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System bus (CAN) with Servo PLC & Drive PLC

Preface and general information

1-3

PLC-Systembus EN 1.1

1.1.3

Pictographs used in this Manual

Use of

pictographs

Signal words

Warning of

damage to material

Stop!

Warns of

potential damage to material

Possible consequences if disregarded:
Damage to the controller/drive system or its environment

Other notes

Tip!
Note!

Indicates a tip or note.

1.1.4

Terminology used

Term

In the following text used for

DDS

Drive PLC Developer Studio

Function block

GDC

Global Drive Control (parameter setting program from Lenze)

Parameter codes

Codes for setting the functionality of a function block

System block

System bus

System bus (CAN): Lenze standard bus system based on

CANopen

1.2

Information about the function library version

Via the global constant

C_wLenzeCanDrvVersion

of the

LenzeCanDrv.lib

function library you can

obtain information about the function library version.

•

The value of this constant is a hexadecimal code. The value “16#0130” stands, for example,
for “Version 1.3”.

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Содержание 9300 Servo PLC

Страница 1: ...L Global Drive System bus CAN with 9300 Servo PLC Drive PLC Manual Show Hide Bookmarks...

Страница 2: ...Co KG No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze GmbH Co KG All information given in this online documentation has b...

Страница 3: ...oduction 2 1 2 1 1 System bus interfaces of the Lenze PLCs 2 1 2 2 Device identifiers 2 2 2 3 Structure of the CAN telegram 2 2 2 3 1 Identifier 2 2 2 3 2 User data 2 4 2 4 Network management NMT 2 5...

Страница 4: ...2 Bus off 3 7 3 10 3 Reaction to system bus error messages 3 8 3 11 Diagnostics 3 9 3 11 1 Operating state of the system bus 3 9 3 11 2 Telegram counter 3 10 3 11 3 Bus load through the PLC 3 10 4 Co...

Страница 5: ...x transmission cycle 5 6 5 8 Reset node 5 7 5 9 System bus management 5 7 5 10 Monitoring 5 8 5 10 1 Time monitoring for FIF CAN1_IN FIF CAN3_IN 5 8 5 10 2 Bus off 5 8 5 10 3 Reaction to system bus er...

Страница 6: ...2 2 FIF_Outputs_CAN2 7 7 7 3 FIF_CAN3_IO 7 9 7 3 1 FIF_Inputs_CAN3 7 9 7 3 2 FIF_Outputs_CAN3 7 11 7 4 FIF_CAN_Management 7 13 8 Functions 8 1 8 1 Initialisation L_CanInit 8 1 8 2 Deactivation L_CanC...

Страница 7: ...only 7 CAN objects FIF_CAN1_IO FIF_CAN3_IO 7 1 7 CAN management FIF_CAN_Management 7 1 LenzeCanDrv lib function library free CAN objects 8 Functions 8 1 9 Function blocks 9 1 1 Only with Drive PLC 1 1...

Страница 8: ...eters Identifier Data type Possible settings Info Table giving information about the input and output variables Identifier Data type Type of variable Possible settings Info Table giving information ab...

Страница 9: ...he following text used for DDS Drive PLC Developer Studio FB Function block GDC Global Drive Control parameter setting program from Lenze Parameter codes Codes for setting the functionality of a funct...

Страница 10: ...System bus CAN with Servo PLC Drive PLC Preface and general information 1 4 l PLC Systembus EN 1 1 Show Hide Bookmarks...

Страница 11: ...UT 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...

Страница 12: ...user data are important to the user all other data of the CAN telegram will be controlled by the system 2 3 1 Identifier The CAN communication principle is based on a message oriented data exchange b...

Страница 13: ...XCAN Input receive 1472 5C0 C2350 C2450 XCAN FIF CAN PDOs CAN1_IO cyclic process data CAN1_IN 512 200 C0350 C2350 CAN XCAN CAN1_OUT 384 180 C2350 C2450 XCAN FIF CAN CAN2_IO event or time controlled pr...

Страница 14: ...mationInterface for cyclic process data Sync controlled See 9300 Servo PLC or Drive PLC Manual SB AIF2_IO_AutomationInterface for event or time controlled process data SB AIF3_IO_AutomationInterface f...

