Lenze DDS System bus CAN for PLC manuals

Lenze DDS System bus CAN for PLC User Manual (178 pages)

Brand: Lenze | Category: Hardware | Size: 1.57 MB |

English

Table of contents

Global Drive

1

System bus (CAN)

1

Contents

4

1.1 About this Manual

9

· "Via wDrvNr..."

10

1.1.4 Terminology used

12

2.1 Introduction

13

General information

14

2.4.1 Identifier

15

2.4.2 User data

17

2.5 Network management (NMT)

18

2.6.1 Process data channels

19

2.6.3 Process data telegram

22

2.7.1 Parameter data telegram

23

2.7.1.1 Identifier

23

2.7.1.2 Command code

24

2.8 Free CAN objects

31

2.10 Monitoring mechanisms

33

NMT Master NMT Slave

34

3.1 CAN baud rate

35

3.2 CAN boot−up

36

3.3 Node address (node ID)

37

3.7 Synchronisation

41

3.8 Reset node

42

3.9 System bus management

42

3.10 Mapping indexes to codes

42

3.12 Monitoring processes

45

3.13 Diagnostics

47

3.13.2 Telegram counter

48

3.13.3 Bus load by the PLC

49

4.1 CAN baud rate

51

4.2 CAN boot−up

52

4.3 Node address (node ID)

53

Configuration (AIF interface)

54

4.6 Synchronisation

57

4.7 Reset node

58

4.8 Monitoring processes

58

4.8.2 Bus off

59

4.9 Diagnostics

60

5.1 CAN baud rate

61

5.2 CAN boot−up

62

5.3 Node address (node ID)

63

Configuration (FIF interface)

64

5.7 Synchronisation

67

5.8 Reset node

68

5.9 System bus management

68

5.10 Monitoring processes

69

5.11 Diagnostics

71

5.11.2 Telegram counter

72

5.11.3 Bus load by FIF−CAN

73

6.1 CAN baud rate

75

6.2 CAN boot−up

76

6.3 Node address (Node ID)

77

6.7 Synchronisation

81

6.8 Reset node

82

6.9 System bus management

82

6.10 Monitoring processes

83

6.11 Diagnostics

85

6.11.2 Telegram counter

86

6.11.3 Bus load by CAN−AUX

87

7 CAN system blocks

89

7.1.1 Inputs_CAN1

90

7.1.2 Outputs_CAN1

90

7.1.3 Process data telegram

91

7.2.1 Inputs_CAN1

95

7.2.2 Outputs_CAN1

95

7.2.3 Process data telegram

96

7.3.1 Inputs_CAN1

99

7.3.2 Outputs_CAN1

99

CAN system blocks

100

7.3.3 Process data telegram

100

7.4 CAN2_IO (node number: 32)

102

7.4.1 Inputs_CAN2

103

7.4.2 Outputs_CAN2

103

7.4.3 Process data telegram

103

7.5 CAN3_IO (node number: 33)

105

7.5.1 Inputs_CAN3

106

7.5.2 Outputs_CAN3

106

7.5.3 Process data telegram

106

7.6.1 Inputs_CAN_Management

108

PLC−Systembus EN 2.0

109

7.6.5 Status messages

110

FIF−CAN system blocks

117

8.1.1 FIF_Inputs_CAN1

118

8.1.2 FIF_Outputs_CAN1

118

8.1.3 Process data telegram

119

8.2.1 FIF_Inputs_CAN2

122

8.2.2 FIF_Outputs_CAN2

122

8.2.3 Process data telegram

122

8.3.1 FIF_Inputs_CAN3

125

8.3.2 FIF_Outputs_CAN3

125

8.3.3 Process data telegram

125

8.4.5 Status messages

129

CAN−AUX system blocks

130

9.1.1 Inputs_CANaux1

131

9.1.2 Outputs_CANaux1

131

9.1.3 Process data telegram

132

9.2.1 Inputs_CANaux2

135

9.2.2 Outputs_CANaux2

135

9.2.3 Process data telegram

135

9.3.1 Inputs_CANaux3

138

9.3.2 Outputs_CANaux3

138

9.3.3 Process data telegram

138

9.4.5 Status messages

142

10.1 Overview

143

L_CanInit

144

· Not for Drive PLC!

146

Transmit status (nState)

151

· See the following table

154

11.1 Overview

157

· Invalid for bit 0 = 1

161

L_CanDSxHeartBeat

164

L_CanDSxNodeGuarding

168

 NodeLifeTimeFactor (C0383)

170

Guarding"

171

L PLC−Systembus EN 2.0

173

12 Index

173

XCAN sync identifier, 4−7

178

XCAN sync response, 4−7

178

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