Software Manual DDS__System bus CAN for PLC

L
Manual
Global Drive
System bus (CAN)
for Lenze PLC devices
This documentation is valid for the following Lenze PLC devices:
Automation system
Type designation
As of hardware version
As of software version
9300 Servo PLC
9300 Servo PLC
EVS93XX−xI
EVS93XX−xT
2K
2K
2.0
2.0
Drive PLC
ECSxA
EPL10200
ECSxAxxx
Px
1A
2.0
6.0
Important note:
The software is supplied to the user as described in this document. Any risks resulting from its quality or use remain the responsibility of the
user. The user must provide all safety measures protecting against possible maloperation.
We do not take any liability for direct or indirect damage, e.g. profit loss, order loss or any loss regarding business.
2006 Lenze Drive Systems GmbH
No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze Drive Systems
GmbH.
All information given in these Operating Instructions has been selected carefully and comply with the hardware and software described. Nevertheless, deviations cannot be ruled out. We do not take any responsibility or liability for damages which might possibly occur. Required
corrections will be made in the following editions.
All product names mentioned in this documentation are trademarks of the corresponding owners.
Version
2.0 07/2006 − TD31
System bus (CAN) for Lenze PLC devices
Contents
1 Preface and general information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1−1
1−2
1−3
1−4
1−4
2 General information on the system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−1
2.1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−1
2.2
Interfaces of the Lenze PLCs for system bus connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−2
2.3
Identification of the nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−3
2.4
Structure of the CAN telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.1
Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.2
User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−3
2−3
2−5
2.5
Network management (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−6
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
2−7
2−9
2−10
2.7
Transmitting parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7.1
Parameter data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7.2
Writing parameters (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7.3
Reading a parameter (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−11
2−11
2−15
2−17
2.8
Free CAN objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−19
2.9
Application recommendations for the different CAN objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−20
2.10 Monitoring mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.10.1 "Heartbeat" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.10.2 "Node Guarding" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−21
2−21
2−22
3 Configuration (system bus − CAN interface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−1
3.1
CAN baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−1
3.2
CAN boot−up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−2
3.3
Node address (node ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−3
3.4
Identifiers of the process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.1
Allocation of individual identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2
Display of the identifier set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−4
3−4
3−5
3.5
Cycle time (CAN2_OUT/CAN3_OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−6
3.6
Delay time (CAN2_OUT/CAN3_OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−6
3.7
Synchronisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.1
CAN sync response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.2
CAN sync identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.3
CAN sync Tx transmission cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−7
3−7
3−7
3−7
3.8
Reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−8
3.9
System bus management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−8
3.10 Mapping indexes to codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.10.1 Functional principle considering as example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−8
3−9
L
PLC−Systembus EN 2.0
i
System bus (CAN) for Lenze PLC devices
Contents
3.11 Remote parameterisation (gateway function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−10
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−11
3−11
3−11
3−12
3−12
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−13
3−13
3−14
3−15
4 Configuration (AIF interface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4−1
4.1
CAN baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4−1
4.2
CAN boot−up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4−2
4.3
Node address (node ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4−3
4.4
Identifiers of the process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1
Allocation of individual identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2
Display of the identifier set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4−4
4−4
4−5
4.5
Cycle time (XCAN1_OUT ... XCAN3_OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4−6
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
4−7
4−7
4−7
4.7
Reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4−8
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4−8
4−8
4−9
4−9
4.9
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.1
Automation interface (AIF) operating status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4−10
4−10
5 Configuration (FIF interface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−1
ii
5.1
CAN baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−1
5.2
CAN boot−up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−2
5.3
Node address (node ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−3
5.4
Identifiers of the process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.1
Allocation of individual identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.2
Display of the identifiers set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−4
5−4
5−5
5.5
Cycle time (FIF_CAN2_OUT/FIF_CAN3_OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−6
5.6
Delay time (FIF_CAN2_OUT/FIF_CAN3_OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−6
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−7
5−7
5−7
5−7
5.8
Reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−8
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
Contents
5.9
System bus management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−8
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−9
5−9
5−9
5−10
5.11 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.11.1 Function interface (FIF) operating status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.11.2 Telegram counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.11.3 Bus load by FIF−CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−11
5−11
5−12
5−13
6 Configuration (CAN−AUX system bus interface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−1
7
6.1
CAN baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−1
6.2
CAN boot−up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−2
6.3
Node address (Node ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−3
6.4
Identifiers of the process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.1
Allocation of individual identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.2
Display of the identifiers set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−4
6−4
6−5
6.5
Cycle time (CANaux2_OUT/CANaux3_OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−6
6.6
Delay time (CANaux2_OUT/CANaux3_OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−6
6.7
Synchronisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.1
CANaux sync response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.2
CANaux sync identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.3
CANaux sync Tx transmission cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−7
6−7
6−7
6−7
6.8
Reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−8
6.9
System bus management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−8
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−9
6−9
6−9
6−10
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−11
6−11
6−12
6−13
CAN system blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7−1
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 . . . . . . . . . . . . . . . . . . . . . . .
7−1
7−2
7−2
7−3
7−3
7−5
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7−6
7−7
7−7
7−8
7−8
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PLC−Systembus EN 2.0
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System bus (CAN) for Lenze PLC devices
Contents
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7−10
7−11
7−11
7−12
7−12
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7−14
7−15
7−15
7−15
7−16
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7−17
7−18
7−18
7−18
7−19
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7−20
7−20
7−21
7−21
7−21
7−22
7.7
CAN_Synchronization (node number: 102) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7−23
8 FIF−CAN system blocks (only Drive PLC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8−1
iv
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8−1
8−2
8−2
8−3
8−3
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8−1
8−2
8−2
8−2
8−3
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8−1
8−2
8−2
8−2
8−3
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8−4
8−4
8−5
8−5
8−5
8−6
PLC−Systembus EN 2.0
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System bus (CAN) for Lenze PLC devices
Contents
9 CAN−AUX system blocks (only ECSxA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9−1
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9−1
9−2
9−2
9−3
9−3
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9−1
9−2
9−2
9−2
9−3
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9−1
9−2
9−2
9−2
9−3
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9−4
9−4
9−5
9−5
9−5
9−6
10 LenzeCanDrv.lib function library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10−1
10.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10−1
10.2 Version identifiers of the function library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10−1
10.3 L_CanInit − initialising the CAN driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10−2
10.4 L_CanClose − deactivating the CAN driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10−5
10.5 L_CanGetStatus − querying the driver status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10−6
10.6 L_CanGetRelocCobId − querying the COB−ID range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10−7
10.7 L_CanPdoTransmit − transmitting a CAN object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10−8
10.8 L_CanPdoReceive − receiving a CAN object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10−12
11 LenzeCanDSxDrv.libfunction library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11−1
11.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11−1
11.2 Version identifiers of the function library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11−2
11.3 L_CanDSxInitIndexCode − Configuration of index mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11−3
11.4 L_CanDSxOpen − initialising the CanDSx driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11−5
11.5 L_CanDSxClose − deactivating the index mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11−6
11.6 L_CanDSxOpenHeartBeat − initialising a "Heartbeat" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11−7
11.7 L_CanDSxHeartBeat − carrying out a "Heartbeat" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11−8
11.8 L_CanDSxCloseHeartBeat − deactivating the "Heartbeat" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11−10
11.9 L_CanDSxOpenNodeGuarding − initialising the "Node Guarding" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11−11
11.10 L_CanDSxNodeGuarding − carrying out a "Node guarding" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11−12
11.11 L_CanDSxCloseNodeGuarding − deactivating the "Node Guarding" . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11−15
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PLC−Systembus EN 2.0
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System bus (CAN) for Lenze PLC devices
Contents
12 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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PLC−Systembus EN 2.0
12−1
L
System bus (CAN) for Lenze PLC devices
Preface and general information
1.1
About this Manual
1
Preface and general information
1.1
About this Manual
This Manual contains information on the system bus interfaces of the Lenze PLC devices
9300 Servo PLC, Drive PLC and ECSxA.
Chapter Content
2
General information on the system bus (CAN)
3
4
5
6
7
8
9
10
11
L
Configuration
Integrated "CAN" system bus interface
Optional system bus interface via automation interface (AIF)
and corresponding fieldbus module (e. g. 2175)
Optional system bus interface via function interface (FIF)
and corresponding function module (e. g. CAN−I/O system bus)
· Only for Drive PLC!
Integrated "CAN−AUX" system bus interface
· Only for ECSxA!
CAN system blocks
CAN objects (CAN1_IO ... CAN3_IO)
CAN synchronisation (CAN_Synchronization)
CAN management (CAN_Management)
FIF−CAN system blocks (only Drive PLC)
CAN objects (FIF_CAN1_IO ... FIF_CAN3_IO)
CAN management (FIF_CAN_Management)
CAN−AUX system blocks (only ECSxA)
CAN objects (CANaux1_IO ... CANaux3_IO)
CAN management (CANaux_Management)
LenzeCanDrv.lib function library
· Free CAN objects
LenzeCanDSxDrv.libfunction library
· Mapping indexes to codes
· "Heartbeat" and "Node Guarding"monitoring mechanisms
PLC−Systembus EN 2.0
^ 2−1
^ 3−1
^ 4−1
^ 5−1
^ 6−1
^ 7−1
^ 8−1
^ 9−1
^ 10−1
^ 11−1
1−1
System bus (CAN) for Lenze PLC devices
Preface and general information
1.1
1.1.1
About this Manual
Conventions used in this Manual
This Manual uses the following conventions to distinguish between different types of information:
Variable identifier
... are presented in italics in the explanatory text:
· "Via wDrvNr..."
Tip!
Information about the conventions used for variables of Lenze system blocks, function blocks and
functions can be obtained from the appendix of the DDS online documentation "Introduction into
IEC 61131−3 programming".The conventions ensure universal and uniform labelling and support the
readability of PLC programs.
Lenze functions/function blocks
... can be identified by their designation. They always start with an "L_":
· "The function L_CanInit ..."
· "The L_CanPdoTransmit FB..."
Program listings
... are specified in the "Courier" font, the keywords being printed bold:
· "IF (ReturnValue < 0) THEN..."
1−2
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
Preface and general information
1.1
1.1.2
About this Manual
Structure of the description
The descriptions of the individual functions/function blocks as well as of system blocks contained
in this Manual have the same structure:
 Headline with SB identifier

‚ SB function and node number
‚
ƒ
ƒ Short description of the SB and its most important features
„
…
†
„ System block chart including all corresponding variables
· Input variables
· Output variables
… Table giving information about input and output variables:
· Identifier
· Data type
· Signal type
· Address
· Display code
· Display format
· Information
† Detailed functional description of the SB
Information on return values for a function
If it was not possible to carry out a function faultlessly, a negative return value is sent back,
representing an error number.
· Each error number is assigned to a corresponding error cause in the Meaning column.
· If different error numbers (−1, −2, ...) may apply, a specific digit (1, 2, ...) in the Priority column
additionally is assigned to the error number.
– The smaller this digit, the higher is the priority of the associated error number.
– If several error causes are available at the same time when a function is carried out, always
the error number with the highest priority is returned by the function.
L
PLC−Systembus EN 2.0
1−3
System bus (CAN) for Lenze PLC devices
Preface and general information
1.1
1.1.3
About this Manual
Pictographs used in this Manual
Pictographs
used
1.1.4
1−4
Signal words
Warning of
material damage
Stop!
Warns of potential damage to material.
Possible consequences if disregarded:
Damage of the controller/drive system or its environment.
More notes
Tip!
Note!
Indicates a tip or note.
Terminology used
Term
AIF
In the following text used for
Automation interface
DDS
FB
Drive PLC Developer Studio
Function block
FIF
GDC
Parameter codes
Function interface
Global Drive Control (parameterisation program from Lenze)
Codes for setting the function of a function block
PLC
· 9300 Servo PLC
· Drive PLC
· ECSxA
SB
System bus
System block
System bus (CAN): Lenze standard bus system similar to CANopen
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
General information
2
General information on the system bus (CAN)
2.1
Introduction
All Lenze drive and automation systems are provided with an integrated system bus interface for the
networking of control components on a field level.
Via the system bus interface, among other things process data and parameter data can be
exchanged between the nodes. Furthermore the interface enables the connection of further
modules, like for example decentralised terminals, operator and input devices, as well as external
controls and host systems.
The system bus interface transfers CAN objects following the CANopen communication profile
(CiA DS301, version 4.01), which was developed under the umbrella association of the CiA (CAN in
Automation), complying with the CAL (CAN Application Layer).
l
PLC−Systembus EN 2.0
2−1
System bus (CAN) for Lenze PLC devices
General information
2.2
Interfaces of the Lenze PLCs for system bus connection
The following table provides an overview of the Lenze PLC system bus interfaces 9300 Servo PLC,
Drive PLC and ECSxA:
CAN objects available
System bus interface CAN
PDOs
SDOs
CAN1_IN/CAN1_OUT
CAN2_IN/CAN2_OUT
CAN3_IN/CAN3_OUT
SDO1 (parameter data channel 1)
SDO2 (parameter data channel 2)
L_ParRead/L_ParWrite
functionality
Sync telegram
Synchronisation of the internal time basis
by receiving sync telegrams
Automation interface (AIF)
with corresponding fieldbus module
(e.g. 2175)
Function interface (FIF)
with corresponding function module
(e.g. CAN−I/O system bus)
Free CAN objects
PDOs
XCAN1_IN/XCAN1_OUT
XCAN2_IN/XCAN2_OUT
XCAN3_IN/XCAN3_OUT
SDOs
XSDO1 (parameter data
channel 1)
XSDO2 (parameter data
channel 2)
XSync telegram
PDOs
FIF−CAN1_IN/FIF−CAN1_OUT
FIF−CAN2_IN/FIF−CAN2_OUT
FIF−CAN3_IN/FIF−CAN3_OUT
SDOs
FIF−SDO1 (parameter data
channel 1)
FIF−SDO2 (parameter data
channel 2)
L_ParRead/L_ParWrite
functionality
Sync telegram
System bus interface CAN−AUX
PDOs
SDOs
CANaux1_IN/CANaux1_OUT
CANaux2_IN/CANaux2_OUT
CANaux3_IN/CANaux3_OUT
CAN−AUX−SDO (parameter data
channel)
L_ParRead/L_ParWrite
functionality
Sync telegram
2−2
PLC−Systembus EN 2.0
Information
See chapter 3, "Configuration (CAN system bus
interface)".
^ 3−1
Reading/writing of codes.
See documentation on the LenzeDrive.lib
function library
See chapter 3, "Configuration (CAN system bus
interface)".
