−level master system, the PLC or a controller can be designated as a "quasi" master to accomplish this task.
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5.3 Node address (node ID) Assign a node address − also called Node ID − within the range of 1 to 63 to each node within the system bus network as a definite identification. · The same node address may not be assigned more than once within the network.
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5.4 Identifiers of the process data objects The identifiers for the FIF_CAN1_IO ...
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) · Please note that the identifier of the telegram to be transmitted has to comply with the identifier of the process data input object to be activated. · In the case of an individual address allocation, the identifier for the process data objects is composed as follows: Identifier + 384 ) value of C2454/x x = subcode · Thus, for the process data objects identifiers in the range of 385 ... 896 can be allocated. 5.4.
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5.5 Cycle time (FIF_CAN2_OUT/FIF_CAN3_OUT) The transmission of the output data of FIF−CAN2_OUT and FIF−CAN3_OUT can be carried out in an event−controlled or time−controlled manner.
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5.7 Synchronisation Tip! By means of the CAN_Synchronization SB, the internal time base of the PLC can be synchronised with the arrival of the sync telegram. Thus the internal calculating processes (e. g. control oriented processes) of the PLC can be synchronised with the calculating processes of other nodes which can also process the sync telegram. Detailed information on the CAN_Synchronization SB can be found in chapter 7.7.
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5.8 Reset node Changes with regard to the CAN baud rate, the node addresses, and the identifiers only are accepted after a reset node. A reset node can be effected by · Reconnection of the mains · Reset node command via NMT command. (^ 2−6) · Reset node command via the FIF_CAN_Management SB (^ 8−4) · Reset node via C2458: Code LCD Possible settings Information Lenze Selection C2458 Reset node 5.
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5.10 Monitoring processes 5.10.1 Time monitoring for FIF−CAN1_IN ... FIF−CAN3_IN For the inputs of the process data objects FIF−CAN1_IN ...
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5.10.3 Response in the case of system bus fault messages Overview of the system bus error sources registered by the PLC as well as of the possible settings for the corresponding response: Fault message Possible settings/response Display Error No.
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5.11 Diagnostics The following codes can be used for diagnostics purposes: Code Information displayed Information C2459 FIF−CAN operating status Chapter 5.11.1 ^ 5−11 C2460 Number of the telegrams sent and received Chapter 5.11.2 ^ 5−12 C2461 Bus load (in %) Chapter 5.11.3 ^ 5−13 · Settings cannot be carried out via these codes. 5.11.
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5.11.2 Telegram counter Via C2460 you can have the number of the telegrams sent and received by the PLC via FIF_CAN1_IO ... FIF_CAN3_IO. · Only the telegrams which are valid for the PLC are counted. · Each transmit and receive channel is evaluated separately. · The max. counter content is 65535 (16 bit); if this value is exceeded, the corresponding counter starts with 0 again.
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5.11.3 Bus load by FIF−CAN Via C2461 you can receive a percentage display of the extent to which the system bus is loaded by the telegrams of the function interface. · Only valid telegrams are considered. · Each transmit and receive channel is evaluated separately.
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System bus (CAN) for Lenze PLC devices Configuration (FIF interface) 5−14 PLC−Systembus EN 2.
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6 Configuration (CAN−AUX system bus interface) By means of a corresponding function module (e. g. CAN−I/O system bus) you can use the CAN−AUX interface of the ECSxA axis module as an additional system bus interface.
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6.2 CAN boot−up If the initialisation of the system bus and the associated state change from Pre−operational to Operational is not taken over by a higher−level master system, the PLC or a controller can be designated as a "quasi" master to accomplish this task instead.
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6.3 Node address (Node ID) Assign a node address − also called Node ID − within the range of 1 to 63 to each node within the system bus network as a definite identification. · The same node address may not be assigned more than once within the network.
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6.4 Identifiers of the process data objects The identifiers for the CANaux1_IO ...
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) · Please note that the identifier of the telegram to be transmitted has to comply with the identifier of the process data input object to be activated. · In the case of an individual address allocation, the identifier for the process data objects is composed as follows: Identifier + 384 ) value of C2454/x x = subcode · Thus, for the process data objects identifiers in the range of 385 ... 896 can be allocated. 6.4.
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6.5 Cycle time (CANaux2_OUT/CANaux3_OUT) The transmission of the output data of CANaux2_OUT and CANaux3_OUT can be carried out in an event−controlled or time−controlled manner.
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6.7 Synchronisation Tip! By means of the CAN_Synchronization SB, the internal time base of the PLC can be synchronised with the arrival of the sync telegram. Thus the internal calculating processes (e. g. control−oriented processes) of the PLC can be synchronised with the calculating processes of other nodes which can also process the sync telegram. Detailed information on the CAN_Synchronization SB can be found in chapter 7.7.
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6.8 Reset node Changes with regard to the CAN baud rate, the node addresses, and the identifiers only are accepted after a reset node. A reset node can be effected by · Reconnection of the mains · Reset node command via NMT command. (^ 2−6) · Reset node command via the CANaux_Management SB (^ 8−4) · Reset node via C2458: Code LCD Possible settings Information Lenze Selection C2458 Reset node 6.
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6.10 Monitoring processes 6.10.1 Time monitoring for CANaux1_IN ... CANaux3_IN For the inputs of the process data objects CANaux1_IN ...
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6.10.3 Response in the case of system bus fault messages Overview of the system bus error sources registered by the PLC as well as of the possible settings for the corresponding response: Fault message Possible settings/response Display Error No.