Страница 15: ...management telegrams parameter and process data cannot be received 80 Pre operational The PLC can receive parameter data process data are ignored 81 Reset node Changes to system bus parameters relevan...

Страница 16: ...CAN1_IO FIF_CAN2_IO FIF_CAN3_IO Cyclic process data Sync controlled event or time controlled process data event or time controlled process data Tip In the following sub sections you can find additiona...

Страница 17: ...CAN2_OUT CAN2_IN Event controlled process data Process data channel 3 CAN2_IN CAN2_OUT CAN3_OUT CAN3_IN CAN3_IN CAN3_OUT e g decentralised terminals Fig 2 3 Process data channels 2 and 3 CAN2_IO CAN3_...

Страница 18: ...t data CAN1_IN 3 With the next Sync telegram data is accepted in the PLC 4 All other telegrams e g for parameter or event controlled process data are asynchronously accepted by the PLC once they have...

Страница 19: ...low sub sections the individual telegram components are explained in detail In chapter 2 6 2 you can find an example of writing a parameter 2 13 In chapter 2 6 3 you can find an example of reading a p...

Страница 20: ...ers with 1 2 or 4 byte data 4 byte data 32 bits 2 byte data 16 bits 1 byte data 8 bits Command hex dec hex dec hex dec Info Write Request 23 35 2B 43 2F 47 Send parameters to a participant Write Respo...

Страница 21: ...addressing a subcode the number of the corresponding subcode must be entered in the telegram subindex Codes without subcodes always have the subindex 0 The Lenze codes have an index between 40C0hex 1...

Страница 22: ...ple Example Transmitting the value 20 for a code in Fixed32 data format Fixed32 is a fixed point format with 4 decimal places accordingly the value has to be multiplied by 10000 Data1 4 20 10000 20000...

Страница 23: ...e user data Identifier Command Index Subindex Data 1 Data 2 Data 3 Data 4 Identifier Command code Low byte High byte Subindex Data 1 Data 2 Data 3 Data 4 1537 23hex F3hex 5Fhex 0 40hex 0Dhex 03hex 00h...

Страница 24: ...ta 2 Data 3 Data 4 1541 40hex C2hex 5Fhex 0 0 0 0 0 Identifier 1541 L Identifier 1413 Read Request C0061 Read Response C0061 43 C SDO 1 Node ID 5 Telegram from the controller value of the requested pa...

Страница 25: ...n Time controlled transmission Time controlled transmission with overlapping event control Forced transmission Identifier area Transmit and receive identifiers can be assigned in the area from 0 2047...

Страница 26: ...Depending on the process image Sync telegram required1 Recommended application CAN1_IO Data exchange CAN2_IO g of setpoint actual position values f t i t d l ith li ti CAN3_IO of setpoint speed values...

Страница 27: ...Unless a higher level host system controls the system bus initialisation and the status change from pre operational to operational you can select a PLC or a drive controller as a quasi master to fulfi...

Страница 28: ...data object identifiers CAN2_IO CAN3_IO allows communication between the controllers L Node ID 1 CAN2_OUT CAN2_IN CAN3_OUT CAN3_IN L Node ID 2 CAN2_OUT CAN2_IN CAN3_OUT CAN3_IN L Node ID 3 3 4 Process...

Страница 29: ...ts 1 2 3 4 5 6 IN1 addr2 OUT1 addr2 IN2 addr2 OUT2 addr2 IN3 addr2 OUT3 addr2 129 1 257 258 385 386 CAN1_IN CAN1_OUT CAN2_IN CAN2_OUT CAN3_IN CAN3_OUT Please ensure that the identifier of the telegram...

Страница 30: ...lways transmitted when a value has changed in the 8 byte user data Lenze default setting Time controlled transmission C0356 x 1 65000 The output data is transmitted in the cycle time set in C0356 x re...

Страница 31: ...c response 1 CAN Sync response 0 no response No reaction 1 response to Sync The PLC reacts to a Sync telegram and transmits the CAN1_OUT object 3 7 2 CAN Sync identifier The transmit and receive ident...

