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
General information
2−2
l
PLC−Systembus EN 2.0
2.2 Interfaces of the Lenze PLCs for system bus connection
The following table provides an overview of the Lenze PLC system bus interfaces 9300 Servo PLC,
Drive PLC and ECSxA:
CAN objects available Information
System bus interface CAN
PDOs CAN1_IN/CAN1_OUT
CAN2_IN/CAN2_OUT
CAN3_IN/CAN3_OUT
See chapter 3, "Configuration (CAN system bus
interface)".
^ 3−1
SDOs
SDO1 (parameter data channel 1)
SDO2 (parameter data channel 2)
L_ParRead/L_ParWrite
functionality
Reading/writing of codes.
See documentation on the LenzeDrive.lib
function library
Sync telegram
See chapter 3, "Configuration (CAN system bus
interface)".
^ 3−1
Synchronisation of the internal time basis
by receiving sync telegrams
Free CAN objects
Automation interface (AIF)
with corresponding fieldbus module
(e.g. 2175)
PDOs XCAN1_IN/XCAN1_OUT
XCAN2_IN/XCAN2_OUT
XCAN3_IN/XCAN3_OUT
See chapter 4, "Configuration (AIF interface)".
^ 4−1
SDOs XSDO1 (parameter data
channel 1)
XSDO2 (parameter data
channel 2)
XSync telegram
Function interface (FIF)
with corresponding function module
(e.g. CAN−I/O system bus)
PDOs FIF−CAN1_IN/FIF−CAN1_OUT
FIF−CAN2_IN/FIF−CAN2_OUT
FIF−CAN3_IN/FIF−CAN3_OUT
For Drive PLC only!
See chapter 5, "Configuration (FIF interface)".
^ 5−1
SDOs
FIF−SDO1 (parameter data
channel 1)
FIF−SDO2 (parameter data
channel 2)
L_ParRead/L_ParWrite
functionality
Reading/writing of codes.
See documentation on the LenzeDrive.lib
function library
Sync telegram See chapter 5, "Configuration (FIF interface)".
^ 5−1
System bus interface CAN−AUX
PDOs CANaux1_IN/CANaux1_OUT
CANaux2_IN/CANaux2_OUT
CANaux3_IN/CANaux3_OUT
For ECSxA only!
See chapter 6, "Configuration (CAN−AUX system bus
interface)".
^ 6−1
SDOs
CAN−AUX−SDO (parameter data
channel)
L_ParRead/L_ParWrite
functionality
Reading/writing of codes.
See documentation on the function library
LenzeDrive.lib
Sync telegram See chapter 6, "Configuration (CAN−AUX system bus
interface)".
^ 6−1