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6.11 Diagnostics The following codes can be used for diagnostics purposes: Code Information displayed Information C2459 CAN−AUX operating status Chapter 6.11.1 ^ 6−11 C2460 Number of the telegrams sent and received Chapter 6.11.2 ^ 6−12 C2461 Bus load (in %) Chapter 6.11.3 ^ 6−13 · Settings cannot be carried out via these codes. 6.11.
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6.11.2 Telegram counter Via C2460 you can have the number of the telegrams sent and received by the PLC via CANaux1_IO ... CANaux3_IO. · Only the telegrams which are valid for the PLC are counted. · Each transmit and receive channel is evaluated separately. · The max. counter content is 65535 (16 bit); if this value is exceeded, the corresponding counter starts with 0 again.
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6.11.3 Bus load by CAN−AUX Via C2461 you can receive a percentage display of the extent to which the system bus is loaded by the telegrams of the CAN−AUX interface. · Only valid telegrams are considered. · Each transmit and receive channel is evaluated separately.
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System bus (CAN) for Lenze PLC devices Configuration (CAN−AUX interface) 6−14 PLC−Systembus EN 2.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.1 7 7.1 CAN1_IO (node number: 31) − 9300 Servo PLC CAN system blocks CAN1_IO (node number: 31) − 9300 Servo PLC This SB serves to transmit cyclic process data via the system bus. · For the transmission a sync telegram is required, which has to be generated by a different node.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.1 7.1.1 CAN1_IO (node number: 31) − 9300 Servo PLC Inputs_CAN1 Variable Data type Signal type Word − CAN1_wDctrlCtrl Display format %IW31.0 C0136/2 hex C0136/2 bin %IX31.0.3 CAN1_bCtrlDisable_b %IX31.0.8 CAN1_bCtrlCInhibit_b %IX31.0.9 CAN1_bCtrlTripSet_b %IX31.0.10 CAN1_bCtrlTripReset_b %IX31.0.11 CAN1_bCtrlB0_b %IX31.0.0 CAN1_bCtrlB1_b %IX31.0.1 Bool CAN1_bCtrlB4_b Binary %IX31.0.2 %IX31.0.4 CAN1_bCtrlB5_b %IX31.0.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.1 7.1.3 CAN1_IO (node number: 31) − 9300 Servo PLC Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11bit 8 bytes user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Information on the identifier can be found in chapter 2.4.1. (^ 2−3) 7.1.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.1 CAN1_IO (node number: 31) − 9300 Servo PLC Variables for received user data User data Byte 1 Variable (1 bit) CAN1_bInB0_b CAN1_bInB1_b CAN1_bInB2_b CAN1_bCtrlQuickstop_b CAN1_bInB4_b CAN1_bInB5_b CAN1_bInB6_b CAN1_bInB7_b CAN1_bCtrlDisable_b CAN1_bCtrlCInhibit_b CAN1_bCtrlTripSet_b CAN1_bCtrlTripReset_b CAN1_bInB12_b CAN1_bInB13_b CAN1_bInB14_b CAN1_bInB15_b 6 0 ... 7 CAN1_bInB8_b ... CAN1_bInB15_b 7 0 ... 7 CAN1_bInB16_b ...
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.1 7.1.5 CAN1_IO (node number: 31) − 9300 Servo PLC Transferring status and control information of the device control Via the user data bytes 1 and 2, you can exchange status and control information of the device control (DCTRL) between different 9300 Servo PLCs via the system bus (CAN) in a simple manner.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.2 7.2 CAN1_IO (node number: 31) − Drive PLC CAN1_IO (node number: 31) − Drive PLC This SB serves to transmit cyclic process data via the system bus. · For the transmission a sync telegram is required, which has to be generated by a different node. (^ 2−9) CAN1_IO CAN1_nOutW0_a CAN1_bFDO0...15_b CAN1_nOutW1_a Byte Byte WORD 1 1 WORD 16 x BOOL 2 2 16 x BOOL 3 3 CAN1_bFDO16...31_b 4 4 CAN1_nOutW2_a CAN1_bFDO32...
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.2 7.2.1 CAN1_IO (node number: 31) − Drive PLC Inputs_CAN1 Variable Data type Signal type Integer Analog CAN1_nInW0_a CAN1_bInB0_b ... Bool Binary Integer Analog CAN1_bInB16_b %IW31.0 C0136/2 dec [%] C0863/1 hex C0866/1 dec [%] C0863/2 hex C0866/2 dec [%] C0866/3 dec [%] Notes ... %IW31.1 %IX31.1.0 ... Bool Binary CAN1_bInB31_b ... %IX31.1.15 CAN1_nInW2_a Integer Analog CAN1_bInB32_b %IW31.2 %IX31.2.0 ...
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.2 7.2.3 CAN1_IO (node number: 31) − Drive PLC Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11bit 8 bytes user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Information on the identifier can be found in chapter 2.4.1. (^ 2−3) 7.2.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.2 CAN1_IO (node number: 31) − Drive PLC Variables for received user data User data L Assigned variables Byte 1 Bit 0 ... 7 Variable (1 bit) CAN1_bInB0_b ... CAN1_bInB7_b 2 0 ... 7 CAN1_bInB8_b ... CAN1_bInB15_b 3 0 ... 7 CAN1_bInB16_b ... CAN1_bInB23_b 4 0 ... 7 CAN1_bInB24_b ... CAN1_bInB31_b 5 0 ... 7 CAN1_bInB32_b ... CAN1_bInB39_b 6 0 ... 7 CAN1_bInB40_b ... CAN1_bInB47_b 7 0 ... 7 CAN1_bInB48_b ... CAN1_bInB55_b 8 0 .