Страница 32: ...reset node command via the SB CAN_Management 6 18 a reset node via C0358 Code LCD Possible settings Info Lenze Choice C0358 Reset node 0 0 no function 1 CAN reset node Reset node 3 9 System bus manage...

Страница 33: ...ing 3 Off Configuration monitoring CAN1_IN error CommErrCANIN1 CAN1 CE1 C0592 MONIT CE2 3 0 Trip 2 Warning 3 Off Configuration monitoring CAN2_IN error CommErrCANIN2 CAN2 CE2 C0593 MONIT CE3 3 0 Trip...

Страница 34: ...ossible settings Reaction Display Error no Meaning TRIP Message Warning Fault QS P Off Code CE1 62 Communication error CAN1_IN time monitoring can be set via C0357 1 C0591 CE2 63 Communication error C...

Страница 35: ...ransmit receive parameter and process data 1 Pre operational The PLC can transmit receive parameter data Process data are ignored A status change from pre operational to operational can be initiated b...

Страница 36: ...t to CAN_OUT3 Sent to parameter channel 1 Sent to parameter channel 2 Received from CAN_IN1 Received from CAN_IN2 Received from CAN_IN3 Received from parameter channel 1 Received from parameter channe...

Страница 37: ...cted via the system bus Value of C0361 1 at drive controller 1 23 5 bus load Value of C0361 1 at drive controller 2 12 6 bus load Value of C0361 1 at drive controller 3 16 0 bus load 52 1 total bus lo...

Страница 38: ...System bus CAN with Servo PLC Drive PLC Configuration 3 12 l PLC Systembus EN 1 1 Show Hide Bookmarks...

Страница 39: ...nd 2 5 a reset node via C0358 3 6 4 1 CAN baud rate All participants must use the same baud rate for data transmission to enable communication via the system bus The baud rate is configured via code C...

Страница 40: ...master 4 3 Node address node ID A so called node address in the range from 1 to 63 also called node ID is assigned to each participant part of the system bus network Each node address may only be ass...

Страница 41: ...IO via C2353 C2354 that are independent of the node address set in C2350 1 Set C2353 x to 1 x subcode of the corresponding process data object Code LCD Possible settings Info Lenze Choice C2353 XCAN a...

Страница 42: ...fo Lenze Choice C2355 1 2 3 4 5 6 XCAN Id XCAN1_IN Id XCAN1_OUT Id XCAN2_IN Id XCAN2_OUT Id XCAN3_IN Id XCAN3_OUT Id g 384 1 2047 System bus identifiers for the process data objects XCAN1_IN XCAN1_OUT...

Страница 43: ...AN Sync response Selection cycle time via C2356 0 Sync with response 1 Sync without response 2 Event triggered with mask cyclically 3 Event triggered with mask with cyclic overlay 1 0 XCAN1_OUT 2 0 XC...

Страница 44: ...1 Time monitoring for XCAN1_IN XCAN3_IN Via C2357 you can configure a time monitoring for the inputs of process data objects XCAN1_IN XCAN3_IN Code LCD Possible settings Info Lenze Choice C2357 CE mon...

Страница 45: ...ces in the grounding of the control electronics An excessive bus load See chapter 3 11 3 Bus load through the PLC 3 10 4 8 3 Reaction to system bus error messages Overview of the system bus error sour...

Страница 46: ...tate Info Bit4 1 Operational The system bus is operational The PLC can transmit receive parameter and process data Bit5 1 Pre Operational The PLC can transmit receive parameter data Process data are i...

Страница 47: ...on A reset node command through an NMT command 2 5 A reset node via C0358 5 7 5 1 CAN baud rate All participants must use the same baud rate for data transmission to enable communication via the syst...

Страница 48: ...5 3 Node address node ID A so called node address in the range from 1 to 63 also called node ID is assigned to each participant part of the system bus network Each node address may only be assigned o...

Страница 49: ...FIF_CAN3_IO via C2453 C2454 that are independent of the node address set in C2350 1 Set C2453 x to 1 x subcode of the corresponding process data object Code LCD Possible settings Info Lenze Choice C24...

