Document Outline

• System bus (CAN) for Lenze PLC devices
  • This documentation is valid for ...
  • Contents
    • 1 Preface and general information
      • 1.1 About this Manual
        • 1.1.1 Conventions used in this Manual
        • 1.1.2 Structure of the description
        • 1.1.3 Pictographs used in this Manual
        • 1.1.4 Terminology used
    • 2 General information on the system bus (CAN)
      • 2.1 Introduction
      • 2.2 Interfaces of the Lenze PLCs for system bus connection
      • 2.3 Identification of the nodes
      • 2.4 Structure of the CAN telegram
        • 2.4.1 Identifier
        • 2.4.2 User data
      • 2.5 Network management (NMT)
      • 2.6 Transmission of process data
        • 2.6.1 Process data channels
        • 2.6.2 Sync telegram for cyclic process data
        • 2.6.3 Process data telegram
      • 2.7 Transmitting parameter data
        • 2.7.1 Parameter data telegram
        • 2.7.2 Writing parameters (example)
        • 2.7.3 Reading a parameter (example)
      • 2.8 Free CAN objects
      • 2.9 Application recommendations for the different CAN objects
      • 2.10 Monitoring mechanisms
        • 2.10.1 "Heartbeat"
        • 2.10.2 "Node Guarding"
    • 3 Configuration (system bus - CAN interface)
      • 3.1 CAN baud rate
      • 3.2 CAN boot-up
      • 3.3 Node address (node ID)
      • 3.4 Identifiers of the process data objects
        • 3.4.1 Allocation of individual identifiers
        • 3.4.2 Display of the identifier set
      • 3.5 Cycle time (CAN2_OUT/CAN3_OUT)
      • 3.6 Delay time (CAN2_OUT/CAN3_OUT)
      • 3.7 Synchronisation
        • 3.7.1 CAN sync response
        • 3.7.2 CAN sync identifiers
        • 3.7.3 CAN sync Tx transmission cycle
      • 3.8 Reset node
      • 3.9 System bus management
      • 3.10 Mapping indexes to codes
        • 3.10.1 Functional principle considering as example
      • 3.11 Remote parameterisation (gateway function)
      • 3.12 Monitoring processes
        • 3.12.1 Time monitoring for CAN1_IN ... CAN3_IN
        • 3.12.2 Bus-off
        • 3.12.3 Time-out when remote parameterisation is activated
        • 3.12.4 Response in the case of system bus fault messages
      • 3.13 Diagnostics
        • 3.13.1 Operating status of the CAN interface
        • 3.13.2 Telegram counter
        • 3.13.3 Bus load by the PLC
    • 4 Configuration (AIF interface)
      • 4.1 CAN baud rate
      • 4.2 CAN boot-up
      • 4.3 Node address (node ID)
      • 4.4 Identifiers of the process data objects
        • 4.4.1 Allocation of individual identifiers
        • 4.4.2 Display of the identifier set
      • 4.5 Cycle time (XCAN1_OUT ... XCAN3_OUT)
      • 4.6 Synchronisation
        • 4.6.1 XCAN sync response
        • 4.6.2 XCAN sync identifier
        • 4.6.3 XCAN sync Tx transmission cycle
      • 4.7 Reset node
      • 4.8 Monitoring processes
        • 4.8.1 Time monitoring for XCAN1_IN ... XCAN3_IN
        • 4.8.2 Bus off
        • 4.8.3 Response for system bus fault messages
      • 4.9 Diagnostics
        • 4.9.1 Automation interface (AIF) operating status
    • 5 Configuration (FIF interface)
      • 5.1 CAN baud rate
      • 5.2 CAN boot-up
      • 5.3 Node address (node ID)
      • 5.4 Identifiers of the process data objects
        • 5.4.1 Allocation of individual identifiers
        • 5.4.2 Display of the identifiers set
      • 5.5 Cycle time (FIF_CAN2_OUT/FIF_CAN3_OUT)
      • 5.6 Delay time (FIF_CAN2_OUT/FIF_CAN3_OUT)
      • 5.7 Synchronisation
        • 5.7.1 FIF-CAN sync response
        • 5.7.2 FIF-CAN sync identifier
        • 5.7.3 FIF-CAN sync Tx transmission cycle
      • 5.8 Reset node
      • 5.9 System bus management
      • 5.10 Monitoring processes
        • 5.10.1 Time monitoring for FIF-CAN1_IN ... FIF-CAN3_IN
        • 5.10.2 Bus-off
        • 5.10.3 Response in the case of system bus fault messages
      • 5.11 Diagnostics
        • 5.11.1 Function interface (FIF) operating status
        • 5.11.2 Telegram counter
        • 5.11.3 Bus load by FIF-CAN
    • 6 Configuration (CAN-AUX system bus interface)
      • 6.1 CAN baud rate
      • 6.2 CAN boot-up
      • 6.3 Node address (Node ID)
      • 6.4 Identifiers of the process data objects
        • 6.4.1 Allocation of individual identifiers
        • 6.4.2 Display of the identifiers set
      • 6.5 Cycle time (CANaux2_OUT/CANaux3_OUT)
      • 6.6 Delay time (CANaux2_OUT/CANaux3_OUT)
      • 6.7 Synchronisation
        • 6.7.1 CANaux sync response
        • 6.7.2 CANaux sync identifiers
        • 6.7.3 CANaux sync Tx transmission cycle
      • 6.8 Reset node
      • 6.9 System bus management
      • 6.10 Monitoring processes
        • 6.10.1 Time monitoring for CANaux1_IN ... CANaux3_IN