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.3 7.3 CAN1_IO (node number: 31) − ECSxA CAN1_IO (node number: 31) − ECSxA This SB serves to transmit cyclic process data via the system bus. · For the transmission a sync telegram is required, which has to be generated by a different node. (^ 2−9) CAN1_IO CAN1_nOutW0_a CAN1_bFDO0...15_b CAN1_nOutW1_a Byte Byte WORD 1 1 WORD 16 x BOOL 2 2 16 x BOOL 3 3 CAN1_bFDO16...31_b 4 4 CAN1_nOutW2_a CAN1_bFDO32...
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.3 7.3.1 CAN1_IO (node number: 31) − ECSxA Inputs_CAN1 Variable Data type Signal type Integer Analog CAN1_nInW0_a CAN1_bInB0_b ... Bool Binary Integer Analog CAN1_bInB16_b %IW31.0 C0136/2 dec [%] C0863/1 hex C0866/1 dec [%] C0863/2 hex C0866/2 dec [%] C0866/3 dec [%] Notes ... %IW31.1 %IX31.1.0 ... Bool Binary CAN1_bInB31_b ... %IX31.1.15 CAN1_nInW2_a Integer Analog CAN1_bInB32_b %IW31.2 %IX31.2.0 ...
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.3 7.3.3 CAN1_IO (node number: 31) − ECSxA Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11bit 8 bytes user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Information on the identifier can be found in chapter 2.4.1. (^ 2−3) 7.3.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.3 CAN1_IO (node number: 31) − ECSxA Variables for received user data User data L Assigned variables Byte 1 Bit 0 ... 7 Variable (1 bit) CAN1_bInB0_b ... CAN1_bInB7_b 2 0 ... 7 CAN1_bInB8_b ... CAN1_bInB15_b 3 0 ... 7 CAN1_bInB16_b ... CAN1_bInB23_b 4 0 ... 7 CAN1_bInB24_b ... CAN1_bInB31_b 5 0 ... 7 CAN1_bInB32_b ... CAN1_bInB39_b 6 0 ... 7 CAN1_bInB40_b ... CAN1_bInB47_b 7 0 ... 7 CAN1_bInB48_b ... CAN1_bInB55_b 8 0 ...
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.4 7.4 CAN2_IO (node number: 32) CAN2_IO (node number: 32) This SB serves to transmit event−controlled or time−controlled process data via the system bus. · The setting of the transmission mode (event− or time−controlled) is effected via C0356. (^ 3−6) · A sync telegram is not required. CAN2_IO CAN2_nOutW1_a Byte Byte 1 1 WORD C0868/4 CAN2_nOutW2_a 2 WORD WORD 2 WORD C0868/5 CAN2_bFDO0...15_b CAN2_bFDO16...
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.4 7.4.1 CAN2_IO (node number: 32) Inputs_CAN2 Variable Data type Signal type Integer Analog CAN2_nInW1_a CAN2_nInW2_a CAN2_bInB0_b Bool CAN2_bInB16_b Binary C0866/4 %IW32.1 C0866/5 Display format Notes dec [%] C0863/3 %IX32.0.15 hex %IX32.1.0 ... ... CAN2_bInB31_b C0863/4 %IX32.1.15 Double integer CAN2_nInW3_a Position Integer Analog Data type Signal type Integer Analog CAN2_nInW4_a %ID32.0 C0867/2 %IW32.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.4 7.4.4 CAN2_IO (node number: 32) Assignment of the user data to variables Several variables of different data types are assigned to the user data to be transmitted and received. Thus, the data in the PLC program can be optionally interpreted as: · binary information (1 bit) · status word/quasi−analog value (16 bit) · angle information (32 bit) Variables for user data to be transmitted User data Assigned variables Byte 1 Bit 0 ...
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.5 7.5 CAN3_IO (node number: 33) CAN3_IO (node number: 33) This SB serves to transmit event−controlled or time−controlled process data via the system bus. · The setting of the transmission mode (event− or time−controlled) is effected via C0356. (^ 3−6) · A sync telegram is not required. CAN3_IO CAN3_nOutW1_a Byte Byte 1 1 WORD C0868/8 CAN3_nOutW2_a 2 WORD WORD 2 WORD C0868/9 CAN3_bFDO0...15_b CAN3_bFDO16...
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.5 7.5.1 CAN3_IO (node number: 33) Inputs_CAN3 Variable Data type Signal type Integer Analog CAN3_nInW1_a CAN3_nInW2_a CAN3_bInB0_b Bool CAN3_bInB16_b Binary C0866/8 %IW33.1 C0866/9 Display format Notes dec [%] C0863/5 %IX33.0.15 hex %IX33.1.0 ... ... CAN3_bInB31_b C0863/6 %IX33.1.15 Double integer CAN3_nInW3_a Position Integer Analog Data type Signal type Integer Analog CAN3_nInW4_a %ID33.0 C0867/3 %IW33.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.5 7.5.4 CAN3_IO (node number: 33) Assignment of the user data to variables Several variables of different data types are assigned to the user data to be transmitted and received. Thus, the data in the PLC program can be optionally interpreted as: · binary information (1 bit) · status word/quasi−analog value (16 bit) · angle information (32 bit) Variables for user data to be transmitted User data Assigned variables Byte 1 Bit 0 ...