Страница 50: ...x subcode This means that identifiers in the range from 385 896 can be assigned to the process data objects 5 4 2 Displaying the set identifier Via C2455 you can display the identifier set for the pro...

Страница 51: ...The output data is always transmitted when a value has changed in the 8 byte user data Lenze default setting Time controlled transmission C2456 x 1 65000 The output data is transmitted in the cycle ti...

Страница 52: ...Lenze Choice C2466 Sync response 1 FIF CAN Sync response 0 no response No reaction 1 response to Sync The PLC reacts to a Sync telegram and transmits the FIF CAN1_OUT object 5 7 2 FIF CAN Sync identi...

Страница 53: ...node command via the SB FIF_CAN_Management 7 13 a reset node via C2458 Code LCD Possible settings Info Lenze Choice C2458 Reset node 0 0 no function 1 FIF CAN reset node Reset node FIF CAN 5 9 System...

Страница 54: ...Warning 3 Off Configuration monitoring FIF CAN1_IN error CE11 C2482 MONIT CE12 3 0 Trip 2 Warning 3 Off Configuration monitoring FIF CAN2_IN error CE12 C2483 MONIT CE13 3 0 Trip 2 Warning 3 Off Config...

Страница 55: ...ible settings Reaction Display Error no Meaning TRIP Message Warning Error QS P Off Code CE11 122 Communication error FIF CAN1_IN Time monitoring can be set via C2457 1 C2481 CE12 123 Communication er...

Страница 56: ...n transmit receive parameter and process data 1 Pre operational The PLC can transmit receive parameter data Process data are ignored A status change from pre operational to operational can be initiate...

Страница 57: ...T1 sent to FIF CAN_OUT2 sent to FIF CAN_OUT3 sent to parameter channel 1 sent to parameter channel 2 received from FIF CAN_IN1 received from FIF CAN_IN2 received from FIF CAN_IN3 received from paramet...

Страница 58: ...System bus CAN with Servo PLC Drive PLC Configuration FIF interface 5 12 l PLC Systembus EN 1 1 Show Hide Bookmarks...

Страница 59: ...inary signals C0867 1 16 Bit LowWord 16 Bit HighWord CAN1_dnInD1_p 16 Bit CAN1_wDctrlCtrl CAN1_bCtrlB0_b CAN1_bCtrlB1_b CAN1_bCtrlB2_b CAN1_bCtrlQuickstop_b CAN1_bCtrlB4_b CAN1_bCtrlB5_b CAN1_bCtrlB6_...

Страница 60: ...0 7 C0136 2 bin CAN1_bCtrlDisable_b Bool binary IX31 0 8 C0136 2 bin CAN1_bCtrlCInhibit_b IX31 0 9 CAN1_bCtrlTripSet_b IX31 0 10 CAN1_bCtrlTripReset_b IX31 0 11 CAN1_bCtrlB12_b IX31 0 12 CAN1_bCtrlB13...

Страница 61: ...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 N...

Страница 62: ...Bit 16 Bit C0868 2 CAN1_nOutW2__a CAN1_bFDO0_b CAN1_bFDO15_b C0868 3 CAN1_nOutW3_a CAN1_bFDO16_b CAN1_bFDO31_b 16 Bit C0151 1 16 binary signals 16 Bit C0151 1 16 binary signals CAN1_dnOutD1_p X4 Fig...

Страница 63: ...1 bit Variable 16 bit Variable 32 bit 1 2 CAN1_wDctrlStat Note Bytes 1 and 2 can be used to transmit the status word for the DCTRL SB To do this connect the variable DCTRL_wStat of the DCTRL SB with...

Страница 64: ...erated by another bus participant 2 8 Inputs_CAN1 X5 SYSTEMBUS CAN1_bInB0_b CAN1_bInB15_b CAN1_nInW0_a C0136 2 16 Bit C0863 1 16 binary signals Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8...

Страница 65: ...position ID31 1 C0867 1 dec inc 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...

