Lenze ECSCPxxx - Manual (Page 220)

Commissioning
Configuring the electrical shaft ("E−Shaft")
Electrical shaft via MotionBus (CAN) with PLC as electrical shaft master
6
l
220 EDBCSXP064 EN 8.0
6.18.4 Electrical shaft via MotionBus (CAN) with PLC as electrical shaft master
In this operating mode, control information and master value are comprised in a telegram
and individually transmitted to each slave.
The function of the master as a master value source can be taken over by a higher−level
control (PLC). The speed and position−controlled slave drives follow the cyclic master value
(angle) determined by the master as path followers.
In this configuration of the electrical shaft, the master control (PLC) takes over the function
of the E−shaft master and the control of the slave drives (start / stop of the positioning
profiles).
Slave 3 Slave 2 Slave 1 PLC
ECS ECS ECS
X
S
X4 X4
120
120120
X14 X14 X14
ECSXP003
Fig. 6−54 Electrical shaft via MotionBus (CAN) with higher−level control as electrical shaft master
PLC Higher−level control (PLC) as electrical shaft master and for control of the drive
system
Slave 1 ... 3 Slave drives (ECSxP axis modules )
Only the MotionBus (CAN) at X4 is used for data exchange between the master control
(PLC) and the slave drives.
Each slave drive receives an individual process data telegram from the master within a
fixed cycle time. This contains the "Ctrl1" control word with the control bits from the
master to the slaves and the master value for the electrical shaft function.
The slaves send a status telegram each back to the master. For estimating the bus load, two
telegrams must be set per slave. Moreover, one CAN sync telegram is transmitted cyclically
by the master. More telegrams are transmitted for the parameter communication.
The total number of the CAN telegrams to be transmitted via the MotionBus (CAN) and the
set CAN baud rate determine how many slave drives can be connected when a setpoint
cycle is defined. Or vice versa, which minimum setpoint cycle can be set with a defined
number of slave drives.
The following table can serve as indication for the maximum number of the slaves and the
setpoint cycle:
Baud rate 500 kbps 1000 kbps
Setpoint cycle 2 ms 4 ms 6 ms 2 ms 4 ms 6 ms
Number of slaves 2 5 8 4 10 16