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.6 7.6 CAN_Management (node number: 101) CAN_Management (node number: 101) By using this SB · a reset node can be activated, e. g. to accept changes with regard to the baud rate and addressings. · Communication error, Bus−off state, and further states can be processed in the PLC program. · the instant of transmission of CAN2_OUT and CAN3_OUT can be influenced.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.6 7.6.2 CAN_Management (node number: 101) Outputs_CAN_Management Variable Data type Signal type Address CAN_bResetNode_b %QX101.0.0 CAN_bTxCan2Synchronized_b %QX101.0.1 Bool CAN_bTxCan3Synchronized_b Binary Display code Display format Notes Carry out reset node of the PLC − %QX101.0.2 − Transmit CAN2_OUT with sync telegram. Transmit CAN3_OUT with sync telegram.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.6 7.6.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.7 7.7 CAN_Synchronization (node number: 102) CAN_Synchronization (node number: 102) This SB can be used to synchronise the internal time base of the controller to the instant of reception of the sync telegram or of a terminal signal. Thus, the start of cyclic and time−controlled internal processes (e. g. data transfer from tasks to the DCTRL function block) is effected in a synchronous manner for all controllers involved in the synchronisation.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.7 CAN_Synchronization (node number: 102) Axis synchronisation via terminal The transmission paths for the sync signal and the process signals are separated. · The process signals are applied via a freely selectable input channel (e. g. AIF interface, DF input).
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.7 CAN_Synchronization (node number: 102) Synchronisation cycle The controllers/PLCs receive the sync telegram/signal and compare the time between two LOW−HIGH edges of the signal to the specified cycle time (C1121). Code Possible settings LCD IMPORTANT Lenze Selection [C1121] Sync cycle 2 1 {1 ms} 13 Synchronisation cycle Definition of the cycle time of the sync telegram/signal.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.7 CAN_Synchronization (node number: 102) Tip! A jitter* up to ±200 ms on the LOW−HIGH edges of the sync signal is permissible. The extent of the jitter has an effect on the parameter setting of the "time slot". * Jitter refers to the phase shiftings and therefore to the periodic changes of signal frequencies. They are variations of fixed points in time (e. g. the time of the transition from one signal amplitude to another) of a digital signal.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.7 CAN_Synchronization (node number: 102) Configuration example: synchronisation via system bus (CAN) When carrying out the commissioning, observe the following sequence: Location All devices Step 1. Commission controller/PLC and system bus. 2. Inhibit controller/PLC. Information DDS Slave devices 3. 4. 5. Integrate CAN_Synchronization SB into the control configuration. Connect CAN_bSyncInsideWindow_b to a digital output. C1120 = 1 6.
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System bus (CAN) for Lenze PLC devices CAN system blocks 7.7 7−28 CAN_Synchronization (node number: 102) PLC−Systembus EN 2.
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.1 FIF_CAN1_IO (node number: 34) 8 FIF−CAN system blocks (only Drive PLC) 8.1 FIF_CAN1_IO (node number: 34) This SB serves to the transmission of cyclic process data via the function interface of the Drive PLC. · For the transmission a sync telegram is required, which has to be generated by a different node. (^ 2−9) FIF_CAN1_IO FIF_CAN1_nOutW0_a FIF_CAN1_bFDO0...
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.1 8.1.1 FIF_CAN1_IO (node number: 34) FIF_Inputs_CAN1 Variable FIF_CAN1_nInW0_a Data type Signal type Integer Analog FIF_CAN1_bInB0_b ... Bool Binary Integer Analog Bool Binary Integer Analog Bool Binary Integer Analog 8.1.2 Bool Binary hex C2492/2 dec [%] C2492/3 dec [%] %IW34.2 ... %IW34.3 ... %IX34.3.15 Double integer Position %ID34.1 Address Display code Display format %QW34.
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.1 8.1.3 FIF_CAN1_IO (node number: 34) Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11bit 8 bytes user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Information on the identifier can be found in chapter 2.4.1. (^ 2−3) 8.1.
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.1 FIF_CAN1_IO (node number: 34) Variables for received user data User data 8−4 Assigned variables Byte 1 Bit 0 ... 7 Variable (1 bit) FIF_CAN1_bInB0_b ... FIF_CAN1_bInB7_b 2 0 ... 7 FIF_CAN1_bInB8_b ... FIF_CAN1_bInB15_b 3 0 ... 7 FIF_CAN1_bInB16_b ... FIF_CAN1_bInB23_b 4 0 ... 7 FIF_CAN1_bInB24_b ... FIF_CAN1_bInB31_b 5 0 ... 7 FIF_CAN1_bInB32_b ... FIF_CAN1_bInB39_b 6 0 ... 7 FIF_CAN1_bInB40_b ...
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.2 8.2 FIF_CAN2_IO (node number: 35) FIF_CAN2_IO (node number: 35) This SB serves to the transmission of event− or time−controlled process data via the function interface of the Drive PLC. · The setting of the transmission mode (event− or time−controlled) is effected via C2456. (^ 5−6) · A sync telegram is not required.
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.2 8.2.1 FIF_CAN2_IO (node number: 35) FIF_Inputs_CAN2 Variable FIF_CAN2_nInW1_a FIF_CAN2_nInW2_a Data type Signal type Integer Analog FIF_CAN2_bInB0_b Bool FIF_CAN2_bInB16_b Display format Notes dec [%] C2491/3 hex ... C2491/4 %IX35.1.15 Double integer Position Integer Analog %ID35.0 − %IW35.2 C2492/6 − %IW35.3 C2492/7 Address Display code %QW35.0 C2493/4 %QW35.