Страница 66: ...inary signals CAN1_nOutW1_a CAN2_nOutW2_a CAN1_nOutW3_a CAN1_bFDO32_b CAN1_bFDO47_b CAN1_bFDO48_b CAN1_bFDO63_b CAN1_dnOutD1_p CAN1_nOutW0_a CAN1_bFDO0_b CAN1_bFDO15_b CAN1_bFDO16_b CAN1_bFDO31_b X5 F...

Страница 67: ...ows the PLC to transmit data as required as binary information 1 bit quasi analog value 16 bit phase angle information 32 bit Byte Variable 1 bit Variable 16 bit Variable 32 bit 1 2 CAN1_bFDO 0 _b CAN...

Страница 68: ...bInB16_b CAN2_bInB31_b CAN2_nInW2_a C0866 5 16 Bit C0863 4 16 binary signals C0867 2 16 Bit LowWord 16 Bit HighWord CAN2_nInW3_a C0866 6 CAN2_dnInD1_p C0866 7 16 Bit 16 Bit CAN2_nInW4_a Fig 6 5 Inputs...

Страница 69: ...eceived 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 quasi analog value 16 bit phase angle informa...

Страница 70: ...6 binary signals CAN2_nOutW2_a CAN2_nOutW1_a CAN2_bFDO0_b CAN2_bFDO15_b CAN2_bFDO16_b CAN2_bFDO31_b 16 Bit 16 Bit C0868 7 CAN2_nOutW4_a C0869 2 CAN2_dnOutD1_p C0868 6 CAN2_nOutW3_a Fig 6 6 Outputs_CAN...

Страница 71: ...t the same time and can therefore as required be transmitted as binary information 1 bit quasi analog value 16 bit phase angle information 32 bit from the PLC program Byte Variable 1 bit Variable 16 b...

Страница 72: ...nB16_b CAN3_bInB31_b CAN3_nInW2_a C0866 9 16 Bit C0863 6 16 binary signals C0867 3 16 Bit LowWord 16 Bit HighWord CAN3_nInW3_a C0866 10 CAN3_dnInD1_p C0866 11 16 Bit 16 Bit CAN3_nInW4_a Fig 6 7 Inputs...

Страница 73: ...eceived 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 quasi analog value 16 bit phase angle informa...

Страница 74: ...binary signals CAN3_nOutW2_a CAN3_nOutW1_a CAN3_bFDO0_b CAN3_bFDO15_b CAN3_bFDO16_b CAN3_bFDO31_b 16 Bit 16 Bit C0868 11 CAN3_nOutW4_a C0869 3 CAN3_dnOutD1_p C0868 10 CAN3_nOutW3_a Fig 6 8 Outputs_CAN...

Страница 75: ...t the same time and can therefore as required be transmitted as binary information 1 bit quasi analog value 16 bit phase angle information 32 bit from the PLC program Byte Variable 1 bit Variable 16 b...

Страница 76: ...ResetNode_b QX101 0 0 Execute Reset Node of the PLC CAN_bTxCan2Synchronized_b QX101 0 1 Transmit CAN2_OUT with Sync telegram CAN_bTxCan3Synchronized_b B l bi QX101 0 2 Transmit CAN3_OUT with Sync tele...

Страница 77: ...l 0 Off Fig 6 10 CAN_Synchronization Variable Name Data Type Signal Type Address DIS DIS format Note CAN_b SyncInsideWindow_b Bool binary IX102 0 0 TRUE Sync telegram signal within the time window C11...

Страница 78: ...time between the Sync telegrams signals the Sync correction factor C0363 the control mode C1120 Axis synchronisation via system bus CAN The system bus transmits both the Sync telegram and the process...

Страница 79: ...ster Sync telegrams of the master The master sends a periodic Sync telegram for synchronisation Sync signal The value set under C1121 is the time between two Sync signals LOW HIGH edge of the master o...

Страница 80: ...1 6 s ms 5 1 0 s ms 2 0 s ms CAN Sync correction step width Change correction value until CAN_nSyncDeviation has been re duced to a minimum CAN sync reaction Code LCD Possible settings IMPORTANT Lenze...

Страница 81: ...PLC via the CAN_bSyncInsideWindow_b signal on the digital output Synchronisation monitoring If CAN_bSyncInsideWindow_b TRUE enable drive controller PLC Configuration example Synchronisation via termin...

