System bus (CAN) with Servo PLC & Drive PLC
System blocks
6.1
CAN1_IO (9300 Servo PLC)
6-3
L
PLC-Systembus EN 1.1
Process data telegram
The process data telegram consists of an
identifier
and 8 bytes of user data.
11-bit
8-byte user data
Identifier
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Identifier
Information about the identifier can be found in chapter 2.3.1.
User data
The received 8 bytes of user data are assigned to several variables of a different data type at the same
time and can therefore - as required - be evaluated as
•
binary information (1-bit)
•
control word quasi-analog value (16-bit)
•
phase-angle information (32-bit)
in the PLC program:
Byte
Variable (1-bit)
Variable (16-bit)
Variable (32-bit)
1, 2
CAN1_bInB
0
_b
CAN1_bInB
1
_b
CAN1_bInB
2
_b
CAN1_bCtrlQuickstop_b
CAN1_bInB
4
_b
...
CAN1_bInB
7
_b
CAN1_bCtrlDisable_b
CAN1_bCtrlCInhibit_b
CAN1_bCtrlTripSet_b
CAN1_bCtrlTripReset_b
CAN1_bInB
12
_b
...
CAN1_bInB
15
_b
CAN1_wDctrlCtrl
Note:
The internal control word of the drive controller is
not
permanently connected with byte 1/2!
•
The signals for the functions Quick Stop (QSP), DISABLE, CINH, TRIP SET and TRIP RESET can be written to the DCTRL SB by
connecting the variable
CAN1_wDctrlCtrl
with the variable
DCTRL_wCAN1Ctrl
of the DCTRL SB.
•
These signals can also be read and processed via the following variables:
–
CAN1_bCtrlQuickstop_b
–
CAN1_bCtrlDisable_b
–
CAN1_bCtrlCInhibit_b
–
CAN1_bCtrlTripSet_b
–
CAN1_bCtrlTripReset_b
•
The remaining 11 bits (
CAN1_bInB.._b
) can be used to control further functions/function blocks.
3, 4
CAN1_nInW1_a
5, 6
CAN1_bInB
0
_b
...
CAN1_bInB
15
_b
CAN1_nInW2_a
CAN1 dnInD1 p
7, 8
CAN1_bInB
16
_b
...
CAN1_bInB
31
_b
CAN1_nInW3_a
CAN1_dnInD1_p
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