^ 3−1
See chapter 4, "Configuration (AIF interface)".
^ 4−1
For Drive PLC only!
See chapter 5, "Configuration (FIF interface)".
^ 5−1
Reading/writing of codes.
See documentation on the LenzeDrive.lib
function library
See chapter 5, "Configuration (FIF interface)".
^ 5−1
For ECSxA only!
See chapter 6, "Configuration (CAN−AUX system bus
interface)".
^ 6−1
Reading/writing of codes.
See documentation on the function library
LenzeDrive.lib
See chapter 6, "Configuration (CAN−AUX system bus
interface)".
^ 6−1
l
System bus (CAN) for Lenze PLC devices
General information
2.3
Identification of the nodes
Assign a node address − also called Node ID − in the range of 1 to 63 to each node within the system
bus network as a definite identification.
· The same node address may not be assigned more than once within the network.
2.4
Structure of the CAN telegram
Control field
RTR bit
Start
User data 0 ... 8 byte
Identifier
1bit
11bit
1bit
Description see chapter 2.4.1
Fig. 2−1
CRC delimit. ACK delimit.
CRC
ACK slot
End
sequence
6bit
· Network management
· Parameter data
· Process data
15bit
1bit
1bit
1bit
7bit
Description see chapter 2.4.2
Basic structure of a CAN telegram
Tip!
For the user only the identifier and the user data are relevant. All further data of the CAN telegram
are processed by the system.
2.4.1
Identifier
The principle of the CAN communication is based on a message−oriented data exchange between
a transmitter and many receivers. Thereby all nodes practically are able to transmit and receive at the
same time.
The control with regard to the node which is to receive a transmitted message is effected via the
so−called Identifier in the CAN telegram, also called COB−ID (Communication Object Identifier). For
purposes of addressing, the identifier additionally contains information on the priority of the
message, as well as on the type of the user data.
The identifier is composed of a so−called basic identifier and the node address of the node to be
activated:
Identifier + basic identifier ) node address
· For Lenze devices, the node address is defined via code C0350. (^ 3−3)
· For the network management and the sync telegram only the basic identifier is required.
l
PLC−Systembus EN 2.0
2−3
System bus (CAN) for Lenze PLC devices
General information
The following table contains the preset basic identifiers of the Lenze devices:
Identifier =
basic identifier
+ node address of the node
dec
hex
Tx (transmission)
0
0
Rx (reception)
0
0
Tx (transmission)
128
80
Rx (reception)
128
80
Output (transmission)
1536
600
Input (reception)
1408
580
Output (transmission)
1600
640
Input (reception)
1472
5C0
CAN1_IN
512
200
CAN1_OUT
384
180
CAN2_IN
640
280
CAN2_OUT
641
281
CAN3_IN
768
300
CAN3_OUT
769
301
·Network management
Sync telegram
SDOs
Parameter data channel 1
+ C0350
+ C2350
+ C2450
(CAN)
(XCAN)
(FIF−CAN/CAN−AUX)
+ C0350
+ C2350
+ C2450
(CAN)
(XCAN)
(FIF−CAN/CAN−AUX)
+ C0350
+ C2350
+ C2450
(CAN)
(XCAN)
(FIF−CAN/CAN−AUX)
+ C0350
+ C2350
+ C2450
(CAN)
(XCAN)
(FIF−CAN/CAN−AUX)
+ C0350
+ C2350
+ C2450
(CAN)
(XCAN)
(FIF−CAN/CAN−AUX)
Parameter data channel 2
PDOs
CAN1_IO (cyclic process data)
CAN2_IO (event− or time−controlled process data)
CAN3_IO (event− or time−controlled process data)
Tip!
For the process data objects you can also set an individual identifier via the following codes, which
is independent of the node address:
Code
C0353 / C0354
C2353 / C2354
C2453 / C2454
2−4
Interface
CAN (system bus interface)
XCAN (AIF interface)
Information
^ 3−4
^ 4−4
FIF−CAN (FIF interface)
CAN−AUX (system bus interface)
^ 5−4
^ 6−4
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
General information
2.4.2
User data
Via the user data area of the CAN telegram, three different types of data are transported:
Data type
Information
Network management data
Information on the structure of communication via the CAN network.
Chapter 2.5(^ 2−6)
Process data
Process data are data for control−oriented concerns, e. g. setpoints and actual
values.
· Process data are transmitted as so−called PDOs (Process Data Objects) with a
high priority.
· Process data are processed more quickly by the PLC as parameter data.
· The transmission and reception of the process data is effected by the use of
specific system blocks or the free CAN objects:
Chapter 2.6(^ 2−7)
CAN
(integrated
system bus interface)
XCAN
(automation interface)
SB CAN1_IO for cyclic process data (sync−controlled)
9300 Servo PLC: Chapter 7.1(^ 7−1)
Drive PLC: Chapter 7.2(^ 7−6)
ECSxA: Chapter 7.2(^ 7−6)
SB CAN2_IO for event− or time−controlled process data
Chapter 7.4(^ 7−14)
SB CAN3_IO for event− or time−controlled process data
Chapter 7.5(^ 7−17)
SB AIF1_IO_AutomationInterface
for cyclic process data (sync−controlled)
See Manual
· 9300 Servo PLC
· Drive PLC
· ECSxA
SB AIF2_IO_AutomationInterface
for event− or time−controlled process data
SB AIF3_IO_AutomationInterface
for event− or time−controlled process data
FIF−CAN
(function interface,
Drive PLC only!
CAN−AUX
(integrated
system bus interface,
ECSxA only)
Free CAN objects
Parameter data
l
SB FIF_CAN1_IO for cyclic process data (sync−controlled)
Chapter 8.1(^ 8−1)
SB FIF_CAN2_IO for event− or time−controlled process data
Chapter 8.2(^ 8−1)
SB FIF_CAN3_IO for event− or time−controlled process data
Chapter 8.3(^ 8−1)
SB CANaux1_IO for cyclic process data (sync−controlled)
Chapter 9.1(^ 9−1)
SB CANaux2_IO for event− or time−controlled process data
Chapter 9.2(^ 9−1)
SB CANaux3_IO for event− or time−controlled process data
Chapter 9.3(^ 9−1)
By using the functions/function blocks of the LenzeCanDrv.lib function
library, so−called "free CAN objects" additionally can be added to the
fixedly integrated CAN objects.
Chapter 10(^ 10−1)
For Lenze devices, parameter data are the so−called codes.
· Parameter settings for instance are carried out in the case of a one−time
setting of the system during commissioning, or in the case of a material
change of the production machine.
· Parameter data are transferred as so−called SDOs (Service Data Objects) via
the CAN network and are acknowledged by the receiver, i. e. the transmitter
receives a feedback on whether the transmission was successful.
PLC−Systembus EN 2.0
Chapter 2.7(^ 2−11)
2−5
System bus (CAN) for Lenze PLC devices
General information
2.5
Network management (NMT)
The CAN telegram for the network management is structured as follows:
11bit
2 bytes user data
Identifier
Command
00000000000
Device address
· By means of this telegram the master can carry out state changes for the entire CAN network.
Byte 1: command
Command
(hex)
Network status Information
after change
01
Operational
02
Stopped
80
Pre−operational
81
Initialisation
82
The PLC can receive parameter and process data.
The PLC can receive network management telegrams, parameter and process data, however, cannot be
received.
The PLC can receive parameter data. Process data, however, are ignored.
Reset rode: Changes with regard to the communication−relevant parameters of the system bus (e. g. CAN
address, CAN baud rate, etc.) only are accepted after a reset node.
Byte 2: device address
Device address Information
0
1...63
2−6
All nodes on the bus are addressed. By this, a state change can be carried out simultaneously for all devices.
Node address of the node for which a state change is to be effected.
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
General information
2.6
Transmission of process data
Process data are data for control−oriented concerns, e. g. setpoints and actual values.
· Process data are transferred as so−called PDOs (Process Data Objects) with a high priority via
the system bus.
· Transmitting and receiving the process data is effected by the use of specific system blocks:
CAN
(integrated)
XCAN
(AIF interface)
CAN1_IO
CAN2_IO
CAN3_IO
AIF1_IO_AutomationInterface
AIF2_IO_AutomationInterface
AIF3_IO_AutomationInterface
FIF−CAN
(FIF interface)
For Drive PLC only!
FIF_CAN1_IO
FIF_CAN2_IO
FIF_CAN3_IO
CANaux
For ECSxA only!
CANaux1_IO
CANaux2_IO
CANaux3_IO
Information
Cyclic process data (sync−controlled)
Event− or time−controlled process data
Event− or time−controlled process data
Tip!
In the following subchapters you’ll receive further information on the CAN1_IO ... CAN3_IO process
data objects of the CAN interface. This information also applies to the process data objects of the
AIF−, FIF− and CAN−AUX interface!
2.6.1
Process data channels
Process data channel 1: CAN1_IO
The CAN1_IO SB can be used for the data exchange of cyclic process data (e. g. setpoints and
actual values) with a higher−level host system.
cyclic process data (sync−controlled)
process data channel 1
CAN1_IN
CAN1_OUT
Host
Fig. 2−2
l
Process data channel 1 (CAN1_IO) for the cyclic data exchange
PLC−Systembus EN 2.0
2−7
System bus (CAN) for Lenze PLC devices
General information
Process data channel 2/3: CAN2_IO/CAN3_IO
The SBs CAN2_IO and CAN3_IO are designed for the data exchange of event− or time−controlled
process data among the devices. These SBs can also be used for the data exchange with
decentralised input/output terminals and higher−level host systems.
event−controlled process data
process data channel 2
CAN2_IN
CAN2_OUT
CAN2_OUT
CAN2_IN
event−controlled process data
process data channel 3
CAN3_IN
CAN3_OUT
CAN3_OUT
CAN3_IN
E. g. decentralised terminals
Fig. 2−3
Process data channels 2 and 3 (CAN2_IO/CAN3_IO) for the event− or time−controlled data exchange
Tip!
Detailed information on the CAN1_IO ... CAN3_IO CAN objects integrated in the PLC can be found
in the chapter 7, "CAN system blocks":
CAN1_IO for cyclic process data (sync−controlled)
9300 Servo PLC: Chapter 7.1(^ 7−1)
Drive PLC: Chapter 7.2(^ 7−6)
ECSxA: Chapter 7.3(^ 7−10)
2−8
CAN2_IO for event− or time−controlled process data
Chapter 7.4(^ 7−14)
CAN3_IO for event− or time−controlled process data
Chapter 7.5(^ 7−17)
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
General information
2.6.2
Sync telegram for cyclic process data
For the transmission of cyclic process data, a specific telegram − the sync telegram − is required for
the synchronisation.
The sync telegram which has to be generated by a different node initiates the transmission process
for the cyclic process data of the PLC and at the same time is the trigger point for the data acceptance
of the cyclic process data received in the PLC:
Sync telegram
Sync telegram
CAN1_OUT
1.
Fig. 2−4
CAN1_IN
2.
3.
4.
Synchronisation of the cyclic process data by a sync telegram (without considering the asynchronous data)
1. After a sync telegram has been received, the cyclic process output data (CAN1_OUT) are sent
by the PLC if "respond to sync" has been activated.
2. When the transmission process has been completed, the cyclic process input data (CAN1_IN)
are received by the PLC.
3. The data acceptance in the PLC is effected with the next sync telegram.
4. All further telegrams (e. g. for parameters or event−controlled process data) are accepted in an
asynchronous manner by the PLC after transmission has been completed.
Tip!
The response to a sync telegram is configured via the following codes:
· for CAN1_OUT via C0366. (^ 3−7)
·
for XCAN1_OUT ... XCAN3_OUT via C2375. (^ 4−7)
· for FIF−CAN1_OUT via C2466. (^ 5−7)
· for CANaux1_OUT via C2466. (^ 5−7)
Also the telegrams of CAN2_OUT and CAN3_OUT can be transferred after a sync telegram, the
parameterisation of this function is carried out via the CAN_Management SB. (^ 7−20)
l
PLC−Systembus EN 2.0
2−9
System bus (CAN) for Lenze PLC devices
General information
2.6.3
Process data telegram
The process data telegram is structured as follows:
11bit
Identifier
8 bytes user data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Identifier
Information on the identifier can be found in chapter 2.4.1. (^ 2−3)
User data
The 8 bytes user data received or to be transmitted respectively can be read or written
simultaneously by several variables of different data types.
Detailed information on the user data can be found in the description to the respective system block:
· CAN system blocks (^ 7−1 ff.)
· FIF−CAN system blocks (^ 8−1 ff.)
· CAN−AUX system blocks (^ 9−1 ff.)
2−10
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
General information
2.7
Transmitting parameter data
For Lenze devices, parameter data are the so−called codes.
· Parameter settings for instance are carried out in the case of a one−time setting of the system
during commissioning, or in the case of a material change of the production machine.
· Parameter data are transferred as so−called SDOs (Service Data Objects) via the system bus
and are acknowledged by the receiver, i. e. the transmitter receives a feedback on whether the
transmission was successful.
2.7.1
Parameter data telegram
The telegram for parameter data is structured as follows:
11bit
8 bytes user data
Command
code
Identifier
Index
Low byte
Subindex
High byte
Data 1
Data 2
Data 3
Data 4
· In the following subchapters the different components of the telegram are explained in detail.
· An example for writing a parameter can be found in chapter 2.7.2. (^ 2−15)
· An example for reading a parameter can be found in chapter 2.7.3. (^ 2−17)
2.7.1.1
Identifier
Identifier
Command
code
Index
Low byte
Subindex
High byte
Data 1
Data 2
Data 3
Data 4
For the transmission of parameter data, two parameter data channels are provided, which are
addressed via the identifier:
Identifier =
SDOs
basic identifier
dec
hex
Output (transmission)
1536
600
Input (reception)
1408
580
Output (transmission)
1600
640
Input (reception)
1472
5C0
+ node address of the node
Parameter data channel 1
+ C0350
+ C2350
+ C2450
(CAN)
(XCAN)
(FIF−CAN/CANaux)
+ C0350
+ C2350
+ C2450
(CAN)
(XCAN)
(FIF−CAN/CANaux)
Parameter data channel 2
Tip!
