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User Manual CM-CAN1
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1 General introduction
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1.6 CAN protocol for
LUST drives The CAN protocol for LUST drives permits integration of the device in a
CAL network. The identifiers are defined in the devices by setting of the
device address.
After power-on, the drive unit responds cyclically with its logon identifier.
From this identifier the higher-order control can identify which devices are
present on the bus and which addresses have been assigned for the
devices.
Note: It is not permitted to operate two devices with the same
address on one bus.
After the system start the drive unit switches to transmission of the
status message. The control thereby detects that the slave is connected
to the network and is now ready for controlling. For control of the devices,
a protocol for selective control of each drive is available.
A broadcast telegram (System Start/Stop) is provided for synchronized
starting and stopping of all drives.
1.6.1 Device states In contrast to the CAN system state, which describes the status of the
entire bus system, the device states in the various devices of a bus
system may vary.
The device state is determined, firstly, by the selective control commands
over the bus and, secondly, by means of information from the respective
process.
For example, an error in an application results in a change of device state.
In the devices a so-called device state machine is operated which assigns
to each state defined responses to events.