Lenze PC-based automation - Manual (Page 33)

DMS 1.3 EN - 02/2011
L
33
Control technology| System manual
System description
Network topologies
4.2.1 Control technology with CANopen
CANopen as the basis for the Lenze control technology
 The control technology based on CANopen serves to implement the classical Lenze de-
vice series that have the system bus (CAN) on board. Thus, solutions at optimal cost are
possible.
 In order to extend the existing limits of the CAN bus, up to four CAN lines can be used
which are synchronised among each other.
 The highest possible number of nodes on a CAN line depends on the baud rate and the
set cycle time.
– Example: Three nodes can be connected to the CAN bus with a setpoint PDO and an
actual value PDO each at a cycle time of 1 [ms] and a baud rate of 1[MBit/s].
Physical structure
Due to the real time requirements of the bus system and the limited transmission capacity,
it is vital with CANopen to separate the bus line with Motion from the one with compon-
ents that are controlled via PLC functionalities only (Logic). Moreover it is required, depen-
ding on the number of Motion nodes and the bus cycle time, to create several Motion bus
lines.
CANopen uses separate CAN interfaces to operate Logic and Motion nodes:
 The IPCs support up to four CAN interfaces.
– Interface 1 is CANOpen(Logic),
– Interface 2-4 is CANOpen(Motion).
– If no Logic is required, the interface 1 can additionally be Motion. Thus, up to four
synchronised Motion buses are possible.

Note!
• When the IPC type "Command Station" is used, only two bus lines are possib-
le!
• Depending on the required number of Motion nodes and bus cycle time, up
to four Motion bus lines can be created.
• When the IPC series "Command Station" CS x8xx is used, only two bus lines
are possible.
Convention for "PC based Automation"
• Bus line 1 (CAN1): CANopen (Logic) or CANopen (Motion)
• Bus line 2 - 4 (CAN2 - 4): CANopen (Motion)