Between the identifiers for parameter data channels 1 and 2 there respectively is an offset of 64:
· Output of parameter data channel 1 = 1536
· Output of parameter data channel 2 = 1536 + 64 = 1600
l
PLC−Systembus EN 2.0
2−11
System bus (CAN) for Lenze PLC devices
General information
2.7.1.2
Command code
Command
code
Identifier
Index
Low byte
High byte
Subindex
Data 1
Data 2
Data 3
Data 4
Among other things, the command code contains the command to be carried out as well as
information on the parameter data length, and is structured as follows:
Bit 7 (MSB)
Command
Bit 6
Bit 5
Bit 4
Bit 3
Command Specifier (cs)
Bit 2
Bit 1
Length
Write request
0
0
1
0
Write response
0
1
1
0
Read request
0
1
0
0
Read response
0
1
0
0
Error Response
1
0
0
0
00 = 4 bytes
01 = 3 bytes
10 = 2 bytes
11 = 1 byte
0
0
Bit 0
e
s
1
1
0
0
0
0
1
1
0
0
Command code for parameters with 1, 2, or 4 bytes data length:
4 byte data
(32 bit)
2 byte data
(16 bit)
1 byte data
(8 bit)
Command
hex
dec
hex
dec
hex
dec
Information
Write Request
23
35
2B
43
2F
47
Send parameter to a node
Write Response
60
96
60
64
60
96
Node response to "write request" (acknowledgement)
Read Request
40
64
40
64
40
64
Request for reading a parameter of a node
Read Response
43
67
4B
75
4F
79
Response to the read request with an actual value
Error Response
80
128
80
128
80
128
Node reports an error with regard to communication
"Error Response" command
In the case of this error, an "Error Response" is generated by the node that is addressed.
· This telegram in data 4 always contains the value "6", and in data 3 an error code:
Error Response command code
Data 3
Data 4
3
80hex
C0hex
2−12
Access denied
5
6
8
PLC−Systembus EN 2.0
Error message
Incorrect subindex
6
Incorrect index
Job was not edited
(for 8200 vector + FIF module)
l
System bus (CAN) for Lenze PLC devices
General information
2.7.1.3
Addressing the parameter (index/subindex)
Identifier
Command
code
Index
Low byte
High byte
Subindex
Data 1
Data 2
Data 3
Data 4
The addressing of the parameter or of the Lenze code which is to be read or written is effected via
the index of the telegram:
Index + 24575 * Lenze code number
· The value for the index is to be entered divided into a low and a high byte in the left−justified
Intel format (see example).
· If a subcode is to be addressed, enter the number of the respective subcode in the subindex
of the telegram.
· For codes without subcodes, the subindex always receives the value "0".
· The index for Lenze codes is between 40C0hex (16576) and 5FFFhex (24575).
Lenze code
Index
dec
hex
C0000
24575
5FFF
...
...
...
C7999
16576
40C0
Tip!
For converting a code number to the corresponding index, the function L_FUNCodeIndexConv in
the LenzeDrive.lib function library is provided to you.
Example:
Subcode 1 of code C0168 (fault messages) is to be addressed:
Index + 24575 * 168 + 24407 + 5F57 hex
11bit
Identifier
l
8 bytes user data
Command
code
Index
Low byte
High byte
57hex
5Fhex
Subindex
Data 1
Data 2
Data 3
Data 4
1hex
PLC−Systembus EN 2.0
2−13
System bus (CAN) for Lenze PLC devices
General information
2.7.1.4
Data of the parameter (data 1 ... data 4)
Identifier
Index
Command
code
Low byte
High byte
Subindex
Data 1
Data 2
Data 3
Data 4
For the data of the parameter up to 4 bytes (data 1 ... data 4) are provided.
· The data are presented in the left−justified Intel format with data 1 as LSB and data 4 as MSB
(see example).
Example:
For a code in the "Fixed32" data format, the value "20" is to be transmitted.
· "Fixed32" is a fixed point format with 4 decimal positions. Therefore the value has to be
multiplied by 10000:
Data 1...4 + 20 @ 10000 + 200000 + 00 03 0D 40 hex
11bit
Identifier
8 bytes user data
Command
code
Index
Low byte
High byte
Subindex
Data 1
Data 2
Data 3
Data 4
40hex
0Dhex
03hex
00hex
(LSB)
(MSB)
Tip!
The parameters of the Lenze devices are stored in different formats.
Detailed information on this subject can be found in the Manual for the respective PLC in the chapter
"Appendix − Table of attributes".
2−14
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
General information
2.7.2
Writing parameters (example)
Task
The acceleration time (C0012) of the controller with the node address 1 is to be set to 20 s via the
parameter data channel 1.
Telegram to the controller
Formula
= basic identifier + node address
= 1536 + 1
= 1537
Command code = 23hex
Information
· Basic identifier for parameter data channel 1 (output) = 1536
· Node address of the controller = 1
Identifier
Index
= 24575 − number of the Lenze code
= 24575 − 12
= 24563
= 5F F3hex
Subindex
Data 1 ... 4
=0
= 20 x 10000
= 200000
= 00 03 0D 40hex
· Command "Write Request" (send parameter to controller)
· Code = C0012 (acceleration time)
· Subcode = 0 (no subcode)
· Value = 20 s
· Fixed32 data format (4 fixed decimal positions); multiply value by 10000
11bit
8 bytes user data
Index
Identifier
Command
code
Low byte
High byte
1537
23hex
F3hex
5Fhex
Subindex
Data 1
Data 2
Data 3
0
40hex
0Dhex
03hex
(LSB)
Data 4
00hex
(MSB)
L
Write Request
(C0012 = 20 s)
Write Response
Identifier = 1537
Identifier = 1409
SDO 1 / Node-ID 1
Fig. 2−5
l
Writing parameters
PLC−Systembus EN 2.0
2−15
System bus (CAN) for Lenze PLC devices
General information
Telegram from controller (acknowledgement if carried out correctly)
Formula
= basic identifier + node address
= 1408 + 1
= 1409
Command code = 60hex
Information
· Basic identifier for parameter data channel 1 (input) = 1408
· Node address of the controller = 1
Identifier
Index
Subindex
Data 1 ... 4
· "Write Response" command (acknowledgement by the controller)
= index of the read request
= subindex of the read request
=0
· Acknowledgement only
11bit
2−16
8 bytes user data
Index
Identifier
Command
code
Low byte
High byte
1409
60hex
F3hex
5Fhex
Subindex
Data 1
Data 2
Data 3
Data 4
0
0
0
0
0
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
General information
2.7.3
Reading a parameter (example)
Task
The heatsink temperature (C0061) of the controller with the node address 5 is to be read via the
parameter data channel 1.
Telegram to the controller
Formula
= basic identifier + node address
= 1536 + 5
= 1541
Command code = 40hex
Information
· Basic identifier for parameter data channel 1 (output) = 1536
· Node address of the controller = 5
Index
= 24575 − number of the Lenze code
= 24575 − 61
= 24514
= 5F C2hex
· Code = C0061 (heatsink temperature)
Subindex
Data 1 ... 4
=0
=0
· Subcode = 0 (no subcode)
· Read request only
Identifier
· Command "Read Request" (request to read a parameter from the
controller)
11bit
8 bytes user data
Index
Identifier
Command
code
Low byte
High byte
1541
40hex
C2hex
5Fhex
Subindex
Data 1
Data 2
Data 3
Data 4
0
0
0
0
0
L
Read Request
(C0061 = ???)
Read Response
(C0061 = 43 ºC)
Identifier = 1541
Identifier = 1413
SDO 1 / Node-ID 5
Fig. 2−6
l
Reading parameters
PLC−Systembus EN 2.0
2−17
System bus (CAN) for Lenze PLC devices
General information
Telegram from the controller (value of the parameter requested)
Formula
= basic identifier + node address
= 1408 + 5
= 1413
Command code = 43hex
Information
· Basic identifier for parameter data channel 1 (input) = 1408
· Node address of the controller = 5
Identifier
· "Read Response" command (response to the read request with the
current value)
Index
Subindex
= index of the read request
= subindex of the read request
Data 1 ... 4
= 43 x 10000
= 430000
= 00 06 8F B0hex
· Assumption: The current heatsink temperature of the controller is 43 ºC,
therefore the value of the parameter to be read is 43
· Fixed32 data format (4 fixed decimal positions); multiply value by 10000
11bit
8 bytes user data
Index
Identifier
Command
code
Low byte
High byte
1413
43hex
C2hex
5Fhex
Subindex
Data 1
Data 2
Data 3
Data 4
0
B0hex
8Fhex
06hex
00hex
(LSB)
2−18
PLC−Systembus EN 2.0
(MSB)
l
System bus (CAN) for Lenze PLC devices
General information
2.8
Free CAN objects
If many nodes are connected to the system bus (CAN), it may occur that the CAN objects
(CAN1_IO ... CAN3_IO) which are fixedly integrated in the PLC are not sufficient for the
communication intended, and further CAN objects are required.
By using the functions/function blocks of the LenzeCanDrv.lib function library, so−called "free CAN
objects" can be added to the fixedly integrated CAN objects. (^ 10−2)
Characteristics of the free CAN objects
User data per object
Free CAN objects
1 ... 8 byte
Intended use
Transmission modes
Transmission of parameter and process data
· Event−controlled transmission
· Time−controlled transmission
· Time−controlled transmission with superimposed event control
· Forced transmission
Range for identifiers
Transmission and reception identifiers can be allocated in the range of 0 ... 2047, but they have to differ from the
identifiers of the integrated CAN objects.
Note!
The free CAN objects are processed via a so−called transmit request memory by the operating
system, i. e. the transmission process is not carried out immediately when the L_CanPdoTransmit
FB is called, but is effected in a delayed manner. (^ 10−8)
The transmission and reception jobs of the free CAN objects are not linked to the process image.
l
PLC−Systembus EN 2.0
2−19
System bus (CAN) for Lenze PLC devices
General information
2.9
Application recommendations for the different CAN objects
The following table provides a comparison of the different CAN objects and their specific
characteristics:
CAN object
CAN1_IO
CAN2_IO
CAN3_IO
XCAN1_IO
XCAN2_IO
XCAN3_IO
FIF_CAN1_IO
FIF_CAN2_IO
FIF_CAN3_IO
CANaux1_IO
CANaux2_IO
CANaux3_IO
Free CAN objects
1)
2−20
Process data
transmission
Linked to the
process image
Sync telegram
required1)
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Þ
Application recommendation
Data exchange
· of position setpoints/actual values
· of speed setpoints for servo applications
Þ
Þ
Þ
Data exchange
· of setpoints/actual values
· with analog terminal I/Os
Sync telegram required for the function of the respective CAN1 object
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
General information
2.10
Monitoring mechanisms
In the CANopen communication profile (CiA DS301, version 4.01) two optional monitoring
mechanisms for ensuring the function of system bus nodes are specified, "Heartbeat" and "Node
Guarding".
Note!
The "Heartbeat" and "Node Guarding" monitoring mechanisms are supported by the
9300 Servo PLC, Drive, PLC and by the ECSxA axis module as of V6.0.
The initialisation and execution of the monitoring mechanisms is carried out by means of the
functions/function blocks of the LenzeCanDSxDrv.lib function library. (^ 11−1)
2.10.1
"Heartbeat"
The "Heartbeat" monitoring mechanism is a Producer−Consumer−oriented method which does not
require an enquiry message and where each node is able to monitor the state of all other nodes.
Heartbeat Producer
8
r
1
Heartbeat Consumer(s)
Indication(s)
s
Request
Heartbeat
Producer
Time
Heartbeat
Consumer
Time
8
r
1
s
Indication(s)
Request
r: reserved
s: State of the heartbeat producer:
4
5
127
0
Fig. 2−7
Stopped
Operational
Pre-Operational
Boot-Up Event
Heartbeat
Event
"Heartbeat" monitoring mechanism
· A node (Producer) signalises its communication status by cyclically transmitting a so−called
"Heartbeat" message.
· This "Heartbeat" message can be received by one, several, or by all the other nodes
(Consumer), and thus they can monitor the respective node.
· If the responsible, monitoring node (Consumer) does not receive the "Heartbeat" message
from the node to be monitored (Producer) within the set monitoring time
(HeartBeatConsumerTime), a "Heartbeat" event is displayed in its application.
l
PLC−Systembus EN 2.0
2−21
System bus (CAN) for Lenze PLC devices
General information
2.10.2
"Node Guarding"
In contrast to the "Heartbeat" monitoring mechanism, for the "Node Guarding" an enquiry message
from the monitoring node (NMT Master) is required.
NMT Master
NMT Slave
RTR
Request
8
1
s
t
Node
Guard
Time
Indication
Confirmation
Response
Node
Life
Time
Node
Life
Time
RTR
Request
8
1
Indication
s
t
Confirmation
Response
t: Toggle bit
s: NMT Slave state:
Node
Guarding
Event
Fig. 2−8
4
5
127
0
Stopped
Operational
Pre-Operational
Boot-Up Event
Life
Guarding
Event
"Node guarding" monitoring mechanism
· The NMT master monitors each of the nodes to be monitored (NMT slave) cyclically using a
node−specific "Remote Transmission Request" telegram.
· The NMT slave to be monitored returns its communication status as a response to this
request.
· If the NMT master does not receive the message from the NMT Slave) to be monitored within
the set monitoring time (NodeLifeTime|, a "Node Guarding" event is displayed in its
application.
· For the NMT slave to be monitored, however, a "Life Guarding" event is activated if its status
has not been enquired by the monitoring NMT master for longer than its "Node Life Time".
2−22
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3
Configuration (system bus − CAN interface)
Tip!
Changes with regard to the CAN baud rate, the CAN addresses, and the identifiers for PDOs only
are accepted after a reset node.
A reset node can be effected by
· Reconnection of the mains
· Reset node command via NMT command. (^ 2−6)
· Reset node via C0358 (^ 3−8)
3.1
CAN baud rate
In order to accomplish communication via the system bus, all nodes have to use the same baud rate
for data transmission.
· The configuration of the baud rate is effected via code C0351:
Code
LCD
Possible settings
Information
Lenze Selection
C0351 CAN baud rate
l
0
0
1
2
3
4
500 kbit/s
250 kbit/s
125 kbit/s
50 kbit/s
1000 kbit/s
PLC−Systembus EN 2.0
System bus − baud rate
· Save changes with C0003 = 1.
· Changes are only valid after
reset node!
3−1
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.2
CAN boot−up
If the initialisation of the system bus and the associated state change from Pre−operational to
Operational is not taken over by a higher−level master system, the PLC or a controller can be
designated as a "quasi" master to accomplish this task.
· The configuration is effected via code C0352:
Code
LCD
Possible settings
Information
Lenze Selection
C0352 CAN mst
0
0
1
Boot−up not active
Boot−up active
Device sends system bus boot−up
and thus is the "quasi" master.
Delay time for system bus initialisation (boot−up)
Some nodes (e. g. HMIs) require a specific starting time after mains connection before they can be
transferred to the Operational state via NMT commands by the master.
