System bus (CAN) with Servo PLC & Drive PLC
LenzeCanDrv.lib – Functions
8.1
Initialisation (L_CanInit)
8-2
L
PLC-Systembus EN 1.1
Receive identifier area
Fig. 8-2shows the identifier area available for data receipt.
•
Basically, the whole identifier area from 0 to 2047 is available.
•
The areas shown in Fig. 8-2 with a grey background are pre-assigned for certain applications,
e.g. for network management commands and process data.
•
Areas that have not been pre-assigned are marked with free area 1 ... 4.
Note for the 9300 Servo PLC!
Due to its limited storage capacity, the 9300 Servo PLC can - unlike the Drive PLC - only receive the
below data
at the same time
:
•
Data with identifiers within the area shown in Fig. 8-2with a grey background.
•
Data with identifiers within the 64-object identifier area
COB ID area
.
NMT commands
0
127
Tx Sync
128
Alarm objects
129
191
free area 1
192
383
Process data objects (PDO)
384
831
COB ID area
(relocatable identifier area - default setting)
832
895
COB ID area
(Only important to 9300 Servo PLC)
In addition to the pre-assigned areas, the COB ID area
free area 2
1407
add t o to t e p e ass g ed a eas, t e CO
a ea
makes available another 64 identifiers for simultaneous
data receipt with the 9300 Servo PLC.
•
As a default setting these are identifiers 832...895.
•
If you need other identifiers you can use the
Service data objects (SDO)
1408
1663
•
If you need other identifiers, you can use the
dwRelocCobIdArea
variable to relocate the COB ID
area within the free areas 1 ... 4 during initialisation.
•
If
dwRelocCobIdArea
is used to relocate the COB ID
free area 3
1664
1791
•
If
dwRelocCobIdArea
is used to relocate the COB ID
area in a way that it overlaps a pre-defined area, the
return value of the function will signal an error.
(Bit 0 = 1 / bit 1 = 1)
Node monitoring
1792
1855
(
)
free area 4
1856
2047
Fig. 8-2
Pre-assigned and free identifier areas and relocatable COB ID areas for the 9300 Servo PLC
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