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
LenzeCanDrv.lib function library
10.7 L_CanPdoTransmit − transmitting a CAN object
10−9
L
PLC−Systembus EN 2.0
Identifier InformationPossible settingsVariable typeData type
nState Integer VAR_OUTPUT − Displays the current transmit status.
· See the following table "Transmit state
(nState)"
wNrOfCallsToSend Word VAR_OUTPUT − Displays how many FB calls were required to
transmit the object.
· The "time measurement" starts with entering
the transmit request in the transmit request
memory and ends with the actual
transmission of the object.
Note!
With regard to the allocation of the CAN identifier (dwCobId) please be sure that it is not already used
by one of the other CAN objects CAN1_IO ... CAN3_IO, as otherwise bus errors/bus overload may
occur!
Transmit status (nState)
Data type Value Meaning Priority
Integer
−150 CAN bus is not in the Operational state. 1 (high)
−121 Incorrect driver number (wDrvNr) 2
−120 Driver not initialised 3
−119 The transmit request memory is full. The transmit request could not be entered
anymore.
Remedy:
· Decrease number of the transmission objects.
· Increase cycle time of the transmission objects.
· Increase baud rate.
Basically, an object is transmitted every 250 ms.
4
−118 No free CAN channel is provided.
Remedy:
· Do not use one of the CAN objects CAN1_IN ... CAN3_IN or CAN1_OUT ... CAN3_OUT.
· Set C2118 to 1" (write parameters via SDO2).
PLEASE NOTE: at C2118 = 1 the SDO2 channel no longer is available!
· Switch off generation of the sync object (C0369 = 0).
5
−12 The set message identifier (COB−ID) is beyond the permissible range (0 ... 2047). 6
−11 Pointer pIOAdress does not point to PLC−RAM. 7 (low)
* If there are several error causes, always the return value associated with the error cause
of the highest priority is returned.
0 The transmit request has been carried out and the data have been transmitted.
1 The transmit request has not yet been completed and is still pending in the transmit request memory.
10 The specification for the telegram length byLen is higher than 8. The telegram length has been
limited to 8 bytes.