In order to ensure that even the node with the greatest starting time really is ready to receive NMT
commands, you can set a delay time. When it has expired, NMT commands can only be transmitted
after mains power−up.
· The configuration of this delay time is effected via code C0356/1:
Code
LCD
Possible settings
Information
Lenze Selection
C0356 CAN boot−up
1
3−2
0
{1 ms}
3000
PLC−Systembus EN 2.0
65000 Delay time after power−on for
initialisation via the "quasi" master
l
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.3
Node address (node ID)
Assign a node address − also called Node ID − within the range of 1 to 63 to each node within the
system bus network as a definite identification.
· The same node address may not be assigned more than once within the network.
· The configuration of the node address for the PLC is carried out via code C0350:
Code
LCD
Possible settings
Information
Lenze Selection
C0350 CAN address
1
1
{1}
63 System bus − node address
· Save changes with C0003 = 1.
· Changes are only valid after
reset node!
Allocation of the node address for the data exchange among Lenze devices
If Lenze devices are provided with node addresses in a consistent ascending order, the identifiers
of the event−controlled data objects (CAN2_IO/CAN3_IO) are set in way by the factory which enables
a communication from one device to the other:
L
L
CAN2_OUT
CAN2_IN
CAN2_OUT
CAN2_IN
CAN3_OUT
CAN3_IN
CAN3_OUT
CAN3_IN
Node-ID 1
Fig. 3−1
l
L
Node-ID 2
Node-ID 3
Data exchange among Lenze devices
PLC−Systembus EN 2.0
3−3
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.4
Identifiers of the process data objects
The identifiers for the CAN1_IO ... CAN3_IO process data objects are generated by the so−called
basic identifier and the node address set in C0350:
Identifier + basic identifier ) node address
Basic identifiers
PDOs
dec
hex
CAN1_IN
512
200
CAN1_OUT
384
180
CAN2_IN
640
280
CAN2_OUT
641
281
CAN3_IN
768
300
CAN3_OUT
769
301
CAN1_IO (cyclic process data)
CAN2_IO (event− or time−controlled process data)
CAN3_IO (event− or time−controlled process data)
3.4.1
Allocation of individual identifiers
For greater system bus networks with many nodes it may be reasonable to set individual identifiers
for the CAN1_IO ... CAN3_IO process data objects via C0353/C0354, which are independent of the
node address set in C0350:
1. Set C0353/x to "1".
– (x = subcode of the corresponding process data object):
Code
LCD
Possible settings
Information
Lenze Selection
C0353 CAN addr sel
0
identifier
1
Identifier assignment under C0350 + basic
Identifier assignment under C0354/x
Source for the identifiers of the
process data objects
· Save changes with C0003 = 1.
· Changes are only valid after
reset node!
1 CAN addr sel1
0
CAN1_IN/OUT
2 CAN addr sel2
3 CAN addr sel3
0
0
CAN2_IN/OUT
CAN3_IN/OUT
2. Set the value which added to "384" makes the desired identifier in C0354/x.
– (x = subcode of the corresponding process data object):
Code
LCD
Possible settings
Information
Lenze Selection
C0354 CAN addr
1
2
3
4
5
6
3−4
IN1 addr2
OUT1 addr2
IN2 addr2
OUT2 addr2
IN3 addr2
OUT3 addr2
1
{1}
129
1
257
258
385
386
512 Specification of individual
identifiers for the process data
objects
CAN1_IN
CAN1_OUT
CAN2_IN
CAN2_OUT
CAN3_IN
CAN3_OUT
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
· Please note that the identifier of the telegram to be transmitted has to comply with the
identifier of the process data input object to be activated.
· In the case of an individual address allocation, the identifier for the process data objects is
composed as follows:
Identifier + 384 ) value of C0354/x
x = subcode
· Thus, identifiers in the range of 385 ... 896 can be allocated for the process data objects.
3.4.2
Display of the identifier set
Via C0355 you can have the identifier displayed which is set for the process data objects.
· C0355 is a display code, settings cannot be carried out via C0355.
Code
LCD
Possible settings
Information
Lenze Selection
C0355 CAN Id
1
2
3
4
5
6
l
g
385
{1}
CAN1_IN Id
CAN1_OUT Id
CAN2_IN Id
CAN2_OUT Id
CAN3_IN Id
CAN3_OUT Id
PLC−Systembus EN 2.0
896 System bus identifier
for the process data objects
CAN1_IN
CAN1_OUT
CAN2_IN
CAN2_OUT
CAN3_IN
CAN3_OUT
3−5
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.5
Cycle time (CAN2_OUT/CAN3_OUT)
The transmission of the output data of CAN2_OUT and CAN3_OUT can be carried out in an
event−controlled or time−controlled manner.
· The configuration of the transmission mode is effected via code C0356/x:
Code
LCD
Possible settings
Information
Lenze Selection
C0356
2 CAN2_OUT T
3 CAN3_OUT T
0
0
0
{1}
0 = event−controlled transmission
65000 Factor to the task time for
transmitting the process data
object
Event−controlled transmission
C0356/x = 0
· The transmission of the output data is always effected if a value has changed within the
8 bytes of user data (Lenze setting).
Time−controlled transmission
C0356/x = 1 ... 65000
· The transmission of the output data is effected within the cycle time set in C0356/x (relating to
the task cycle time).
Example:
· The CAN object is used in a 10 ms task.
· Factor set via C0356/2 = 5
ð The CAN object is transmitted after every fifth cycle of the task, i. e. every 50 ms (10 ms x 5).
3.6
Delay time (CAN2_OUT/CAN3_OUT)
For the transmission of the output data of CAN2_OUT and CAN3_OUT a delay time can be configured
via code C0356/4:
Code
LCD
Possible settings
Information
Lenze Selection
C0356
4 CAN delay
0
{1 ms}
20
65000 Delay time for sending the process
data object.
If the NMT state Operational (to Pre−operational or Stopped) is reached, the "CANdelay" delay time
is started. After the delay time has expired, the PDOs CAN−OUT2 and CAN−OUT3 are transmitted
for the first time.
3−6
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.7
Synchronisation
Tip!
By means of the CAN_Synchronization SB, the internal time base of the PLC can be synchronised
with the arrival of the sync telegram.
Thus, the internal calculating processes (e. g. control−oriented processes) of the PLC can be
synchronised with the calculating processes of other nodes which can also process the sync
telegram.
Detailed information on the CAN_Synchronization SB can be found in chapter 7.7. (^ 7−23)
3.7.1
CAN sync response
The response to the reception of a sync telegram can be configured via C0366:
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
C0366 Sync response
3.7.2
1
0
No response
1
Response to sync
CAN sync response
No response
PLC responds to a sync telegram
by sending the CAN1_OUT object.
CAN sync identifiers
The transmission or reception identifiers of the sync telegram can be configured via C0367/C0368:
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
3.7.3
C0367 Sync Rx Id
128
1
{1}
256 CAN sync Rx identifier
Receive identifier of the sync
telegram
C0368 Sync Tx Id
128
1
{1}
256 CAN sync Tx identifier
Transmit identifier of the sync
telegram
CAN sync Tx transmission cycle
The cycle time within which a sync telegram with the identifier set in C0368 is transmitted can be
configured via C0369:
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
C0369 Sync Tx time
l
0
0
0 = Off
{1}
PLC−Systembus EN 2.0
65000 CAN sync transmission telegram
cycle
A sync telegram with the identifier
of C0368 is sent with the set cycle
time.
3−7
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.8
Reset node
Changes with regard to the CAN baud rate, the node addresses and the identifiers only are accepted
after a reset node.
A reset node can be effected by
· Reconnection of the mains
· Reset node command via NMT command. (^ 2−6)
· Reset node command via the CAN_Management SB (^ 7−20)
· Reset node via C0358:
Code
LCD
Possible settings
Information
Lenze Selection
C0358 Reset node
3.9
0
0
1
No function
CAN reset node
Reset node
System bus management
Via the CAN_Management SB,
· a reset node can be activated.
· "Communication error" and "Bus off state" can be processed in the PLC program.
· the instant of transmission of CAN2_OUT and CAN3_OUT can be influenced.
Tip!
Detailed information on the CAN_Management SB can be found in chapter 7.6. (^ 7−20)
3.10
Mapping indexes to codes
The operating system as of V6.0 of the Lenze PLCs contains a specific CanDSx driver which can be
activated using the functions of the LenzeCanDSxDrv.lib function library. (^ 11−1)
By means of this driver indexes within the PLC can be assigned to another code as the one which
is automatically allocated.
Notes!
· Each Lenze code is fixedly assigned to an index via the following formula:
Index = 5FFFhex − code
Index = 24575dec − code
· The function of the CanDSx driver only is limited to the system bus (CAN).
– For the second FIF−CAN channel provided for the drive PLC, the CanDSx driver cannot be
used!
3−8
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.10.1
Functional principle considering as example
Task
Within the PLC, a function has been realised from the user side, which can be parameterised via the
user code C3200/5. The index 21375dec is automatically assigned to code C3200:
Index = 24575dec − code = 24575dec − 3200 = 21375dec
On the basis of the communication profile used, this function, however, is to be parameterisable via
the index 4101dec/subindex 2 instead.
Solution
Via the functions of the LenzeCanDSxDrv.lib function library, index 4101dec/subindex 2 is simply
diverted to code C3200/5 within the PLC, so that the communication profile can be used unchanged.
Functional principle
The operating system (as of V6.0) of the Lenze PLCs contains a so−called "mapping table". With this
table up to 256 indexes within the PLC can be "mapped" to other codes than to those which are
automatically allocated.
If a CAN telegram arrives and the index is in the valid range, it is checked whether this index is listed
in the mapping table.
· If the index is listed in the mapping table, the code which has been newly assigned to this
index in the mapping table is accessed. 
· If the index is not listed in the mapping table, the code which is automatically allocated is
accessed, resulting from the above−mentioned formula. ‚

‚
Index access: 4101/2
Index access: 21475/1
SDO telegram
SDO telegram
Index number
valid ?
Index number
valid ?
yes
yes
Mapping table
CAN index
4101
4101
20000
Mapping table
CAN subindex
1
2
0
Lenze code
3200
3200
3000
Lenze subcode
4
5
0
CAN index
4101
4101
20000
Code access: C3200/5
Fig. 3−2
l
CAN subindex
1
2
0
Lenze code
3200
3200
3000
Lenze subcode
4
5
0
Lenze code = 24575 - Index = 24575 - 21475 = 3100
Code access = C3100/1
Process of diverting indexes to codes
PLC−Systembus EN 2.0
3−9
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.11
Remote parameterisation (gateway function)
The drive PLC, 9300 Servo PLC, and the ECSxA axis module as of the V6.x operating system support
the remote parameterisation of other system bus nodes. All write/read accesses to parameters then
are no more carried out in the PLC, but are diverted to the node selected for remote maintenance.
· The diversion is effected via the SDO1 parameter data channel of the node selected.
· The node which the diversion of the write/read accesses is to be effected to is defined via
C0370 by setting the node address of the corresponding node here:
Code
Possible settings
LCD
Information
Lenze Selection
C0370 Gateway addr.
0
System bus: Activate remote
parameter setting
0
{1}
0 = remote parameter setting deactivated
63
· A timeout during remote parameterisation actuates the system error message CE5; the
response to this can be configured via C0603. (^ 3−12)
Example
· The system bus node with the node address 5 has been selected for the remote
parameterisation (C0370 = 5).
· A write access to code C0011 is carried out, it is diverted to the selected system bus node via
the system bus:
C0011 = 3005 rpm
L
System bus
C0370 = 5
L
Node-ID 1
"9300 Servo PLC"
L
L
C0011
Node-ID 3
"8200 vector"
Fig. 3−3
3−10
Node-ID 9
"Drive PLC"
Node-ID 5
"9300 Servo PLC"
Remote parameterisation (gateway function)
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.12
Monitoring processes
3.12.1
Time monitoring for CAN1_IN ... CAN3_IN
For the inputs of the CAN1_IN ... CAN3_IN process data objects a time monitoring can be configured
via C0357:
Code
LCD
Possible settings
Information
Lenze Selection
C0357
1 CE1monit time
2 CE2monit time
3 CE3monit time
0
{1 ms}
3000
3000
3000
65000 Monitoring time for process data
input objects
The response for the case that no telegram has been received within the defined monitoring time can
be configured via codes C0591 ... C0593:
Code
LCD
Possible settings
Information
Lenze Selection
3.12.2
C0591 MONIT CE1
3
C0592 MONIT CE2
3
C0593 MONIT CE3
3
0
2
3
0
2
3
0
2
3
TRIP
Warning
Off
TRIP
Warning
Off
TRIP
Warning
Off
Configuration of the monitoring for
CAN1_IN error "CommErrCANIN1"
(CAN1 CE1)
Configuration of the monitoring for
CAN2_IN error "CommErrCANIN2"
(CAN2 CE2)
Configuration of the monitoring for
CAN3_IN error "CommErrCANIN3"
(CAN3 CE3)
Bus−off
If the PLC has disconnected from the system bus due to too many incorrectly received telegrams,
the signal "BusOffState" (CE4) is set.
The response to this can be configured via C0595:
Code
LCD
Possible settings
Information
Lenze Selection
C0595 MONIT CE4
3
0
2
3
TRIP
Warning
Off
Configuration of the monitoring for
"BusOffState" (CE4)
Tip!
Possible causes for incorrectly received telegrams can be:
· Missing bus termination
· Non−sufficient shielding
· Differences in potential with regard to the earth connection of the control electronics
· Bus load too high
l
PLC−Systembus EN 2.0
3−11
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.12.3
Time−out when remote parameterisation is activated
If a time−out occurs during the remote parameterisation (gateway function) activated via C0370, the
system error message CE5 is output.
The response to this can be configured via C0603:
Code
Possible settings
LCD
Information
Lenze Selection
C0603 MONIT CE5
3
System bus: Monitoring
configuration
Time−out when remote
parameterisation is activated
(C0370)
0
2
3
3.12.4
TRIP
Warning
Off
Response in the case of system bus fault messages
Overview of the system bus error sources registered by the PLC and of the possible settings for the
corresponding response:
Fault message
Possible settings/response
Display
Error
No.
