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
7.1 CAN1_IO (node number: 31) − 9300 Servo PLC
7−1
L
PLC−Systembus EN 2.0
7 CAN system blocks
7.1 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.
(^ 2−9)
CAN1_nInW1_a
C0866/1
CAN1_dnInD1_p
CAN1_wDctrlCtrl
CAN1_bCtrlB0_b
CAN1_bCtrlB1_b
CAN1_bCtrlB2_b
CAN1_bCtrlQuickstop_b
CAN1_bCtrlB4_b
CAN1_bCtrlB5_b
CAN1_bCtrlB6_b
CAN1_bCtrlB7_b
CAN1_bCtrlDisable_b
CAN1_bCtrlCInhibit_b
CAN1_bCtrlTripSet_b
CAN1_bCtrlTripReset_b
CAN1_bCtrlB12_b
CAN1_bCtrlB13_b
CAN1_bCtrlB14_b
CAN1_bCtrlB15_b
CAN1_nInW2_a
CAN1_bInB _b0...15
CAN1_nInW3_a
CAN1_bInB _b16...31
System bus interface
Control
data
input
WORD
Byte
7
8
5
6
3
4
1
2
16 x
BOOL
Byte
7
8
5
6
3
4
1
2
WORD
CAN1_wDctrlStat
CAN1_nOutW1_a
CAN1_nOutW2_a
CAN1_bFDO _b0...15
CAN1_nOutW3_a
CAN1_bFDO _b16...31
CAN1_dnOutD1_p
CAN1_IO
State
data
output
3
8
9
10
11
0
1
2
3
5
6
7
12
13
14
15
Bit
:
C0866/2
WORD
C0866/3
WORD
16 x BOOL
16 x BOOL
C0867/1
DINT
WORD
C0868/1
WORD
C0868/2
WORD
C0868/3
WORD
16 x BOOL
16 x BOOL
C0151/1
DINT
Output user data
(8 bytes)
Input user data
(8 bytes)
L
H
L
H
C0151/1
C0863/2
C0863/1
C0869/1
Fig. 7−1 CAN1_IO system block