Страница 82: ...System bus CAN with Servo PLC Drive PLC System blocks 6 6 CAN_Synchronization 6 24 L PLC Systembus EN 1 1 Show Hide Bookmarks...

Страница 83: ...als Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 FIF_CAN1_bInB16_b FIF_CAN1_bInB31_b FIF_CAN1_nInW1_a C2492 1 16 Bit C2491 2 16 binary signals FIF_CAN1_bInB32_b FIF_CAN1_bInB47_b FIF_CAN1_n...

Страница 84: ...Identifier Information about the identifier can be found in chapter 2 3 1 2 2 User data Thereceived 8 bytes of user dataareassigned to several variables of adifferent datatypeat thesame time and can t...

Страница 85: ...6 binary signals FIF_CAN1_nOutW1_a FIF_CAN2_nOutW2_a FIF_CAN1_nOutW3_a FIF_CAN1_bFDO32_b FIF_CAN1_bFDO47_b FIF_CAN1_bFDO48_b FIF_CAN1_bFDO63_b FIF_CAN1_dnOutD1_p FIF_CAN1_nOutW0_a FIF_CAN1_bFDO0_b FIF...

Страница 86: ...d as binary information 1 bit quasi analog value 16 bit phase angle information 32 bit Byte Variable 1 bit Variable 16 bit Variable 32 bit 1 2 FIF_CAN1_bFDO 0 _b FIF_CAN1_bFDO 15 _b FIF_CAN1_nOutW0_a...

Страница 87: ...yte 8 FIF_CAN2_bInB16_b FIF_CAN2_bInB31_b FIF_CAN2_nInW2_a C2492 5 16 Bit C2491 4 16 binary signals 16 Bit LowWord 16 Bit HighWord FIF_CAN2_nInW3_a C2492 6 FIF_CAN2_dnInD1_p C2492 7 16 Bit 16 Bit FIF_...

Страница 88: ...d to several variables of a different data type at the same time and can therefore as required be evaluated as binary information 1 bit quasi analog value 16 bit phase angle information 32 bit in the...

Страница 89: ...t HighWord 16 Bit 16 binary signals 16 Bit 16 binary signals FIF_CAN2_nOutW2_a FIF_CAN2_nOutW1_a FIF_CAN2_bFDO0_b FIF_CAN2_bFDO15_b FIF_CAN2_bFDO16_b FIF_CAN2_bFDO31_b 16 Bit 16 Bit C2493 7 FIF_CAN2_n...

Страница 90: ...therefore as required be transmitted as binary information 1 bit quasi analog value 16 bit phase angle information 32 bit from the PLC program Byte Variable 1 bit Variable 16 bit Variable 32 bit 1 2 F...

Страница 91: ...e 8 FIF_CAN3_bInB16_b FIF_CAN3_bInB31_b FIF_CAN3_nInW2_a C2492 9 16 Bit C2491 6 16 binary signals 16 Bit LowWord 16 Bit HighWord FIF_CAN3_nInW3_a C2492 10 FIF_CAN3_dnInD1_p C2492 11 16 Bit 16 Bit FIF_...

Страница 92: ...ed to several variables of a different data type at the same time and can therefore as required be evaluated as binary information 1 bit quasi analog value 16 bit phase angle information 32 bit in the...

Страница 93: ...ord 16 Bit 16 binary signals 16 Bit 16 binary signals FIF_CAN3_nOutW2_a FIF_CAN3_nOutW1_a FIF_CAN3_bFDO0_b FIF_CAN3_bFDO15_b FIF_CAN3_bFDO16_b FIF_CAN3_bFDO31_b 16 Bit 16 Bit C2493 11 FIF_CAN3_nOutW4_...

Страница 94: ...therefore be transmitted as required as binary information 1 bit quasi analog value 16 bit phase angle information 32 bit from the PLC program Byte Variable 1 bit Variable 16 bit Variable 32 bit 1 2...