Meaning
TRIP Message Warning
Fault/QS Off
P
Code
CE1
62
ü
−
ü
−
•
C0591
CE2
63
ü
−
ü
−
•
C0592
CE3
64
ü
−
ü
−
•
C0593
CE4
65
ü
−
ü
−
•
C0595
CE5
66
CAN1_IN communication error
(time monitoring can be set via C0357/1)
CAN2_IN communication error
(time monitoring can be set via C0357/2)
CAN3_IN communication error
(time monitoring can be set via C0357/3)
BUS−OFF state
(too many faulty telegrams were received)
CAN time−out
(gateway function C0370)
ü
−
ü
−
•
C0603
• Lenze setting
ü Possible
− Not possible
3−12
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.13
Diagnostics
The following codes can be used for diagnostics purposes:
Code
Information displayed
Information
C0359
Operating status of the system bus
Chapter 3.13.1 ^ 3−13
C0360
Number of the telegrams sent and received
Chapter 3.13.2 ^ 3−14
C0361
Bus load (in %)
Chapter 3.13.3 ^ 3−15
· Settings cannot be carried out via these codes.
3.13.1
Operating status of the CAN interface
Via C0359 you can have the operating status of the system bus displayed:
Code
LCD
Possible settings
Information
Lenze Selection
C0359 CAN state
C0359
l
g
0
1
2
3
Operational
Pre−operational
Warning
Bus off
System bus status
Operating status
Information
0
Operational
The system bus is fully functional. The PLC can transmit and receive parameter and process data.
1
Pre−operational
The PLC can transmit and receive parameter data. Process data, however, are ignored.
A status change from Pre−operational to Operational can be effected by:
· the CAN master ^ 3−2
· a reset node
– via C0358, if the PLC has been configured as a "quasi" master. ^ 3−8
– via the binary input signal "reset node" at the CAN_Management SB ^ 7−20
2
Warning
The PLC has received faulty telegrams and is only involved in the system bus passively, i. e. no data can be
sent from the PLC anymore.
Possible causes:
· Missing bus termination
· Non−sufficient shielding
· Differences in potential with regard to the earth connection of the control electronics
· Bus load too high
· PLC is not connected to the system bus.
3
Bus−off
The PLC has disconnected from the system bus due to too many faultily received telegrams.
· The response to this status can be configured via C0595. ^ 3−11
PLC−Systembus EN 2.0
3−13
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.13.2
Telegram counter
Via C0360 you can have the number of the telegrams sent and received by the PLC via
CAN1_IO ... CAN3_IO displayed.
· Only the telegrams which are valid for the PLC are counted.
· Each transmit and receive channel is evaluated separately.
· The max. counter content is 65535 (16 bit); if this value is exceeded, the corresponding
counter starts with 0 again.
Code
LCD
Possible settings
Information
Lenze Selection
C0360 CAN message
3−14
g
0
{1}
65535 System bus telegram counter
(number of telegrams)
· For values > 65535 counting
restarts with 0.
1 Message OUT
All sent
2 Message IN
3 Message OUT1
All received
Sent on CAN_OUT1
4 Message OUT2
5 Message OUT3
6 Message POUT1
Sent on CAN_OUT2
Sent on CAN_OUT3
Sent on parameter data channel 1
7 Message POUT2
8 Message IN1
9 Message IN2
Sent on parameter data channel 2
Received from CAN_IN1
Received from CAN_IN2
10 Message IN3
11 Message PIN1
Received from CAN_IN3
Received from parameter data
channel 1
12 Message PIN2
Received from parameter data
channel 2
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3.13.3
Bus load by the PLC
Via C0361 you can receive a percentage display of the extent to which the system bus is loaded by
the telegrams of the PLC.
· Only valid telegrams are considered.
· Each transmit and receive channel is evaluated separately.
Code
LCD
Possible settings
Information
Lenze Selection
C0361 Load IN/OUT
g
0
{1 %}
1 Load OUT
2 Load IN
100 System bus − bus load
· Trouble−free operation demands
that the total bus load (all
connected devices) does not
exceed 80 %.
All sent
All received
3 Load OUT1
4 Load OUT2
Sent on CAN_OUT1
Sent on CAN_OUT2
5 Load OUT3
6 Load POUT1
7 Load POUT2
Sent on CAN_OUT3
Sent on parameter data channel 1
Sent on parameter data channel 2
8 Load IN1
9 Load IN2
10 Load IN3
Received from CAN_IN1
Received from CAN_IN2
Received from CAN_IN3
11 Load PIN1
Received from parameter data
channel 1
12 Load PIN2
Received from parameter data
channel 2
Limits of the data transmission
Data transmission is limited by the number of telegrams per time unit and by the data transmission
speed.
· For a data exchange within a drive system only consisting of Lenze controllers/PLCs, these
limits can be determined by adding code C0361/1 of all devices involved.
· Example: Three controllers are connected to each other via the system bus:
Value of C0361/1 on controller 1:
Value of C0361/1 on controller 2:
23.5 % bus load
12.6 % bus load
Value of C0361/1 on controller 3:
16.0 % bus load
52.1 % total bus load
Tip!
· The bus load of all devices involved should not exceed 80 %.
· If other devices, like for example decentralised inputs and outputs are connected, these
telegrams are to be considered also.
· A bus overload for instance can be effected by an event−controlled transmission of continually
changing signals.
– Remedy: Accordingly alter the setting of the cycle time for CAN2_OUT or CAN3_OUT, so
that the total of all bus loads does not exceed the value of 80 %. (^ 3−6)
l
PLC−Systembus EN 2.0
3−15
System bus (CAN) for Lenze PLC devices
"CAN" system bus interface configuration
3−16
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (AIF interface)
4
Configuration (AIF interface)
By means of an according fieldbus module (e. g. 2175) you can use the AIF interface of the 9300
Servo PLC, drive PLC and of the ECSxA axis module as an additional system bus interface.
Note!
If the fieldbus module attached to the AIF interface and the integrated system bus interface are
connected to the same system bus network, please be absolutely sure that different CAN
addresses as well as different identifiers have been set for the interfaces!
Tip!
Changes with regard to the CAN baud rate, the CAN addresses, and the identifiers for PDOs only
are accepted after a reset node.
A reset node can be effected by
· Reconnection of the mains
· Reset node command via NMT command (^ 2−6)
· Reset node via C0358 (^ 3−8)
4.1
CAN baud rate
In order to accomplish communication via the system bus, all nodes have to use the same baud rate
for data transmission.
· The configuration of the baud rate is effected via code C2351:
Code
LCD
Possible settings
Information
Lenze Selection
C2351 XCAN baud rate
l
0
0
1
2
3
4
5
6
500 kbit/s
250 kbit/s
125 kbit/s
50 kbit/s
1000 kbit/s
20 kbit/s (not for ECSxA!)
10 kbit/s (not for ECSxA!)
PLC−Systembus EN 2.0
System bus − baud rate
· Save changes with C0003 = 1.
· Changes are only valid after
reset node!
4−1
System bus (CAN) for Lenze PLC devices
Configuration (AIF interface)
4.2
CAN boot−up
If the initialisation of the system bus and the associated state change of Pre−operational to
Operational is not taken over by a higher−level master system, the PLC or a controller can be
designated as a "quasi" master to accomplish this task.
· The configuration is effected via code C2352:
Code
LCD
Possible settings
Information
Lenze Selection
C2352 XCAN mst
0
0
1
Boot−up not active
Boot−up active
Device sends system bus boot−up
and thus is the "quasi" master.
Delay time for system bus initialisation (boot−up)
Some nodes (e. g. HMIs) require a specific starting time after mains connection before they can be
transferred to the Operational state via NMT commands by the master.
In order to ensure that even the node with the greatest starting time really is ready to receive NMT
commands, you can set a delay time. When it has expired, NMT commands can only be transmitted
after mains power−up.
· The configuration of this delay time is effected via code C2356/1:
Code
LCD
Possible settings
Information
Lenze Selection
C2356/1 XCAN boot−up
4−2
3000
0
{1 ms}
PLC−Systembus EN 2.0
65000 Delay time after power−on for
initialisation via the "quasi" master
l
System bus (CAN) for Lenze PLC devices
Configuration (AIF interface)
4.3
Node address (node ID)
Assign a node address − also called Node ID − within the range of 1 to 63 to each node within the
system bus network as a definite identification.
· The same node address may not be allocated more than once within the network.
· The configuration of the node address for the AIF interface of the PLC is effected via code
C2350:
Code
LCD
Possible settings
Information
Lenze Selection
C2350 XCAN address
1
1
{1}
63 System bus − node address
· Save changes with C0003 = 1.
· Changes are only valid after
reset node!
Allocation of the node address for the data exchange among Lenze devices
If Lenze devices are provided with node addresses in a consistent ascending order, the identifiers
of the event−controlled data objects (XCAN2_IO/XCAN3_IO) are set in way by the factory which
enables a communication from one device to the other:
L
L
XCAN2_OUT
XCAN2_IN
XCAN2_OUT
XCAN2_IN
XCAN3_OUT
XCAN3_IN
XCAN3_OUT
XCAN3_IN
Node-ID 1
Fig. 4−1
l
L
Node-ID 2
Node-ID 3
Data exchange among Lenze devices
PLC−Systembus EN 2.0
4−3
System bus (CAN) for Lenze PLC devices
Configuration (AIF interface)
4.4
Identifiers of the process data objects
The identifiers for the XCAN1_IO ... XCAN3_IO process data objects are generated by the so−called
basic identifier and the node address set in C2350:
Identifier + basic identifier ) node address
Basic identifiers
PDOs
dec
hex
XCAN1_IN
512
200
XCAN1_OUT
384
180
XCAN2_IN
640
280
XCAN2_OUT
641
281
XCAN3_IN
768
300
XCAN3_OUT
769
301
XCAN1_IO (cyclic process data)
XCAN2_IO (event− or time−controlled process data)
XCAN3_IO (event− or time−controlled process data)
4.4.1
Allocation of individual identifiers
For greater system bus networks with many nodes it can be reasonable to set individual identifiers
for the XCAN1_IO ... XCAN3_IO process data objects via C2353/C2354, which are independent of
the node address set in C2350:
1. Set C2353/x to "1".
– (x = subcode of the corresponding process data object):
Code
LCD
Possible settings
Information
Lenze Selection
C2353 XCAN addr sel
0
identifier
1
Identifier assignment via C2350 + basic
Identifier assignment via C2354/x
Source for the identifiers of the
process data objects
· Save changes with C0003 = 1.
· Changes are only valid after
reset node!
1 XCAN addr sel1
0
XCAN1_IN/OUT
2 XCAN addr sel2
3 XCAN addr sel3
0
0
XCAN2_IN/OUT
XCAN3_IN/OUT
2. Set the value which added to "384" makes the desired identifier in C2354/x.
– (x = subcode of the corresponding process data object):
Code
LCD
Possible settings
Information
Lenze Selection
C2354 XCAN addr
1
2
3
4
5
6
4−4
IN1 addr2
OUT1 addr2
IN2 addr2
OUT2 addr2
IN3 addr2
OUT3 addr2
0
{1}
129
1
257
258
385
386
1663 Specification of individual
identifiers for the process data
objects
XCAN1_IN
XCAN1_OUT
XCAN2_IN
XCAN2_OUT
XCAN3_IN
XCAN3_OUT
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (AIF interface)
· Please note that the identifier of the telegram to be transmitted has to comply with the
identifier of the process data input object to be activated.
· In the case of an individual address allocation, the identifier for the process data objects is
composed as follows:
Identifier + 384 ) value of C2354/x
x = subcode
· Thus, identifiers in the range of 384 ... 2047 can be allocated for the process data objects.
4.4.2
Display of the identifier set
Via C2355 you can have the identifier displayed which is set for the process data objects.
· C2355 is a display code, settings cannot be carried out via C2355.
Code
LCD
Possible settings
Information
Lenze Selection
C2355 XCAN Id
1
2
3
4
5
6
l
g
384
{1}
XCAN1_IN Id
XCAN1_OUT Id
XCAN2_IN Id
XCAN2_OUT Id
XCAN3_IN Id
XCAN3_OUT Id
PLC−Systembus EN 2.0
2047 System bus identifier
for the process data objects
XCAN1_IN
XCAN1_OUT
XCAN2_IN
XCAN2_OUT
XCAN3_IN
XCAN3_OUT
4−5
System bus (CAN) for Lenze PLC devices
Configuration (AIF interface)
4.5
Cycle time (XCAN1_OUT ... XCAN3_OUT)
The transmission of the output data of XCAN1_OUT ... XCAN3_OUT can be carried out in an
event−controlled or time−controlled manner.
· The configuration of the transmission mode is effected via code C2356/x:
Code
LCD
Possible settings
Information
Lenze Selection
C2356
2 XCAN1_OUT T
3 XCAN2_OUT T
4 XCAN3_OUT T
0
0
0
{1 ms}
0 = event−controlled transmission
65000 Cycle time for transmitting the
process data object
Event−controlled transmission
C2356/x = 0
· The transmission of the output data is always effected if a value has changed within the
8 bytes of user data (Lenze setting).
Time−controlled transmission
C2356/x = 1 ... 65000
· The transmission of the output data is effected within the cycle time set in C2356/x (relating to
the task cycle time).
Example:
· The CAN object is used in a 10 ms task.
· Factor set via C2356/2 = 5
ð The CAN object is transmitted after every fifth cycle of the task, i. e. every 50 ms (10 ms x 5).
4−6
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (AIF interface)
4.6
Synchronisation
Tip!
By means of the CAN_Synchronization SB the internal time base of the PLC can be synchronised
with the arrival of the sync telegram.
Thus, the internal calculating processes (e. g. control−oriented processes) of the PLC can be
synchronised with the calculating processes of other nodes which can also process the sync
telegram.
Detailed information on the CAN_Synchronization SB can be found in chapter 7.7. (^ 7−23)
4.6.1
XCAN sync response
The response to the reception of a sync telegram can be configured via C2375:
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
C2375 XCAN Tx mode
AIF−CAN sync response
· Selection of cycle time under
C2356
0
1
2
3
4.6.2
Sync with response
Sync without response
Event−controlled (with mask)/cyclically
Event−controlled (with mask)
with cyclic overlay
1
0
XCAN1_OUT
2
3
0
0
XCAN2_OUT
XCAN3_OUT
XCAN sync identifier
The transmission or reception identifiers of the sync telegram can be configured via C2367/C2368:
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
4.6.3
C2367 Sync Rx Id
128
1
{1}
256 XCAN sync Rx identifier
Receive identifier for the sync
telegram
C2368 Sync Tx Id
128
1
{1}
256 XCAN sync Tx identifier
Transmit identifier for the sync
telegram
XCAN sync Tx transmission cycle
The cycle time within which a sync telegram with the identifier set in C2368 is transmitted can be
configured via C2356/5:
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
C2356 Sync Tx time
5
l
0
0
0 = Off
{1 ms}
PLC−Systembus EN 2.0
65535
XCAN sync time
Sync transmission telegram cycle
4−7
System bus (CAN) for Lenze PLC devices
Configuration (AIF interface)
4.7
Reset node
Changes with regard to the CAN baud rate, the node addresses, and the identifiers only are accepted
after a reset node.