        • 6.10.2 Bus-off
        • 6.10.3 Response in the case of system bus fault messages
      • 6.11 Diagnostics
        • 6.11.1 Operating status of the CAN-AUX interface
        • 6.11.2 Telegram counter
        • 6.11.3 Bus load by CAN-AUX
    • 7 CAN system blocks
      • 7.1 CAN1_IO (node number: 31) - 9300 Servo PLC
        • 7.1.1 Inputs_CAN1
        • 7.1.2 Outputs_CAN1
        • 7.1.3 Process data telegram
        • 7.1.4 Assignment of the user data to variables
        • 7.1.5 Transferring status and control information of the device control
      • 7.2 CAN1_IO (node number: 31) - Drive PLC
        • 7.2.1 Inputs_CAN1
        • 7.2.2 Outputs_CAN1
        • 7.2.3 Process data telegram
        • 7.2.4 Assignment of the user data to variables
      • 7.3 CAN1_IO (node number: 31) - ECSxA
        • 7.3.1 Inputs_CAN1
        • 7.3.2 Outputs_CAN1
        • 7.3.3 Process data telegram
        • 7.3.4 Assignment of the user data to variables
      • 7.4 CAN2_IO (node number: 32)
        • 7.4.1 Inputs_CAN2
        • 7.4.2 Outputs_CAN2
        • 7.4.3 Process data telegram
        • 7.4.4 Assignment of the user data to variables
      • 7.5 CAN3_IO (node number: 33)
        • 7.5.1 Inputs_CAN3
        • 7.5.2 Outputs_CAN3
        • 7.5.3 Process data telegram
        • 7.5.4 Assignment of the user data to variables
      • 7.6 CAN_Management (node number: 101)
        • 7.6.1 Inputs_CAN_Management
        • 7.6.2 Outputs_CAN_Management
        • 7.6.3 Activating a reset node
        • 7.6.4 Defining the instant of transmission for CAN2_OUT/CAN3_OUT
        • 7.6.5 Status messages
      • 7.7 CAN_Synchronization (node number: 102)
    • 8 FIF-CAN system blocks (only Drive PLC)
      • 8.1 FIF_CAN1_IO (node number: 34)
        • 8.1.1 FIF_Inputs_CAN1
        • 8.1.2 FIF_Outputs_CAN1
        • 8.1.3 Process data telegram
        • 8.1.4 Assignment of the user data to variables
      • 8.2 FIF_CAN2_IO (node number: 35)
        • 8.2.1 FIF_Inputs_CAN2
        • 8.2.2 FIF_Outputs_CAN2
        • 8.2.3 Process data telegram
        • 8.2.4 Assignment of the user data to variables
      • 8.3 FIF_CAN3_IO (node number: 36)
        • 8.3.1 FIF_Inputs_CAN3
        • 8.3.2 FIF_Outputs_CAN3
        • 8.3.3 Process data telegram
        • 8.3.4 Assignment of the user data to variables
      • 8.4 FIF_CAN_Management (node number: 111)
        • 8.4.1 FIF_Inputs_CAN_Management
        • 8.4.2 FIF_Outputs_CAN_Management
        • 8.4.3 Activating a reset node
        • 8.4.4 Defining the instant of transmission for FIF-CAN2_OUT/FIF-CAN3_OUT
        • 8.4.5 Status messages
    • 9 CAN-AUX system blocks (only ECSxA)
      • 9.1 CANaux1_IO (node number: 34)
        • 9.1.1 Inputs_CANaux1
        • 9.1.2 Outputs_CANaux1
        • 9.1.3 Process data telegram
        • 9.1.4 Assignment of the user data to variables
      • 9.2 CANaux2_IO (node number: 35)
        • 9.2.1 Inputs_CANaux2
        • 9.2.2 Outputs_CANaux2
        • 9.2.3 Process data telegram
        • 9.2.4 Assignment of the user data to variables
      • 9.3 CANaux3_IO (node number: 36)
        • 9.3.1 Inputs_CANaux3
        • 9.3.2 Outputs_CANaux3
        • 9.3.3 Process data telegram
        • 9.3.4 Assignment of the user data to variables
      • 9.4 CANaux_Management (node number: 111)
        • 9.4.1 Inputs_CANaux_Management
        • 9.4.2 Outputs_CANaux_Management
        • 9.4.3 Activating a reset node
        • 9.4.4 Defining the instant of transmission for CANaux2_OUT/CANaux3_OUT
        • 9.4.5 Status messages
    • 10 LenzeCanDrv.lib function library
      • 10.1 Overview
      • 10.2 Version identifiers of the function library
      • 10.3 L_CanInit - initialising the CAN driver
      • 10.4 L_CanClose - deactivating the CAN driver
      • 10.5 L_CanGetStatus - querying the driver status
      • 10.6 L_CanGetRelocCobId - querying the COB-ID range
      • 10.7 L_CanPdoTransmit - transmitting a CAN object
      • 10.8 L_CanPdoReceive - receiving a CAN object
    • 11 LenzeCanDSxDrv.libfunction library
      • 11.1 Overview
      • 11.2 Version identifiers of the function library
      • 11.3 L_CanDSxInitIndexCode - Configuration of index mapping
      • 11.4 L_CanDSxOpen - initialising the CanDSx driver
      • 11.5 L_CanDSxClose - deactivating the index mapping
      • 11.6 L_CanDSxOpenHeartBeat - initialising a "Heartbeat"
      • 11.7 L_CanDSxHeartBeat - carrying out a "Heartbeat"
      • 11.8 L_CanDSxCloseHeartBeat - deactivating the "Heartbeat"
      • 11.9 L_CanDSxOpenNodeGuarding - initialising the "Node Guarding"
      • 11.10 L_CanDSxNodeGuarding - carrying out a "Node guarding"
      • 11.11 L_CanDSxCloseNodeGuarding - deactivating the "Node Guarding"
    • 12 Index