SEW MOVIDRIVE MDX60B, User Manual

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Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
5
MOVILINK® profile via CAN
CAN Interfaces of MOVIDRIVE® B
Group process
data telegram for
3 process data
words The master sends the group process data telegram to one or more slaves with the same
SBus group address. It has the same structure as the process output data telegram.
This telegram can be used for sending the same setpoint values to several slaves which
share the same SBus group address. The slaves do not respond to the telegram.
Process data tele-
grams for up to
10 process data
words The transmission of more than 3 process data words is carried out across an
"unacknowlegded fragmentation channel". The telegrams always have a length of 8
bytes even if fewer data are required for data transmission. The reason is to prevent
incorrect interpretation of process data. Telegrams with a length of 8 bytes are always
fragmented.
The CAN telegrams are structured as follows:
"Len (Byte)" is the number of data bytes to be transmitted in total (e.g. 10 PD = 20 bytes).
64300AXX
Byte
0
Byte
1
Byte
2
Byte
3
Byte
4
Byte
5
PO1 PO2 PO3
ID CRC
64302AXX
Byte
0
Byte
1
Byte
2
Byte
3
Byte
4
Byte
5
POx POy POz
PIx PIy
PIz
ID
ID
CRC
CRC
Fragment
Information
Byte
6
Byte
7
Fragment
Information
Byte no. Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Fragmentation type Fragmentation count
1 Len (Byte)
2 IO Data
3 IO Data
4 IO Data
5 IO Data
6 IO Data
7 IO Data