A reset node can be effected by
· Reconnection of the mains
· Reset node command via NMT command. (^ 2−6)
· Reset node command via the CAN_Management SB (^ 7−20)
· Reset node via C0358:
Code
LCD
Possible settings
Information
Lenze Selection
C0358 Reset node
0
0
1
No function
CAN reset node
Reset node
4.8
Monitoring processes
4.8.1
Time monitoring for XCAN1_IN ... XCAN3_IN
For the inputs of the XCAN1_IN ... XCAN3_IN process data objects a time monitoring can be
configured via C2357:
Code
LCD
Possible settings
Information
Lenze Selection
C2357 CE monit time
0
{1 ms}
65000 Monitoring time for XCAN process
data input objects
1
2
3
3000
3000
3000
XCAN1_IN
XCAN2_IN
XCAN3_IN
4
1
Bus−off
The response for the case that no telegram has been received within the defined monitoring time can
be configured via code C2382/x:
Code
LCD
Possible settings
Information
Lenze Selection
C2382 XCAN Conf. CE
0
4−8
0
1
2
Off
Controller inhibit
Quick stop (QSP)
Configuration of XCAN monitoring
"BusOffState"
· Controller inhibit or quick stop
(QSP) can only be carried out for
9300 Servo PLC and ECSxA!
1
2
3
0
0
0
XCAN1_IN
XCAN2_IN
XCAN3_IN
4
5
0
0
Bus−off
Live guarding event
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (AIF interface)
4.8.2
Bus off
If the PLC has disconnected from the system bus due to too many incorrectly received telegrams,
the signal "BusOffState" (CE14) is set.
The response to this can be configured via C2382/4:
Code
Possible settings
LCD
Information
Lenze Selection
C2382 XCAN Conf. CE
4
0
0
1
2
Off
Controller inhibit
Quick stop (QSP)
Configuration of XCAN monitoring
"BusOffState"
· Controller inhibit or quick stop
(QSP) can only be carried out for
9300 Servo PLC and ECSxA!
Tip!
Possible causes for incorrectly received telegrams can be:
· Missing bus termination
· Non−sufficient shielding
· Differences in potential with regard to the earth connection of the control electronics
· Bus load too high. See chapter 3.13.3, "Bus load by the PLC". (^ 3−15)
4.8.3
Response for system bus fault messages
Overview of the system bus error sources registered by the PLC and of the possible settings for the
corresponding response:
Fault message
Display
XCAN Conf. CE
Possible settings/response
Meaning
XCAN1_IN communication error
(time monitoring can be set via C2357/1)
1)
XCAN Conf. CE
XCAN2_IN communication error
(time monitoring can be set via C2357/2)
1)
XCAN Conf. CE
XCAN3_INcommunication error
(time monitoring can be set via C2357/3)
1)
XCAN Conf. CE
BUS−OFF state
(too many faulty telegrams were received)
1) Not available; status can be determined via C2121. ^ 4−10
l
Error No.
1)
PLC−Systembus EN 2.0
CINH
ü
Fault/QSP
ü
Off
©
Code
C2382/1
ü
ü
•
C2382/2
ü
ü
•
C2382/3
ü
ü
•
C2382/4
• Lenze setting
ü Possible
4−9
System bus (CAN) for Lenze PLC devices
Configuration (AIF interface)
4.9
Diagnostics
The following codes can be used for diagnostics purposes:
Code
Information displayed
Information
C2121
AIF−CAN operating status
Chapter 4.9.1 ^ 4−10
· Settings cannot be carried out via these codes.
4.9.1
Automation interface (AIF) operating status
Via C2121 you can have the operating status of the automation interface displayed:
Code
LCD
Possible settings
Information
Lenze Selection
C2121 AIF state
C2121
4−10
Operating status
g
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
XCAN1_IN monitoring time
XCAN2_IN monitoring time
XCAN3_IN monitoring time
XCAN bus−off
XCAN operational
XCAN pre−operational
XCAN warning
Internally assigned
AIF status, bit−coded
· Detailed information on this can
be found in the description for
the corresponding fieldbus
module.
Information
Bit4 = 1 Operational
The system bus is fully functional. The PLC can transmit and receive parameter and process data.
Bit5 = 1 Pre−operational
The PLC can transmit and receive parameter data. Process data, however, are ignored.
A status change from Pre−Operational to Operational can be effected by:
· the CAN master ^ 4−2
· a reset node
– via C0358, if the PLC has been configured as a "quasi" master. ^ 3−8
– via the binary input signal "Reset node" at the CAN_Management SB ^ 7−20
Bit6 = 1 Warning
The PLC has received faulty telegrams and is only involved in the system bus passively, i. e. no data can be
sent from the PLC anymore.
Possible causes:
· Missing bus termination
· Non−sufficient shielding
· Differences in potential with regard to the earth connection of the control electronics
· Bus load too high
· PLC is not connected to the system bus.
Bit3 = 1 Bus−off
The PLC has disconnected from the system bus due to too many faultily received telegrams.
· The response to this status can be configured via C2382/4. ^ 4−9
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5
Configuration (FIF interface)
By means of an appropriate function module (e. g. CAN−I/O system bus) you can use the FIF interface
of the Drive PLC as an additional system bus interface.
Note!
If the fieldbus module attached to the FIF interface and the integrated system bus interface are
connected to the same system bus network, please be absolutely sure that different CAN
addresses as well as different identifiers have been set for the interfaces!
Tip!
Changes with regard to the CAN baud rate, the CAN addresses, and the identifiers for PDOs only
are accepted after a reset node.
A reset node can be effected by
· Reconnection of the mains
· Reset node command via NMT command. (^ 2−6)
· Reset node via C0358 (^ 5−8)
5.1
CAN baud rate
In order to accomplish communication via the system bus, all nodes have to use the same baud rate
for data transmission.
· The configuration of the baud rate is effected via code C2451:
Code
LCD
Possible settings
Information
Lenze Selection
C2451 CAN1 baud rate
l
0
0
1
2
3
4
500 kbit/s
250 kbit/s
125 kbit/s
50 kbit/s
1000 kbit/s
PLC−Systembus EN 2.0
System bus − baud rate
· Save changes with C0003 = 1.
· Changes are only valid after
reset node!
5−1
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5.2
CAN boot−up
If the initialisation of the system bus and the associated state change from Pre−operational to
Operational is not taken over by a higher−level master system, the PLC or a controller can be
designated as a "quasi" master to accomplish this task.
· The configuration is effected via code C2452:
Code
LCD
Possible settings
Information
Lenze Selection
C2452 CAN1 mst
0
0
1
Boot−up not active
Boot−up active
Device sends system bus boot−up
and thus is the "quasi" master.
Delay time for system bus initialisation (boot−up)
Some nodes (e. g. HMIs) require a specific starting time after mains connection before they can be
transferred to the Operational state via NMT commands by the master.
In order to ensure that even the node with the greatest starting time really is ready to receive NMT
commands, you can set a delay time. When it has expired, NMT commands can only be transmitted
after mains power−up.
· The configuration of this delay time is effected via code C2456/1:
Code
LCD
Possible settings
Information
Lenze Selection
C2456 CAN1 boot−up
1
5−2
0
{1 ms}
3000
PLC−Systembus EN 2.0
65000 Delay time after power−on for
initialisation via the "quasi" master
l
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5.3
Node address (node ID)
Assign a node address − also called Node ID − within the range of 1 to 63 to each node within the
system bus network as a definite identification.
· The same node address may not be assigned more than once within the network.
· The configuration of the node address for the FIF interface of the PLC is effected via code
C2450:
Code
LCD
Possible settings
Information
Lenze Selection
C2450 CAN1 address
1
1
{1}
63 System bus node address
· Save modifications with C0003
= 1.
· Modifications are only valid
after reset node!
Allocation of the node address for the data exchange among Lenze devices
If Lenze devices are provided with node addresses in a consistent ascending order, the identifiers
of the event−controlled data objects (FIF_CAN2_IO/FIF_CAN3_IO) are set in way by the factory which
enables a communication from one device to the other:
L
L
FIF-CAN2_OUT
L
FIF-CAN2_OUT
FIF-CAN2_IN
FIF-CAN2_IN
FIF-CAN3_OUT
FIF-CAN3_OUT
FIF-CAN3_IN
Node-ID 1
Fig. 5−1
l
FIF-CAN3_IN
Node-ID 2
Node-ID 3
Data exchange among Lenze devices
PLC−Systembus EN 2.0
5−3
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5.4
Identifiers of the process data objects
The identifiers for the FIF_CAN1_IO ... FIF_CAN3_IO process data objects are generated by the
so−called basic identifier and the node address set in C2450:
Identifier + basic identifier ) node address
Basic identifier
PDOs
dec
hex
FIF−CAN1_IN
512
200
FIF−CAN1_OUT
384
180
FIF−CAN2_IN
640
280
FIF−CAN2_OUT
641
281
FIF−CAN3_IN
768
300
FIF−CAN3_OUT
769
301
FIF_CAN1_IO (cyclic process data)
FIF_CAN2_IO (event− or time−controlled process data)
FIF_CAN3_IO (event− or time−controlled process data)
5.4.1
Allocation of individual identifiers
For greater system bus networks with many nodes it can be reasonable to set individual identifiers
for the process data objects FIF_CAN1_IO ... FIF_CAN3_IO via C2453/C2454, which are
independent of the node address set in C2350:
1. Set C2453/x to "1".
– (x = subcode of the corresponding process data object):
Code
LCD
Possible settings
Information
Lenze Selection
C2453 CAN addr sel
0
identifier
1
Identifier assignment under C2450 + basic
Identifier assignment under C2454/x
Source for the identifiers of the
process data objects
· Save changes with C0003 = 1.
· Changes are only valid after
reset node!
1 CAN addr sel1
0
FIF−CAN1_IN/OUT
2 CAN addr sel2
3 CAN addr sel3
0
0
FIF−CAN2_IN/OUT
FIF−CAN3_IN/OUT
2. Set the value which, added to "384", makes the desired identifier in C2453/x.
– (x = subcode of the corresponding process data object):
Code
LCD
Possible settings
Information
Lenze Selection
C2454 CAN addr
1
2
3
4
5
6
5−4
IN1 addr2
OUT1 addr2
IN2 addr2
OUT2 addr2
IN3 addr2
OUT3 addr2
1
{1}
129
1
257
258
385
386
512 Specification of individual
identifiers of the process data
objects
FIF−CAN1_IN
FIF−CAN1_OUT
FIF−CAN2_IN
FIF−CAN2_OUT
FIF−CAN3_IN
FIF−CAN3_OUT
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
· Please note that the identifier of the telegram to be transmitted has to comply with the
identifier of the process data input object to be activated.
· In the case of an individual address allocation, the identifier for the process data objects is
composed as follows:
Identifier + 384 ) value of C2454/x
x = subcode
· Thus, for the process data objects identifiers in the range of 385 ... 896 can be allocated.
5.4.2
Display of the identifiers set
Via C2455 you can have the identifier displayed which is set for the process data objects.
· C2455 is a display code, settings cannot be carried out via C2455.
Code
LCD
Possible settings
Information
Lenze Selection
C2455 CAN Id
1
2
3
4
5
6
l
g
385
{1}
CAN1_IN Id
CAN1_OUT Id
CAN2_IN Id
CAN2_OUT Id
CAN3_IN Id
CAN3_OUT Id
PLC−Systembus EN 2.0
896 System bus identifier
for the process data objects
FIF−CAN1_IN
FIF−CAN1_OUT
FIF−CAN2_IN
FIF−CAN2_OUT
FIF−CAN3_IN
FIF−CAN3_OUT
5−5
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5.5
Cycle time (FIF_CAN2_OUT/FIF_CAN3_OUT)
The transmission of the output data of FIF−CAN2_OUT and FIF−CAN3_OUT can be carried out in an
event−controlled or time−controlled manner.
· The configuration of the transmission mode is effected via code C2456/x:
Code
LCD
Possible settings
Information
Lenze Selection
C2456
0
{1}
0 = event−controlled transmission
2 CAN2_OUT T
3 CAN3_OUT T
0
0
65000 Factor to the task time for
transmitting the process data
object
FIF−CAN2_OUT
FIF−CAN3_OUT
Event−controlled transmission
C2456/x = 0
· The transmission of the output data is always effected if a value has changed within the
8 bytes of user data (Lenze setting).
Time−controlled transmission
C2456/x = 1 ... 65000
· The transmission of the output data is effected within the cycle time set in C2456/x (relating to
the task cycle time).
Example:
· The CAN object is used in a 10 ms task.
· Factor set via C2456/2 = 5
ð The CAN object is transmitted after every fifth cycle of the task, i. e. every 50 ms (10 ms x 5).
5.6
Delay time (FIF_CAN2_OUT/FIF_CAN3_OUT)
For the transmission of the output data of FIF−CAN2_OUT and FIF−CAN3_OUT a delay time can be
configured via code C2456/4:
Code
LCD
Possible settings
Information
Lenze Selection
C2456
4 CAN delay
5−6
0
{1 ms}
20
PLC−Systembus EN 2.0
65000 Delay time for sending the process
data object
l
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5.7
Synchronisation
Tip!
By means of the CAN_Synchronization SB, the internal time base of the PLC can be synchronised
with the arrival of the sync telegram.
Thus the internal calculating processes (e. g. control oriented processes) of the PLC can be
synchronised with the calculating processes of other nodes which can also process the sync
telegram.
Detailed information on the CAN_Synchronization SB can be found in chapter 7.7. (^ 7−23)
5.7.1
FIF−CAN sync response
The response to the reception of a sync telegram can be configured via C2466:
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
C2466 Sync response
5.7.2
1
FIF−CAN sync response
No response
0
No response
1
Response to sync
PLC responds to a sync telegram
by sending the FIF−CAN1_OUT
object.
FIF−CAN sync identifier
The transmission or reception identifiers of the sync telegram can be configured via C2467/C2468:
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
5.7.3
C2467 Sync Rx Id
128
1
{1}
256 FIF−CAN sync Rx identifier
Receive identifier for the sync
telegram
C2468 Sync Tx Id
128
1
{1}
256 FIF−CAN sync Tx identifier
Send identifier for the sync
telegram
FIF−CAN sync Tx transmission cycle
The cycle time within which a sync telegram with the identifier set in C2468 is transmitted can be
configured via C2469:
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
C2469 Sync Tx time
l
0
0
0 = Off
{1 ms}
PLC−Systembus EN 2.0
65000 FIF−CAN sync time
Sync transmission telegram cycle
5−7
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5.8
Reset node
Changes with regard to the CAN baud rate, the node addresses, and the identifiers only are accepted
after a reset node.