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.2 8.2.4 FIF_CAN2_IO (node number: 35) Assignment of the user data to variables Several variables of different data types are assigned to the user data to be transmitted and received. Thus, the data in the PLC program can be optionally interpreted as: · binary information (1 bit) · status word/quasi−analog value (16 bit) · angle information (32 bit) Variables for user data to be transmitted User data Assigned variables Byte 1 Bit 0 ...
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.3 8.3 FIF_CAN3_IO (node number: 36) FIF_CAN3_IO (node number: 36) This SB serves to the transmission of event− or time−controlled process data via the function interface of the Drive PLC. · The setting of the transmission mode (event− or time−controlled) is effected via C2456. (^ 5−6) · A sync telegram is not required.
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.3 8.3.1 FIF_CAN3_IO (node number: 36) FIF_Inputs_CAN3 Variable FIF_CAN3_nInW1_a FIF_CAN3_nInW2_a Data type Signal type Integer Analog FIF_CAN3_bInB0_b Bool FIF_CAN3_bInB16_b Display format Notes dec [%] C2491/5 hex ... C2491/6 %IX36.1.15 Double integer Position Integer Analog %ID36.0 − %IW36.2 C2492/10 − %IW36.3 C2492/11 Address Display code %QW36.0 C2493/8 %QW36.
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.3 8.3.4 FIF_CAN3_IO (node number: 36) Assignment of the user data to variables Several variables of different data types are assigned to the user data to be transmitted and received. Thus, the data in the PLC program can be optionally interpreted as: · binary information (1 bit) · status word/quasi−analog value (16 bit) · angle information (32 bit) Variables for user data to be transmitted User data Assigned variables Byte 1 Bit 0 ...
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.4 8.4 FIF_CAN_Management (node number: 111) FIF_CAN_Management (node number: 111) By means of this SB · a reset node can be activated, e. g. to accept changes with regard to the baud rate and addressings. · Communication error, Bus−off state, and further states can be processed in the PLC program. · the instant of transmission of FIF−CAN2_OUT and FIF−CAN3_OUT can be influenced.
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.4 8.4.2 FIF_CAN_Management (node number: 111) FIF_Outputs_CAN_Management Variable Data type Signal type Address FIF_CAN_bResetNode_b %QX111.0.0 FIF_CAN_bTxCan2Synchronized_b %QX111.0.1 Bool FIF_CAN_bTxCan3Synchronized_b Binary Display code Display format Notes Carry out reset node of the FIF−CAN − − %QX111.0.2 Transmit FIF−CAN2_OUT with sync telegram. Transmit FIF−CAN_OUT with sync telegram.
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System bus (CAN) for Lenze PLC devices FIF−CAN system blocks 8.4 8.4.
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.1 CANaux1_IO (node number: 34) 9 CAN−AUX system blocks (only ECSxA) 9.1 CANaux1_IO (node number: 34) This SB serves to transmit cyclic process data via the system bus. · For the transmission a sync telegram is required, which has to be generated by a different node. (^ 2−9) CANaux1_IO CANaux1_nOutW0_a CANaux1_bFDO0...15_b CANaux1_nOutW1_a Byte Byte WORD 1 1 WORD 16 x BOOL 2 2 16 x BOOL 3 3 CANaux1_bFDO16...
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.1 9.1.1 CANaux1_IO (node number: 34) Inputs_CANaux1 Variable CANaux1_nInW0_a Data type Signal type Integer Analog CANaux1_bInB0_b ... Bool Binary Integer Analog Bool Binary Integer Analog Bool Binary Integer Analog 9.1.2 hex C2492/2 dec [%] C2492/3 dec [%] %IW34.2 ... %IW34.3 Bool Binary ... %IX34.3.15 Double integer Position %ID34.
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.1 9.1.3 CANaux1_IO (node number: 34) Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11bit 8 bytes user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Information on the identifier can be found in chapter 2.4.1. (^ 2−3) 9.1.
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.1 CANaux1_IO (node number: 34) Variables for received user data User data 9−4 Assigned variables Byte 1 Bit 0 ... 7 Variable (1 bit) CANaux1_bInB0_b ... CANaux1_bInB7_b 2 0 ... 7 CANaux1_bInB8_b ... CANaux1_bInB15_b 3 0 ... 7 CANaux1_bInB16_b ... CANaux1_bInB23_b 4 0 ... 7 CANaux1_bInB24_b ... CANaux1_bInB31_b 5 0 ... 7 CANaux1_bInB32_b ... CANaux1_bInB39_b 6 0 ... 7 CANaux1_bInB40_b ... CANaux1_bInB47_b 7 0 ...
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.2 9.2 CANaux2_IO (node number: 35) CANaux2_IO (node number: 35) This SB serves to transmit event−controlled or time−controlled process data via the system bus. · The setting of the transmission mode (event− or time−controlled) is effected via C2456. (^ 3−6) · A sync telegram is not required. CANaux2_IO CANaux2_nOutW1_a Byte Byte 1 1 WORD C2493/4 CANaux2_nOutW2_a 2 WORD C2492/4 2 CANaux2_bFDO16...
