Lenze E94ARNE Regenerative power supply - Manual (Page 104)

9400 regenerative power supply module | Parameter setting
"CAN on board" system bus
Structure of the CAN data telegram
104
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EDS94ARNExxxx EN 2.3 - 06/2014
6.4 Structure of the CAN data telegram
[6-3] Basic structure of the CAN telegram
Identifier and user data will be described in detail in the following subchapters. The other
signals refer to the transfer characteristics of the CAN telegram, which will not be
explained in this documentation.

Tip!
For more information, please refer to the website of the CAN user organisation CiA
(CAN in Automation):
http://www.can-cia.org
6.4.1 Identifier
The principle of CAN communication is based on a message-oriented data exchange
between a sender and many receivers. All nodes can send and receive quasi-
simultaneously.
The identifier - also called "COB-ID" (abbr. for "Communication Object Identifier") - is used
to control which node is to receive a sent message. In addition to the addressing, the
identifier contains information on the priority of the message and on the type of the user
data.
The identifier consists of a basic identifier and the node address of the node to be
addressed:
Identifier (COB-ID) = basic identifier + node address (node ID)
Exception: For process data, heartbeat and emergency objects as well as network
management and sync telegrams, the identifier is assigned freely by the user (either
manually or automatically via the network configurator) or it is firmly allocated.
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