Lenze 9400 - Manual (Page 293)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
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9 "CAN on board" system bus
9.1 General information
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9.1 General information
For many years the system bus (CAN) based on the CANopen communication profile has been
integrated in Lenze controllers. Due to the lower number of data objects available, the functionality
and compatibility of the old system bus are lower as compared with CANopen. For parameter
setting, two parameter data channels are always available to the user while CANopen provides only
one active parameter data channel (along with the possibility to establish further channels).
The system bus (CANopen) of the Servo Drives 9400 has been developed from the system bus (CAN)
of the controller of the 9300 series with the following properties:
• Full compatibility according to CANopen DS301 V4.02.
• Support of the NMT master/slave function "Node Guarding" (DS301 V4.02).
• Support of the "Heartbeat" NMT slave function (DS301, V4.02).
• There are no restrictions regarding the selection of the node addresses.
• Number of parameterisable server and client SDO channels:
• max. 10 channels with 1 ... 8 bytes
• Number of parameterisable PDO channels:
• max. 4 Transmit-PDOs (TPDOs) with 1 ... 8 bytes
• max. 4 Receive-PDOs (RPDOs) with 1 ... 8 bytes
• All PDO channels are functionally equivalent.
• Monitoring of the RPDOs for data reception
• Telegram counters for SDOs and PDOs
• Bus status diagnostics
• Boot-up telegram generation
• Emergency telegram generation
• Reset node telegram generation (in case of master configuration)
• Sync telegram generation and response to sync telegrams:
• Data transmission/reception
• Device-internal time base synchronisation
• Abort codes
• All CAN on board functions can be parameterised via codes
• Object directory (all mandatory functions, optional functions, indexes)