A reset node can be effected by
· Reconnection of the mains
· Reset node command via NMT command. (^ 2−6)
· Reset node command via the FIF_CAN_Management SB (^ 8−4)
· Reset node via C2458:
Code
LCD
Possible settings
Information
Lenze Selection
C2458 Reset node
5.9
0
0
1
No function
FIF−CAN reset node
FIF−CAN reset node
System bus management
Via the FIF_CAN_Management SB,
· a reset node can be activated.
· "Communication error" and "Bus off state" can be processed in the PLC program.
· the instant of transmission of FIF−CAN2_OUT and FIF−CAN3_OUT can be influenced.
Tip!
Detailed information on the FIF_CAN_Management SB can be found in chapter 8.4. (^ 8−4)
5−8
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5.10
Monitoring processes
5.10.1
Time monitoring for FIF−CAN1_IN ... FIF−CAN3_IN
For the inputs of the process data objects FIF−CAN1_IN ... FIF−CAN3_IN a time monitoring can be
configured via C2457:
Code
LCD
Possible settings
Information
Lenze Selection
C2457
1 CE11monit time
2 CE12monit time
3 CE13monit time
0
{1 ms}
3000
3000
3000
65000 Monitoring time for process data
input objects
The response for the case that no telegram has been received within the defined monitoring time can
be configured via codes C2481 ... C2483:
Code
LCD
Possible settings
Information
Lenze Selection
5.10.2
C2481 MONIT CE11
3
C2482 MONIT CE12
3
C2483 MONIT CE13
3
0
2
3
0
2
3
0
2
3
TRIP
Warning
Off
TRIP
Warning
Off
TRIP
Warning
Off
Configuration of the monitoring for
FIF−CAN1_IN error (CE11)
Configuration of the monitoring for
FIF−CAN2_IN error (CE12)
Configuration of the monitoring for
FIF−CAN3_IN error (CE13)
Bus−off
If the PLC has disconnected from the system bus due to too many incorrectly received telegrams,
the signal "BusOffState" (CE14) is set.
The response to this can be configured via C2484:
Code
LCD
Possible settings
Information
Lenze Selection
C2484 MONIT CE14
0
0
1
2
Off
Controller inhibit
Quick stop (QSP)
Configuration of the monitoring for
"BusOffState" (CE14)
Tip!
Possible causes for incorrectly received telegrams can be:
· Missing bus termination
· Non−sufficient shielding
· Differences in potential with regard to the earth connection of the control electronics
· Bus load too high. See chapter 3.13.3, "Bus load by the PLC". (^ 3−15)
l
PLC−Systembus EN 2.0
5−9
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5.10.3
Response in the case of system bus fault messages
Overview of the system bus error sources registered by the PLC as well as of the possible settings
for the corresponding response:
Fault message
Possible settings/response
Display
Error
No.
Meaning
TRIP Message Warning
Fault/QS Off
P
Code
CE11
122
ü
−
ü
−
•
C2481
CE12
123
ü
−
ü
−
•
C2482
CE13
124
ü
−
ü
−
•
C2483
CE14
125
Communication error FIF−CAN1_IN
(Time monitoring can be set via C2457/1)
Communication error FIF−CAN2_IN
(Time monitoring can be set via C2457/2)
Communication error FIF−CAN3_IN
(Time monitoring can be set via C2457/3)
BUS−OFF state
(too many faulty telegrams were received)
ü
−
ü
−
•
C2484
• Lenze setting
ü Possible
− Not possible
5−10
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5.11
Diagnostics
The following codes can be used for diagnostics purposes:
Code
Information displayed
Information
C2459
FIF−CAN operating status
Chapter 5.11.1 ^ 5−11
C2460
Number of the telegrams sent and received
Chapter 5.11.2 ^ 5−12
C2461
Bus load (in %)
Chapter 5.11.3 ^ 5−13
· Settings cannot be carried out via these codes.
5.11.1
Function interface (FIF) operating status
Via C2459 you can have the operating status of the function interface displayed:
Code
LCD
Possible settings
Information
Lenze Selection
C2459 CAN1 state
C2459
l
g
0
1
2
3
Operational
Pre−operational
Warning
Bus off
System bus status (FIF−CAN)
Operating status
Information
0
Operational
The system bus is fully functional. The PLC can transmit and receive parameter and process data.
1
Pre−operational
The PLC can transmit and receive parameter data. Process data, however, are ignored.
A status change from Pre−Operational to Operational can be effected by:
· the CAN master ^ 3−2
· a reset node
– via C2458, if the PLC has been configured as a "quasi" master. ^ 5−8
– via the binary input signal "Reset node" at the FIF_CAN_Management SB ^ 7−20
2
Warning
The PLC has received faulty telegrams and is only involved in the system bus passively, i. e. no data can be
sent from the PLC anymore.
Possible causes:
· Missing bus termination
· Non−sufficient shielding
· Differences in potential with regard to the earth connection of the control electronics
· Bus load too high
· PLC is not connected to the system bus.
3
Bus−off
The PLC has disconnected from the system bus due to too many faultily received telegrams.
· The response to this status can be configured via C2484. ^ 5−9
PLC−Systembus EN 2.0
5−11
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5.11.2
Telegram counter
Via C2460 you can have the number of the telegrams sent and received by the PLC via
FIF_CAN1_IO ... FIF_CAN3_IO.
· Only the telegrams which are valid for the PLC are counted.
· Each transmit and receive channel is evaluated separately.
· The max. counter content is 65535 (16 bit); if this value is exceeded, the corresponding
counter starts with 0 again.
Code
LCD
Possible settings
Information
Lenze Selection
C2460 CAN message
5−12
g
0
{1}
65535 System bus telegram counter
(number of telegrams)
· For values > 65535 counting
restarts with 0.
1 Message OUT
All sent
2 Message IN
3 Message OUT1
All received
Sent on FIF−CAN_OUT1
4 Message OUT2
5 Message OUT3
6 Message POUT1
Sent on FIF−CAN_OUT2
Sent on FIF−CAN_OUT3
Sent on parameter data channel 1
7 Message POUT2
8 Message IN1
9 Message IN2
Sent on parameter data channel 2
Received from FIF−CAN_IN1
Received from FIF−CAN_IN2
10 Message IN3
11 Message PIN1
Received from FIF−CAN_IN3
Received from parameter data
channel 1
12 Message PIN2
Received from parameter data
channel 2
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5.11.3
Bus load by FIF−CAN
Via C2461 you can receive a percentage display of the extent to which the system bus is loaded by
the telegrams of the function interface.
· Only valid telegrams are considered.
· Each transmit and receive channel is evaluated separately.
Code
LCD
Possible settings
Information
Lenze Selection
C2461 Load IN/OUT
g
0
{1 %}
1 Message OUT
2 Message IN
l
100 System bus load (FIF−CAN)
· Trouble−free operation demands
that the total bus load (all
connected devices) does not
exceed 80 %.
All sent
All received
3 Message OUT1
4 Message OUT2
Sent on FIF−CAN_OUT1
Sent on FIF−CAN_OUT2
5 Message OUT3
6 Message POUT1
7 Message POUT2
Sent on FIF−CAN_OUT3
Sent on parameter data channel 1
Sent on parameter data channel 2
8 Message IN1
9 Message IN2
10 Message IN3
Received from FIF−CAN_IN1
Received from FIF−CAN_IN2
Received from FIF−CAN_IN3
11 Message PIN1
Received from parameter data
channel 1
12 Message PIN2
Received from parameter data
channel 2
PLC−Systembus EN 2.0
5−13
System bus (CAN) for Lenze PLC devices
Configuration (FIF interface)
5−14
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6
Configuration (CAN−AUX system bus interface)
By means of a corresponding function module (e. g. CAN−I/O system bus) you can use the CAN−AUX
interface of the ECSxA axis module as an additional system bus interface.
Note!
If the function module attached to the CAN−AUX interface and the integrated system bus interface
are connected to the same system bus network, please be absolutely sure that different CAN
addresses and different identifiers have been set for the interfaces!
Tip!
Changes with regard to the CAN baud rate, the CAN addresses, and the identifiers for PDOs only
are accepted after a reset node.
A reset node can be effected by
· Reconnection of the mains
· Reset node command via NMT command. (^ 2−6)
· Reset node via C0358 (^ 6−8)
6.1
CAN baud rate
In order to accomplish a communication via the system bus, all nodes have to use the same baud
rate for data transmission.
· The configuration of the baud rate is effected via code C2451:
Code
LCD
Possible settings
Information
Lenze Selection
C2451 CAN1 baud rate
l
0
0
1
2
3
4
500 kbit/s
250 kbit/s
125 kbit/s
50 kbit/s
1000 kbit/s
PLC−Systembus EN 2.0
System bus − baud rate
· Save changes with C0003 = 1.
· Changes are only valid after
reset node!
6−1
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6.2
CAN boot−up
If the initialisation of the system bus and the associated state change from Pre−operational to
Operational is not taken over by a higher−level master system, the PLC or a controller can be
designated as a "quasi" master to accomplish this task instead.
· The configuration is effected via code C2452:
Code
LCD
Possible settings
Information
Lenze Selection
C2452 CAN1 mst
0
0
1
Boot−up not active
Boot−up active
Device sends system bus boot−up
and thus is the "quasi" master.
Delay time for system bus initialisation (boot−up)
Some nodes (e. g. HMIs) require a specific starting time after mains connection before they can be
transferred to the Operational state via NMT commands by the master.
In order to ensure that even the node with the greatest starting time really is ready to receive NMT
commands, you can set a delay time. When it has expired, NMT commands can only be transmitted
after mains power−up.
· The configuration of this delay time is effected via code C2456/1:
Code
LCD
Possible settings
Information
Lenze Selection
C2456 CAN1 boot−up
1
6−2
0
{1 ms}
3000
PLC−Systembus EN 2.0
65000 Delay time after power−on for
initialisation via the "quasi" master
l
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6.3
Node address (Node ID)
Assign a node address − also called Node ID − within the range of 1 to 63 to each node within the
system bus network as a definite identification.
· The same node address may not be assigned more than once within the network.
· The configuration of the node address for the CAN−AUX interface of the PLC is effected via
code C2450:
Code
LCD
Possible settings
Information
Lenze Selection
C2450 CAN1 address
1
1
{1}
63 System bus node address
· Save changes with C0003 = 1.
· Changes are only valid after
reset node!
Allocation of the node address for the data exchange among Lenze devices
If Lenze devices are provided with node addresses in a consistent ascending order, the identifiers
of the event−controlled data objects (CANaux2_IO/CANaux3_IO) are set in way by the factory which
enables a communication from one device to the other:
L
L
FIF-CAN2_OUT
L
FIF-CAN2_OUT
FIF-CAN2_IN
FIF-CAN2_IN
FIF-CAN3_OUT
FIF-CAN3_OUT
FIF-CAN3_IN
Node-ID 1
Fig. 6−1
l
FIF-CAN3_IN
Node-ID 2
Node-ID 3
Data exchange among Lenze devices
PLC−Systembus EN 2.0
6−3
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6.4
Identifiers of the process data objects
The identifiers for the CANaux1_IO ... CANaux3_IO process data objects are generated by the
so−called basic identifier and the node address set in C2450:
Identifier + basic identifier ) node address
Basic identifiers
PDOs
dec
hex
CANaux1_IN
512
200
CANaux1_OUT
384
180
CANaux2_IN
640
280
CANaux2_OUT
641
281
CANaux3_IN
768
300
CANaux3_OUT
769
301
CANaux1_IO (cyclic process data)
CANaux2_IO (event− or time−controlled process data)
CANaux3_IO (event− or time−controlled process data)
6.4.1
Allocation of individual identifiers
For greater system bus networks with many nodes it can be reasonable to set individual identifiers
for the CANaux1_IO ... CANaux3_IO process data objects via C2453/C2454, which are independent
of the node address set in C2350:
1. Set C2453/x to "1".
– (x = subcode of the corresponding process data object):
Code
LCD
Possible settings
Information
Lenze Selection
C2453 CAN addr sel
0
identifier
1
Identifier assignment under C2450 + basic
Identifier assignment under C2454/x
Source for the identifiers of the
process data objects
· Save changes with C0003 = 1.
· Changes are only valid after
reset node!
1 CAN addr sel1
0
CANaux1_IN/OUT
2 CAN addr sel2
3 CAN addr sel3
0
0
CANaux2_IN/OUT
CANaux3_IN/OUT
2. Set the value which, added to "384", makes the desired identifier in C2453/x.
– (x = subcode of the corresponding process data object):
Code
LCD
Possible settings
Information
Lenze Selection
C2454 CAN addr
1
2
3
4
5
6
6−4
IN1 addr2
OUT1 addr2
IN2 addr2
OUT2 addr2
IN3 addr2
OUT3 addr2
1
{1}
129
1
257
258
385
386
512 Specification of individual
identifiers of the process data
objects
CANaux1_IN
CANaux1_OUT
CANaux2_IN
CANaux2_OUT
CANaux3_IN
CANaux3_OUT
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
· Please note that the identifier of the telegram to be transmitted has to comply with the
identifier of the process data input object to be activated.
· In the case of an individual address allocation, the identifier for the process data objects is
composed as follows:
Identifier + 384 ) value of C2454/x
x = subcode
· Thus, for the process data objects identifiers in the range of 385 ... 896 can be allocated.
6.4.2
Display of the identifiers set
Via C2455 you can have the identifier displayed which is set for the process data objects.
· C2455 is a display code, settings cannot be carried out via C2455.
Code
LCD
Possible settings
Information
Lenze Selection
C2455 CAN Id
1
2
3
4
5
6
l
g
385
{1}
CAN1_IN Id
CAN1_OUT Id
CAN2_IN Id
CAN2_OUT Id
CAN3_IN Id
CAN3_OUT Id
PLC−Systembus EN 2.0
896 System bus identifier
for the process data objects
CANaux1_IN
CANaux1_OUT
CANaux2_IN
CANaux2_OUT
CANaux3_IN
CANaux3_OUT
6−5
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6.5
Cycle time (CANaux2_OUT/CANaux3_OUT)
The transmission of the output data of CANaux2_OUT and CANaux3_OUT can be carried out in an
event−controlled or time−controlled manner.