Страница 95: ...ataType SignalType Address DIS DIS format Note FIF_CAN_bResetNode_b QX101 0 0 Execute reset node of the CAN FIF FIF_CAN_bTxCan2Synchronized_b QX101 0 1 Transmit FIF CAN2_OUT with Sync telegram FIF_CAN...

Страница 96: ...System bus CAN with Servo PLC Drive PLC System blocks 7 4 FIF_CAN_Management 7 14 L PLC Systembus EN 1 1 Show Hide Bookmarks...

Страница 97: ...Area Double word 0 192 319 832 1344 1664 1728 1856 1984 Identifier area Only important to 9300 Servo PLC dwRelocCobIdArea 832 default setting free area 1 free area 2 free area 3 free area 4 Return val...

Страница 98: ...92 383 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 ar...

Страница 99: ...arning 3 Off 4 Fail QSP 9300 Servo PLC only Configuration monitoring Tx buffer C0609 over Rx lsr 0 0 Trip 4 Fail QSP Configuration monitoring Rx buffer 9300 Servo PLC only Example Calling the function...

Страница 100: ...ion is activated L_CanClose wDrvNr Fig 8 3 Deactivation L_CanClose Transfer parameters Identifier Data type Possible settings Info wDrvNr Word 10 11 System bus FIF CAN in preparation Return value Data...

Страница 101: ...e Transfer parameters Identifier Data type Possible settings Info wDrvNr Word 10 11 System bus FIF CAN in preparation Return value Data type Bit Value Meaning Priority Double word 0 0 Driver is initia...

Страница 102: ...n The setting wDrvNr 11 FIF CAN is not useful since the relocatable area is only used with the 9300 Servo PLC and a FIF CAN is not possible here Return value Data type Value Meaning Priority Double in...

Страница 103: ...byte VAR_INPUT Pointer positioned over the memory address from which data bytes are to be sent Use the ADR address function to ascertain the address of a variable tRepeatTime Time VAR_INPUT T 0s T xm...

Страница 104: ...lised 3 119 The transmission request memory is full The transmission request could not be entered Remedy Reduce the number of transmission objects Increase the cycle time of the transmission objects I...

Страница 105: ...s saved in the transmission request memory You can also use the L_ParWrite FB of the LenzeDrive lib function library to save transmission requests in the transmission request memory The transmission r...

Страница 106: ...atTime T 5ms byTransmitMode 3 Command Forced transmission in ST SendWithID678 SendData force send procedure Note With the L_CanPdoTransmit and L_CanPdoReceive FBs you must not use an address which is...

Страница 107: ...ess nState bNewMessage Fig 9 2 Receive CAN object L_CanPdoReceive Identifier Data type Type of variable Possible settings Info wDrvNr Word VAR_INPUT 10 11 System bus FIF CAN byLen Byte VAR_INPUT 0 8 T...

Страница 108: ...r than 8 The telegram length was limited to 8 bytes 200 Data was received without resetting bNewMessage Valid data might have been overwritten in the receive memory Resetting the bNewMessage variable...

Страница 109: ...4 6 C0359 3 9 C0360 3 10 C0361 3 10 C0363 6 22 C0366 3 5 6 22 C0367 3 5 6 22 C0368 3 5 6 22 C0369 3 5 6 22 C0591 3 7 C0592 3 7 C0593 3 7 C0595 3 7 C0608 8 3 C0609 8 3 C1120 6 20 C1121 6 21 C1122 6 21...

Страница 110: ...7 13 Communication Object Identifier 2 2 Cycle time 3 4 4 4 5 5 D Definitions 1 3 Delay time for boot up 3 1 4 2 5 2 Device address 2 5 Diagnostics 3 9 4 8 5 10 E Error messages 3 8 4 7 5 9 Error Resp...

Страница 111: ...S Safety information Layout Other notes 1 3 Warning of damage to material 1 3 SDOs 2 4 Service Data Objects 2 4 Subcodes 2 11 Subindex 2 11 Sync telegram 2 2 2 8 Synchronisation 3 5 4 5 5 6 6 19 Synch...

Страница 112: ...System bus CAN with Servo PLC Drive PLC Index 10 4 l PLC Systembus EN 1 1 Show Hide Bookmarks...

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