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.2 9.2.1 CANaux2_IO (node number: 35) Inputs_CANaux2 Variable CANaux2_nInW1_a CANaux2_nInW2_a Data type Signal type Integer Analog CANaux2_bInB0_b Bool CANaux2_bInB16_b Display format Notes dec [%] C2491/3 hex ... C2491/4 %IX35.1.15 Double integer Position Integer Analog %ID35.0 − %IW35.2 C2492/6 − %IW35.3 C2492/7 Address Display code %QW35.0 C2493/4 %QW35.
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.2 9.2.4 CANaux2_IO (node number: 35) Assignment of the user data to variables Several variables of different data types are assigned to the user data to be transmitted and received. Thus, the data in the PLC program can be optionally interpreted as: · binary information (1 bit) · status word/quasi−analog value (16 bit) · angle information (32 bit) Variables for user data to be transmitted User data Assigned variables Byte 1 Bit 0 ...
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.3 9.3 CANaux3_IO (node number: 36) CANaux3_IO (node number: 36) This SB serves to transmit event−controlled or time−controlled process data via the system bus. · The setting of the transmission mode (event− or time−controlled) is effected via C2456. (^ 3−6) · A sync telegram is not required. CANaux3_IO CANaux3_nOutW1_a Byte Byte 1 1 WORD C2493/8 CANaux3_nOutW2_a 2 WORD C2492/8 2 CANaux3_bFDO16...
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.3 9.3.1 CANaux3_IO (node number: 36) Inputs_CANaux3 Variable CANaux3_nInW1_a CANaux3_nInW2_a Data type Signal type Integer Analog CANaux3_bInB0_b Bool CANaux3_bInB16_b Display format Notes dec [%] C2491/5 hex ... C2491/6 %IX36.1.15 Double integer Position Integer Analog %ID36.0 − %IW36.2 C2492/10 − %IW36.3 C2492/11 Address Display code %QW36.0 C2493/8 %QW36.
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.3 9.3.4 CANaux3_IO (node number: 36) Assignment of the user data to variables Several variables of different data types are assigned to the user data to be transmitted and received. Thus, the data in the PLC program can be optionally interpreted as: · binary information (1 bit) · status word/quasi−analog value (16 bit) · angle information (32 bit) Variables for user data to be transmitted User data Assigned variables Byte 1 Bit 0 ...
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.4 9.4 CANaux_Management (node number: 111) CANaux_Management (node number: 111) By means of this SB · a reset node can be activated, e. g. to accept changes with regard to the baud rate and addressings. · Communication error, Bus−off state, and further states can be processed in the PLC program. · the instant of transmission of CANaux2_OUT and CANaux3_OUT can be influenced.
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.4 9.4.2 CANaux_Management (node number: 111) Outputs_CANaux_Management Identifier Data type Signal type Address CANaux_bResetNode_b %QX111.0.0 CANaux_bTxCan2Synchronized_b %QX111.0.1 Bool CANaux_bTxCan3Synchronized_b Binary DIS Information Carry out reset node of the CANaux − %QX111.0.2 DIS format − Transfer CANaux2_OUT with sync telegram. Transfer CANaux3_OUT with sync telegram.
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System bus (CAN) for Lenze PLC devices CAN−AUX system blocks 9.4 9.4.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.1 10 Overview LenzeCanDrv.lib function library By using the functions/function blocks of the LenzeCanDrv.lib function library, so−called "free CAN objects" can be added to the fixedly integrated CAN objects. 10.1 10.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.3 10.3 L_CanInit − initialising the CAN driver L_CanInit − initialising the CAN driver Function DWORD L_CanInit (wDrvNr, dwRelocCobIdArea) Before it is possible to work with the free CAN objects, an initialisation of the CAN driver has to be carried out. · By repeatedly calling this function, the CAN driver in the initialised state can be switched over to other parameters.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.3 L_CanInit − initialising the CAN driver Reception identifier area Fig. 10−1 shows the identifier area provided for data reception. · Basically the entire identifier area of 0 ... 2047 is provided. · The grayed out fields in Fig. 10−1 are pre−assigned for specific applications, e. g. for network management commands and process data. · Fields which are not pre−assigned are designated as free area 1 ... 4.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.4 10.4 L_CanClose − deactivating the CAN driver L_CanClose − deactivating the CAN driver Function BOOL L_CanClose (wDrvNr) By means of this function the CAN driver is deactivated. · Transmission and reception tasks which are still available are cancelled when this function is called.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.5 10.5 L_CanGetStatus − querying the driver status L_CanGetStatus − querying the driver status Function DWORD L_CanGetStatus (wDrvNr) By means of this function the status of the CAN driver can be determined. L_CanGetStatus wDrvNr Transfer parameters Identifier Data type wDrvNr Word Possible settings Information 10 System bus Return value Data type Bit Value Double Word 0, 1 0 CAN driver is Operational.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.6 10.6 L_CanGetRelocCobId − querying the COB−ID range L_CanGetRelocCobId − querying the COB−ID range Function INT L_CanGetRelocCobId (wDrvNr) By means of this function the starting identifier of the identifier range (COB−ID range) consisting of 64 objects can be determined for reception operations.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.7 10.7 L_CanPdoTransmit − transmitting a CAN object L_CanPdoTransmit − transmitting a CAN object Function block This FB serves to transmit data via the system bus interface according to CANopen. · The data transmission is carried out simultaneously to the process of the PLC program by the operating system of the controller, whereby an object can be max. sent every 250 ms.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.7 L_CanPdoTransmit − transmitting a CAN object Identifier nState wNrOfCallsToSend Data type Variable type Possible settings Information Integer VAR_OUTPUT − Displays the current transmit status. · See the following table "Transmit state (nState)" Word VAR_OUTPUT − Displays how many FB calls were required to transmit the object.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.7 L_CanPdoTransmit − transmitting a CAN object Transmit request memory as an interface between the CAN driver and the L_CanPdoTransmitFB As the data transmission via the CAN driver is effected simultaneously to the process of the PLC program, a temporary storage for the transmit requests, the so−called transmit request memory, is used between the CAN driver and the L_CanPdoTransmit FB.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.7 L_CanPdoTransmit − transmitting a CAN object Forced transmission Some cases may require an entry of a transmit request in the transmit request memory without considering a data change (event−controlled) or a cycle time (time−controlled). For this purpose, the L_CanPdoTransmit FB supports the action SendData in the "Forced transmission" transmit mode (byTransmitMode = 3).
