Lenze EPM−T9XX Modular system - Manual (Page 171)

Via system bus (CAN)
Structure of the CAN data telegram
8
Networking via system bus (CAN)
8.1
8.1.1
L
8.1−1 EDSPM−TXXX−9.0−11/2009
8.1 Via system bus (CAN)
The I/O system IP20 supports the Lenze system bus (CAN).
Lenze has developed the system bus on the basis of CAN. As a result, functions
of the communication profile CANopen have been integrated to DS301 which
came into being under the umbrella organisation of CiA (CAN in Automation) in
conformance with the CAL (CAN Application Layer).
)
Note!
l The communication profile system bus (CAN) can be selected
with the setting of the node address (Node ID).
– Information on how to proceed with the modular system is
included in the description of the module CAN Gateway in the
chapter "The modular system".
– Information on how to proceed with the compact system is
included in the description of the corresponding module in the
chapter "The compact system".
– Lenze setting: System bus (CAN)
l Additional information on the system bus (CAN) can be found in
the Lenze CAN Communication Manual.
8.1.1 Structure of the CAN data telegram
Control field CRC delimit. ACK delimit.
Start RTR bit CRC sequence ACK slot End
Identifier User data (0 ... 8 bytes)
·
Network management
·
Process data
·
Parameter data 1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits
Fig. 8.1−1 Basic structure of the CAN telegram
)
Note!
Only the identifier and the user data are relevant to the user. All
other data of the CAN telegram are automatically processed by
the system.