Lenze 9300 Servo PLC, Руководство пользователя

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System bus (CAN) with Servo PLC & Drive PLC
General information
2-9
l
PLC-Systembus EN 1.1
2.6 Transmitting parameter data
With Lenze devices ” codes” are parameter data.
•
Parameter data are, for instance, set when the plant settings are made during commissioning
or when the material for the production machine is changed.
•
Parameter data are transmitted as so-called SDOs ( Service Data Objects) via the system bus
and acknowledged by the recipient, i.e. the transmitter receives a message whether the
transmission was successful.
2.6.1 Telegram structure
Structure of the telegram for parameter data:
11 Bit 8-byte 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
•
In the below 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 parameter.
(
^
2-14)
2.6.1.1 Identifier
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
Two parameter channels are available for parameter data transmission. They are addressed via the
identifier.
Identifier = Basic identifier + node address of the participant
dec hex
SDOs Parameter channel 1
Output (transmit) 1536 600 + C0350
+ C2350 (CAN)
(XCAN)
Input (receive) 1408 580
+ C2350
+ C2450 (XCAN)
(FIF CAN)
Parameter channel 2
Output (transmit) 1600 640
+ C0350
+ C2350 (CAN)
(XCAN)
Input (receive) 1472 5C0
+ C2350
+ C2450 (XCAN)
(FIF CAN)
Tip!
There is an offset of 64 between the identifiers for parameter channels 1 and 2:
•
Output parameter channel 1 = 1536
•
Output parameter channel 2 = 1536 + 64 = 1600
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