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
7.2 CAN1_IO (node number: 31) − Drive PLC
System bus (CAN) for Lenze PLC devices
CAN system blocks
7−6
L
PLC−Systembus EN 2.0
7.2 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_nInW0_a
CAN1_nInW1_a
CAN1_bInB _b0...15
CAN1_bInB _b16...31
System bus interface
Byte
7
8
5
6
3
4
1
2
Byte
7
8
5
6
3
4
1
2
CAN1_nOutW0_a
CAN1_nOutW1_a
CAN1_nOutW2_a
CAN1_bFDO _b16...31
CAN1_dnOutD1_p
CAN1_IO
DINT
WORD
WORD
WORD
16 x BOOL
DINT
Output user data
(8 bytes)
Input user data
(8 bytes)
L
H
L
H
CAN1_bFDO _b0...15
16 x BOOL
CAN1_nOutW3_a
WORD
CAN1_nInW2_a
CAN1_nInW3_a
CAN1_dnInD1_p
C0868/1
C0869/1
C0868/2
C0868/3
C0867/1
CAN1_bFDO _b32...47
16 x BOOL
CAN1_bFDO _b48...63
16 x BOOL
WORD
WORD
16 x BOOL
16 x BOOL
WORD
C0866/1
C0866/2
C0866/3
16 x BOOL
16 x BOOL
WORD
C0136/2
CAN1_bInB _b32...47
CAN1_bInB _b48...63
Fig. 7−2 CAN1_IO system block