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.8 10.8 L_CanPdoReceive − receiving a CAN object L_CanPdoReceive − receiving a CAN object Function block This FB serves to receive data via the system bus interface according to CANopen. Tip! An overload with regard to the receive process can occur if due to a high bus utilisation or very fast transmission activities of the other nodes further receive telegrams already arrive while a receive telegram is processed.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.8 L_CanPdoReceive − receiving a CAN object Receive status (nState) Data type Value Meaning Integer −150 CAN bus is not in the Operational state. 1 (high) Priority −121 Incorrect driver number (wDrvNr) 2 −120 Driver not initialised 3 −12 The set message identifier (COB−ID) is beyond the permissible range (0 ... 2047). 4 −11 Pointer pIOAdress does not point to PLC−RAM.
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System bus (CAN) for Lenze PLC devices LenzeCanDrv.lib function library 10.8 10−14 L_CanPdoReceive − receiving a CAN object PLC−Systembus EN 2.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.1 11 Overview LenzeCanDSxDrv.libfunction library The LenzeCanDSxDrv.lib function library contains functions by means of which CAN indexes received via the system bus interface within the PLC can be "mapped" to other codes than to those which are automatically allocated.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.2 11.2 Version identifiers of the function library Version identifiers of the function library The version of the function library can C_w[Function library name]Version . be found under the global constant Version identifiers as of PLC software version 7.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.3 11.3 L_CanDSxInitIndexCode − Configuration of index mapping L_CanDSxInitIndexCode − Configuration of index mapping Function This function is used to configure the mapping table and the redirection of indeces to codes other than the automatically assigned codes. · With every function call one index and the corresponding Lenze code can be entered in the mapping table.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.3 L_CanDSxInitIndexCode − Configuration of index mapping Example Calling the function in ST: nReturnInitIndexCode := L_CanDSxInitIndexCode(byTabIndex:=1, wCANIndex:=4101, byCANSubIndex:=2, wLenzeCodeNumber:=3200, byLenzeSubCodeNumber:=5); 11−4 PLC−Systembus EN 2.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.4 11.4 L_CanDSxOpen − initialising the CanDSx driver L_CanDSxOpen − initialising the CanDSx driver Function By means of this function the CanDSx driver is initialised in the operating system of the PLC. · For the initialisation the transfer parameter bOpen has to be set to TRUE.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.5 11.5 L_CanDSxClose − deactivating the index mapping L_CanDSxClose − deactivating the index mapping Function By means of this function the mapping table and therefore the diversion of indexes is deactivated again. · For the deactivation the transfer parameter bClose has to be set to TRUE.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.6 11.6 L_CanDSxOpenHeartBeat − initialising a "Heartbeat" L_CanDSxOpenHeartBeat − initialising a "Heartbeat" Function In the CANopen communication profile (CiA DS301, version 4.01) two optional monitoring mechanisms for ensuring the function of system bus nodes are specified, "Heartbeat" and "Node Guarding". By means of this function, the "Heartbeat" monitoring mechanism of the CanDSx driver is initialised.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.7 11.7 L_CanDSxHeartBeat − carrying out a "Heartbeat" L_CanDSxHeartBeat − carrying out a "Heartbeat" Function block Use this FB to cyclically monitor the CAN connection between the PLC and other system bus nodes by means of the so−called "Heartbeat" mechanism. · Here the FB assumes the function of the "heartbeat consumer" and therefore has to be called up on the monitoring PLC.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.7 L_CanDSxHeartBeat − carrying out a "Heartbeat" Outputs Data type nState Information/possible settings Integer Status 300 FB is deactivated (bRun= FALSE). 127 Node to be monitored is in the Pre−operational CAN status. 5 Node to be monitored is in the Operational CAN status. 4 Node to be monitored is in the Stopped CAN status. 0 Node to be monitored is in the Boot−up CAN status, or the FB is not called up.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.8 11.8 L_CanDSxCloseHeartBeat − deactivating the "Heartbeat" L_CanDSxCloseHeartBeat − deactivating the "Heartbeat" Function By means of this function, the "Heartbeat" monitoring mechanism of the CanDSx driver is deactivated again. · For the deactivation the transfer parameter bClose has to be set to TRUE.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.9 11.9 L_CanDSxOpenNodeGuarding − initialising the "Node Guarding" L_CanDSxOpenNodeGuarding − initialising the "Node Guarding" Function In the CANopen communication profile (CiA DS301, version 4.01) two optional monitoring mechanisms for ensuring the function of system bus nodes are specified, "Heartbeat" and "Node Guarding". By means of this function the "Node Guarding" monitoring mechanism of the CanDSx driver is initialised.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.10 11.10 L_CanDSxNodeGuarding − carrying out a "Node guarding" L_CanDSxNodeGuarding − carrying out a "Node guarding" Function block Use this FB to cyclically monitor the CAN connection between the PLC and other system bus nodes by means of the so−called "Node guarding" mechanism. · This monitoring mechanism first has to be initialised in the CanDSx driver using the function L_CanDSxOpenNodeGuarding.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.10 L_CanDSxNodeGuarding − carrying out a "Node guarding" Outputs Data type nState Information/possible settings Integer Status 300 FB is deactivated (bRun= FALSE). 127 Node to be monitored is in the Pre−operational CAN status. 5 Node to be monitored is in the Operational CAN status. 4 Node to be monitored is in the Stopped CAN status. 0 Node to be monitored is in the Boot−up CAN status, or the FB is not called up.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.10 L_CanDSxNodeGuarding − carrying out a "Node guarding" 4. Set the factor for the "NodeLifeTime" monitoring time via C0383 in the PLC to be monitored. This value has to correspond to the setting at the FB input byNodeLifeTimeFactor in the monitoring PLC: Code Possible settings LCD Lenze C0383 LifeTimeFact.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.11 11.11 L_CanDSxCloseNodeGuarding − deactivating the "Node Guarding" L_CanDSxCloseNodeGuarding − deactivating the "Node Guarding" Function By means of this function, the "Node Guarding" monitoring mechanism of the CanDSx driver is deactivated again. · For the deactivation the transfer parameter bClose has to be set to TRUE.
