Lenze 9300 Servo PLC, Manual

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System bus (CAN) with Servo PLC & Drive PLC
General information
2-1
l
PLC-Systembus EN 1.1
2 General information about the system bus (CAN)
2.1 Introduction
All Lenze drive and automation systems have an integrated system bus interface to network control
components on the fieldbus level.
The system bus interface allows to exchange, for example, process data and parameter data
between the participants and to connect other modules such as decentralised terminals, keypads
and input devices as well as external controls and hosts.
The system bus interface transmits CAN objects on the basis of the CAN open communication
profile (CiA DS301, version 4.01), which was created by the
CiA umbrella organisation ( C AN i n
A utomation) in accordance with the CAL ( C AN A pplication L ayer).
2.1.1 System bus interfaces of the Lenze PLCs
The below table gives you an overview of the system bus interfaces of the 9300 Servo PLC and Drive
PLC:
CAN objects available Info
Integrated system bus interface
PDOs CAN1_IN/CAN1_OUT
CAN2_IN/CAN2_OUT
CAN3_IN/CAN3_OUT See chapter3,
“Configuration (integrated system bus interface)”.
^ 3-1
SDOs SDO1 (parameter channel 1)
SDO2 (parameter channel 2)
3
L_ParRead/L_ParWrite
functionality Reading/writing of codes.
See documentation for the “LenzeDrive.lib” function
library
Sync telegram
See chapter 3,
The internal time base is synchronised on
receipt of the Sync telegram
p ,
“Configuration (integrated system bus interface)”.
^
3-1
Free CAN objects
Automation interface (AIF)
with an appropriate fieldbus module
(e.g. 2175)
PDOs XCAN1_IN/XCAN1_OUT
XCAN2_IN/XCAN2_OUT
XCAN3_IN/XCAN3_OUT See chapter4, “Configuration (AIF interface)”.
^ 4-1
( g )
SDOs XSDO1 (parameter channel 1)
XSDO2 (parameter channel 2)
XSync telegram
Function interface (FIF)
with an appropriate fieldbus module
(e. g. system bus CAN I/O)
PDOs FIF-CAN1_IN/FIF-CAN1_OUT
FIF-CAN2_IN/FIF-CAN2_OUT
FIF-CAN3_IN/FIF-CAN3_OUT Only with Drive PLC
See chapter5, “Configuration (FIF interface)”.
^ 5-1
( g y )
SDOs
FIF SDO1 (parameter channel 1)
FIF SDO2 (parameter channel 2)
5
L_ParRead/L_ParWrite
functionality Reading/writing of codes.
See documentation for the
“LenzeDrive.lib” function library.
Sync telegram See chapter5, “Configuration (FIF interface)”.
^ 5-1
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