Instruction Manual
Table Of Contents
- System bus (CAN) for Lenze PLC devices
- This documentation is valid for ...
- Contents
- 1 Preface and general information
- 2 General information on the system bus (CAN)
- 2.1 Introduction
- 2.2 Interfaces of the Lenze PLCs for system bus connection
- 2.3 Identification of the nodes
- 2.4 Structure of the CAN telegram
- 2.5 Network management (NMT)
- 2.6 Transmission of process data
- 2.7 Transmitting parameter data
- 2.8 Free CAN objects
- 2.9 Application recommendations for the different CAN objects
- 2.10 Monitoring mechanisms
- 3 Configuration (system bus - CAN interface)
- 3.1 CAN baud rate
- 3.2 CAN boot-up
- 3.3 Node address (node ID)
- 3.4 Identifiers of the process data objects
- 3.5 Cycle time (CAN2_OUT/CAN3_OUT)
- 3.6 Delay time (CAN2_OUT/CAN3_OUT)
- 3.7 Synchronisation
- 3.8 Reset node
- 3.9 System bus management
- 3.10 Mapping indexes to codes
- 3.11 Remote parameterisation (gateway function)
- 3.12 Monitoring processes
- 3.13 Diagnostics
- 4 Configuration (AIF interface)
- 5 Configuration (FIF interface)
- 6 Configuration (CAN-AUX system bus interface)
- 7 CAN system blocks
- 8 FIF-CAN system blocks (only Drive PLC)
- 9 CAN-AUX system blocks (only ECSxA)
- 10 LenzeCanDrv.lib function library
- 10.1 Overview
- 10.2 Version identifiers of the function library
- 10.3 L_CanInit - initialising the CAN driver
- 10.4 L_CanClose - deactivating the CAN driver
- 10.5 L_CanGetStatus - querying the driver status
- 10.6 L_CanGetRelocCobId - querying the COB-ID range
- 10.7 L_CanPdoTransmit - transmitting a CAN object
- 10.8 L_CanPdoReceive - receiving a CAN object
- 11 LenzeCanDSxDrv.libfunction library
- 11.1 Overview
- 11.2 Version identifiers of the function library
- 11.3 L_CanDSxInitIndexCode - Configuration of index mapping
- 11.4 L_CanDSxOpen - initialising the CanDSx driver
- 11.5 L_CanDSxClose - deactivating the index mapping
- 11.6 L_CanDSxOpenHeartBeat - initialising a "Heartbeat"
- 11.7 L_CanDSxHeartBeat - carrying out a "Heartbeat"
- 11.8 L_CanDSxCloseHeartBeat - deactivating the "Heartbeat"
- 11.9 L_CanDSxOpenNodeGuarding - initialising the "Node Guarding"
- 11.10 L_CanDSxNodeGuarding - carrying out a "Node guarding"
- 11.11 L_CanDSxCloseNodeGuarding - deactivating the "Node Guarding"
- 12 Index
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.4 CAN2_IO (node number: 32)
7−15
L
PLC−Systembus EN 2.0
7.4.1 Inputs_CAN2
Variable Data type Signal type Address Display code Display
format
Notes
CAN2_nInW1_a
Integer Analog
%IW32.0 C0866/4
dec [%]
CAN2_nInW2_a %IW32.1 C0866/5
CAN2_bInB0_b
Bool Binary
%IX32.0.0
hex
... ... C0863/3
CAN2_bInB15_b %IX32.0.15
CAN2_bInB16_b %IX32.1.0
... ... C0863/4
CAN2_bInB31_b %IX32.1.15
CAN2_dnInD1_p Double integer Position %ID32.0 C0867/2 dec [inc]
CAN2_nInW3_a
Integer Analog
%IW32.2 C0866/6
dec [%]
CAN2_nInW4_a %IW32.3 C0866/7
7.4.2 Outputs_CAN2
Variable Data type Signal type Address Display code Display
format
Notes
CAN2_nOutW1_a
Integer Analog
%QW32.0 C0868/4
dec [%]
CAN2_nOutW2_a %QW32.1 C0868/5
CAN2_bFDO0_b
Bool Binary
%QX32.0.0
C0151/2 hex
Display code in hex
as double word
... ...
CAN2_bFDO15_b %QX32.0.15
CAN2_bFDO16_b %QX32.1.0
... ...
CAN2_bFDO31_b %QX32.1.15
CAN2_dnOutD1_p Double integer Position %QD32.0 C0869/2 dec [inc]
CAN2_nOutW3_a
Integer Analog
%QW32.2 C0868/6
dec [%]
CAN2_nOutW4_a %QW32.3 C0868/7
7.4.3 Process data telegram
The process data telegram consists of an identifier and 8 bytes of user data.
11 bit 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)