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System bus (CAN) for Lenze PLC devices LenzeCanDSxDrv.lib function library 11.11 11−16 L_CanDSxCloseNodeGuarding − deactivating the "Node Guarding" PLC−Systembus EN 2.
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System bus (CAN) for Lenze PLC devices Index 12 Index C0369, 3−7 , 7−26 A Addressing parameters, 2−13 Axis synchronisation, 7−23 C0591, 3−11 C0592, 3−11 C0593, 3−11 C0595, 3−11 B C0608, 10−4 Baud rate AIF interface, 4−1 CAN interface, 3−1 CAN−AUX interface, 6−1 FIF interface, 5−1 Boot−up AIF interface, 4−2 CAN interface, 3−2 CAN−AUX interface, 6−2 FIF interface, 5−2 Bus load CAN interface, 3−15 CAN−AUX interface, 6−13 FIF interface, 5−13 C0609, 10−4 C1120, 7−23 C1121, 7−25 C1122, 7−25 C1123, 7−25 C
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System bus (CAN) for Lenze PLC devices Index C2481, 5−9 , 6−9 Command code, 2−12 C2482, 5−9 , 6−9 Communication Object Identifier, 2−3 C2483, 5−9 , 6−9 Configuring the AIF interface, 4−1 baud rate, 4−1 boot−up, 4−2 cycle time, 4−6 diagnostics, 4−10 operating status, 4−10 identifiers of the process data objects, 4−4 monitoring processes, 4−8 bus off, 4−9 fault messages, 4−9 time monitoring, 4−8 node address (node ID), 4−3 reset node, 4−8 synchronisation, 4−7 XCAN sync identifier, 4−7 XCAN sync response
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System bus (CAN) for Lenze PLC devices Index Configuring the FIF interface, 5−1 F baud rate, 5−1 boot−up, 5−2 Fault messages, 6−10 AIF interface, 4−9 CAN interface, 3−12 CAN−AUX interface, 6−10 FIF interface, 5−10 cycle time, 5−6 delay time, 5−6 diagnostics, 5−11 bus load, 5−13 operating status, 5−11 diagnostics , telegram counter, 5−12 FIF−CAN sync identifier, 5−7 FIF−CAN sync response, 5−7 identifiers of the process data objects, 5−4 monitoring processes, 5−9 bus−off, 5−9 fault messages, 5−10 time
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System bus (CAN) for Lenze PLC devices Index Process data, 2−5 M identifier, 2−10 sync telegram, 2−9 telegram structure, 2−10 transmission, 2−7 user data, 2−10 Mapping indexes to codes, CAN interface, 3−8 Monitoring mechanisms, 2−21 "Heartbeat", 2−21 "Node Guarding", 2−22 Process data channels, 2−7 Monitoring processes Process Data Objects, 2−5 AIF interface, 4−8 bus off, 4−9 fault messages, 4−9 time monitoring, 4−8 R CAN interface, 3−11 bus−off, 3−11 fault messages, 3−12 time monitoring, 3−11 tim
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System bus (CAN) for Lenze PLC devices Index reset node AIF interface, 4−8 CAN interface, 3−8 CAN−AUX interface, 6−8 FIF interface, 5−8 synchronisation AIF interface, 4−7 CAN interface, 3−7 CAN−AUX interface, 6−7 FIF interface, 5−7 system bus management CAN interface, 3−8 CAN−AUX interface, 6−8 FIF interface, 5−8 telegram structure, 2−3 user data, 2−5 System bus (CAN), 2−1 CAN objects, application recommendations, 2−20 cycle time AIF interface, 4−6 CAN interface, 3−6 CAN−AUX interface, 6−6 FIF interface,
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System bus (CAN) for Lenze PLC devices Index X XCAN sync identifier, 4−7 XCAN sync response, 4−7 XCAN sync Tx transmission cycle, 4−7 12−6 PLC−Systembus EN 2.