Lenze ECSCPxxx - Manual (Page 412)

Appendix
Communication with MotionBus/system bus (CAN)
Structure of the CAN data telegram
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412 EDBCSXP064 EN 8.0
12.3 Communication with MotionBus/system bus (CAN)
For communication between the components of the drive system the axis modules
ECSxP... have two CAN interfaces:
ƒ Interface X4 ("CAN")
– MotionBus (CAN)
– For communication with a higher−level host system (PLC) or further controllers
– The data is exchanged via process data channels and parameter data channels.
– Parameter setting/diagnostics via code range C03xx
ƒ Interface X14 ("CAN−AUX")
– System bus (CAN)
– PC interface/HMI for parameter setting and diagnostics
– Interface to a decentralised I/O system
– The data is exchanged via parameter data channels only.
– Parameter setting/diagnostics via code range C24xx
The communication is effected via data telegrams.
)
Note!
In case of the ECSxP axis module, the PDOs CANaux1_IN/OUT and
CANaux2_IN/OUT can be used via the CAN interface X14 (system bus (CAN)).
Configuration takes place via codes C24xx.
12.3.1 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)
l Network management
l Process data
l Parameter data 1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits
Fig. 12−1 Basic structure of the CAN telegram
Identifier
The identifier determines the priority of the message. Moreover, the following is coded:
ƒ The CAN node address (device address in the CAN network) of the node which is to
receive the CAN telegram.
See also chapter "Addressing of the parameter and process data objects" (
¶ 429).
ƒ The type of user data to be transferred