· The configuration of the transmission mode is effected via code C2456/x:
Code
LCD
Possible settings
Information
Lenze Selection
C2456
0
{1}
0 = event−controlled transmission
2 CAN2_OUT T
3 CAN3_OUT T
0
0
65000 Factor to the task time for
transmitting the process data
object
CANaux2_OUT
CANaux3_OUT
Event−controlled transmission
C2456/x = 0
· The transmission of the output data is always effected if a value has changed within the
8 bytes of user data (Lenze setting).
Time−controlled transmission
C2456/x = 1 ... 65000
· The transmission of the output data is effected within the cycle time set in C2456/x (relating to
the task cycle time).
Example:
· The CAN object is used in a 10 ms task.
· Factor set via C2456/2 = 5
ð The CAN object is transmitted after every fifth cycle of the task, i. e. every 50 ms (10 ms x 5).
6.6
Delay time (CANaux2_OUT/CANaux3_OUT)
For the transmission of the output data of CANaux2_OUT and CANaux3_OUT a delay time can be
configured via code C2456/4:
Code
LCD
Possible settings
Information
Lenze Selection
C2456
4 CAN delay
6−6
0
{1 ms}
20
PLC−Systembus EN 2.0
65000 Delay time for sending the process
data object
l
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6.7
Synchronisation
Tip!
By means of the CAN_Synchronization SB, the internal time base of the PLC can be synchronised
with the arrival of the sync telegram.
Thus the internal calculating processes (e. g. control−oriented processes) of the PLC can be
synchronised with the calculating processes of other nodes which can also process the sync
telegram.
Detailed information on the CAN_Synchronization SB can be found in chapter 7.7. (^ 7−23)
6.7.1
CANaux sync response
The response to the reception of a sync telegram can be configured via C2466:
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
C2466 Sync response
6.7.2
1
CANaux sync response
No response
0
No response
1
Response to sync
PLC responds to a sync telegram
by sending the CANaux1_OUT
object.
CANaux sync identifiers
The transmission or reception identifiers of the sync telegram can be configured via C2467/C2468:
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
6.7.3
C2467 Sync Rx Id
128
1
{1}
256 CANaux sync Rx identifier
Receive identifier for the sync
telegram
C2468 Sync Tx Id
128
1
{1}
256 CANaux sync Tx identifier
Send identifier for the sync
telegram
CANaux sync Tx transmission cycle
The cycle time within which a sync telegram with the identifier set in C2468 is transmitted can be
configured via C2469:
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
C2469 Sync Tx time
l
0
0
0 = Off
{1 ms}
PLC−Systembus EN 2.0
65000 CANaux sync time
Sync transmission telegram cycle
6−7
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6.8
Reset node
Changes with regard to the CAN baud rate, the node addresses, and the identifiers only are accepted
after a reset node.
A reset node can be effected by
· Reconnection of the mains
· Reset node command via NMT command. (^ 2−6)
· Reset node command via the CANaux_Management SB (^ 8−4)
· Reset node via C2458:
Code
LCD
Possible settings
Information
Lenze Selection
C2458 Reset node
6.9
0
0
1
No function
CANaux reset node
CANauxreset node
System bus management
Via the CANaux_Management SB,
· a reset node can be activated.
· "Communication error" and "Bus off state" can be processed in the PLC program.
· the instant of transmission of CANaux2_OUT and CANaux3_OUT can be influenced.
Tip!
Detailed information on the CANaux_Management SB can be found in chapter 8.4. (^ 8−4)
6−8
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6.10
Monitoring processes
6.10.1
Time monitoring for CANaux1_IN ... CANaux3_IN
For the inputs of the process data objects CANaux1_IN ... CANaux3_IN a time monitoring can be
configured via C2457:
Code
LCD
Possible settings
Information
Lenze Selection
C2457
1 CE11monit time
2 CE12monit time
3 CE13monit time
0
{1 ms}
3000
3000
3000
65000 Monitoring time for process data
input objects
The response for the case that no telegram has been received within the defined monitoring time can
be configured via codes C2481 ... C2483:
Code
LCD
Possible settings
Information
Lenze Selection
6.10.2
C2481 MONIT CE11
3
C2482 MONIT CE12
3
C2483 MONIT CE13
3
0
2
3
0
2
3
0
2
3
TRIP
Warning
Off
TRIP
Warning
Off
TRIP
Warning
Off
Configuration of the monitoring for
CANaux1_IN error (CE11)
Configuration of the monitoring for
CANaux2_IN error (CE12)
Configuration of the monitoring for
CANaux3_IN error (CE13)
Bus−off
If the PLC has disconnected from the system bus due to too many incorrectly received telegrams,
the signal "BusOffState" (CE14) is set.
The response to this can be configured via C2484:
Code
LCD
Possible settings
Information
Lenze Selection
C2484 MONIT CE14
0
0
1
2
Off
Controller inhibit
Quick stop (QSP)
Configuration of the monitoring for
"BusOffState" (CE14)
Tip!
Possible causes for incorrectly received telegrams can be:
· Missing bus termination
· Non−sufficient shielding
· Differences in potential with regard to the earth connection of the control electronics
· Bus load too high. See chapter 3.13.3, "Bus load by the PLC". (^ 3−15)
l
PLC−Systembus EN 2.0
6−9
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6.10.3
Response in the case of system bus fault messages
Overview of the system bus error sources registered by the PLC as well as of the possible settings
for the corresponding response:
Fault message
Possible settings/response
Display
Error
No.
Meaning
TRIP Message Warning
Fault/QS Off
P
Code
CE11
122
ü
−
ü
−
•
C2481
CE12
123
ü
−
ü
−
•
C2482
CE13
124
ü
−
ü
−
•
C2483
CE14
125
Communication error CANaux1_IN
(Time monitoring can be set via C2457/1)
CANaux2_IN communication error
(Time monitoring can be set via C2457/2)
CANaux3_IN communication error
(Time monitoring can be set via C2457/3)
BUS−OFF state
(too many faulty telegrams were received)
ü
−
ü
−
•
C2484
• Lenze setting
ü Possible
− Not possible
6−10
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6.11
Diagnostics
The following codes can be used for diagnostics purposes:
Code
Information displayed
Information
C2459
CAN−AUX operating status
Chapter 6.11.1 ^ 6−11
C2460
Number of the telegrams sent and received
Chapter 6.11.2 ^ 6−12
C2461
Bus load (in %)
Chapter 6.11.3 ^ 6−13
· Settings cannot be carried out via these codes.
6.11.1
Operating status of the CAN−AUX interface
Via C2459 you can have the operating status of the system bus displayed:
Code
LCD
Possible settings
Information
Lenze Selection
C2459 CAN1 state
C2459
l
g
0
1
2
3
Operational
Pre−operational
Warning
Bus off
System bus status (CAN−AUX)
Operating status
Information
0
Operational
The system bus is fully functional. The PLC can transmit and receive parameter and process data.
1
Pre−operational
The PLC can transmit and receive parameter data. Process data, however, are ignored.
A status change from Pre−operational to Operational can be effected by:
· the CAN master ^ 3−2
· a reset node
– via C2458, if the PLC has been configured as a "quasi" master. ^ 6−8
– via the binary input signal "Reset node" at the CANaux_Management SB ^ 7−20
2
Warning
The PLC has received faulty telegrams and is only involved in the system bus passively, i. e. no data can be
sent from the PLC anymore.
Possible causes:
· Missing bus termination
· Non−sufficient shielding
· Differences in potential with regard to the earth connection of the control electronics
· Bus load too high
· PLC is not connected to the system bus.
3
Bus−off
The PLC has disconnected from the system bus due to too many faultily received telegrams.
· The response to this status can be configured via C2484. ^ 6−9
PLC−Systembus EN 2.0
6−11
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6.11.2
Telegram counter
Via C2460 you can have the number of the telegrams sent and received by the PLC via
CANaux1_IO ... CANaux3_IO.
· Only the telegrams which are valid for the PLC are counted.
· Each transmit and receive channel is evaluated separately.
· The max. counter content is 65535 (16 bit); if this value is exceeded, the corresponding
counter starts with 0 again.
Code
LCD
Possible settings
Information
Lenze Selection
C2460 CAN message
6−12
g
0
{1}
65535 System bus telegram counter
(number of telegrams)
· For values > 65535 counting
restarts with 0.
1 Message OUT
All sent
2 Message IN
3 Message OUT1
All received
Sent on CANaux_OUT1
4 Message OUT2
5 Message OUT3
6 Message POUT1
Sent on CANaux_OUT2
Sent on CANaux_OUT3
Sent on parameter data channel 1
7 Message POUT2
8 Message IN1
9 Message IN2
Sent on parameter data channel 2
Received from CANaux_IN1
Received from CANaux_IN2
10 Message IN3
11 Message PIN1
Received from CANaux_IN3
Received from parameter data
channel 1
12 Message PIN2
Received from parameter data
channel 2
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6.11.3
Bus load by CAN−AUX
Via C2461 you can receive a percentage display of the extent to which the system bus is loaded by
the telegrams of the CAN−AUX interface.
· Only valid telegrams are considered.
· Each transmit and receive channel is evaluated separately.
Code
LCD
Possible settings
Information
Lenze Selection
C2461 Load IN/OUT
g
0
{1 %}
1 Message OUT
l
100 System bus − bus load
(CAN−AUX)
· Trouble−free operation demands
that the total bus load (all
connected devices) does not
exceed 80 %.
All sent
2 Message IN
3 Message OUT1
All received
Sent on CANaux_OUT1
4 Message OUT2
5 Message OUT3
6 Message POUT1
Sent on CANaux_OUT2
Sent on CANaux_OUT3
Sent on parameter data channel 1
7 Message POUT2
8 Message IN1
Sent on parameter data channel 2
Received from CANaux_IN1
9 Message IN2
10 Message IN3
11 Message PIN1
Received from CANaux_IN2
Received from CANaux_IN3
Received from parameter data
channel 1
12 Message PIN2
Received from parameter data
channel 2
PLC−Systembus EN 2.0
6−13
System bus (CAN) for Lenze PLC devices
Configuration (CAN−AUX interface)
6−14
PLC−Systembus EN 2.0
l
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.1
7
7.1
CAN1_IO (node number: 31) − 9300 Servo PLC
CAN system blocks
CAN1_IO (node number: 31) − 9300 Servo PLC
This SB serves to transmit cyclic process data via the system bus.
· For the transmission a sync telegram is required, which has to be generated by a different
node. (^ 2−9)
CAN1_IO
CAN1_wDctrlStat
WORD
State
data
output
CAN1_wDctrlCtrl
WORD
Control
data
input
Bit:
3
8
9
10
11
0
1
2
16 x
BOOL
Byte
3
5
Byte
6
1
1
2
2
7
12
13
14
CAN1_nOutW1_a
CAN1_nOutW3_a
4
4
15
WORD
WORD
C0868/2
C0866/2
5
WORD
6
16 x BOOL
5
WORD
6
16 x BOOL
7
16 x BOOL
DINT
CAN1_bCtrlB0_b
CAN1_bCtrlB1_b
CAN1_bCtrlB2_b
CAN1_bCtrlB4_b
CAN1_bCtrlB5_b
CAN1_bCtrlB6_b
CAN1_bCtrlB7_b
CAN1_bCtrlB12_b
CAN1_bCtrlB13_b
CAN1_bCtrlB14_b
CAN1_bCtrlB15_b
CAN1_nInW1_a
CAN1_nInW2_a
CAN1_nInW3_a
CAN1_bInB0...15_b
C0863/1
7
16 x BOOL
C0151/1
CAN1_dnOutD1_p
CAN1_bCtrlTripSet_b
CAN1_bCtrlTripReset_b
C0866/3
C0151/1
CAN1_bFDO16...31_b
CAN1_bCtrlDisable_b
CAN1_bCtrlCInhibit_b
C0866/1
WORD
C0868/3
CAN1_bFDO0...15_b
3
WORD
C0868/1
CAN1_nOutW2_a
3
CAN1_bCtrlQuickstop_b
CAN1_bInB16...31_b
C0863/2
8
L
8
C0869/1 H
Output user data
(8 bytes)
L
DINT
H
C0867/1
CAN1_dnInD1_p
Input user data
(8 bytes)
System bus interface
Fig. 7−1
L
CAN1_IO system block
PLC−Systembus EN 2.0
7−1
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.1
7.1.1
CAN1_IO (node number: 31) − 9300 Servo PLC
Inputs_CAN1
Variable
Data type
Signal type
Word
−
CAN1_wDctrlCtrl
Display
format
%IW31.0
C0136/2
hex
C0136/2
bin
%IX31.0.3
CAN1_bCtrlDisable_b
%IX31.0.8
CAN1_bCtrlCInhibit_b
%IX31.0.9
CAN1_bCtrlTripSet_b
%IX31.0.10
CAN1_bCtrlTripReset_b
%IX31.0.11
CAN1_bCtrlB0_b
%IX31.0.0
CAN1_bCtrlB1_b
%IX31.0.1
Bool
CAN1_bCtrlB4_b
Binary
%IX31.0.2
%IX31.0.4
CAN1_bCtrlB5_b
%IX31.0.5
CAN1_bCtrlB6_b
%IX31.0.6
CAN1_bCtrlB7_b
%IX31.0.7
CAN1_bCtrlB12_b
%IX31.0.12
CAN1_bCtrlB13_b
%IX31.0.13
CAN1_bCtrlB14_b
%IX31.0.14
CAN1_bCtrlB15_b
%IX31.0.15
CAN1_nInW1_a
%IW31.1
C0866/1
%IW31.2
C0866/2
CAN1_nInW3_a
%IW31.3
C0866/3
CAN1_bInB0_b
%IX31.2.0
CAN1_nInW2_a
Integer
Analog
...
...
CAN1_bInB15_b
Bool
CAN1_bInB16_b
Binary
...
CAN1_dnInD1_p
Notes
dec [%]
C0863/1
%IX31.2.15
hex
%IX31.3.0
...
CAN1_bInB31_b
C0863/2
%IX31.3.15
Double integer
Position
%ID31.1
C0867/1
dec [inc]
Data type
Signal type
Address
Display code
Display
format
Word
−
%QW31.0
−
−
%QW31.1
C0868/1
Outputs_CAN1
Variable
CAN1_wDctrlStat
CAN1_nOutW1_a
CAN1_nOutW2_a
%QW31.2
C0868/2
CAN1_nOutW3_a
%QW31.3
C0868/3
CAN1_bFDO0_b
%QX31.2.0
Integer
Analog
..
CAN1_bFDO15_b
CAN1_bFDO16_b
Bool
Binary
..
CAN1_dnOutD1_p
Notes
dec [%]
...
%QX31.2.15
%QX31.3.0
C0151/1
hex
C0869/1
dec [inc]
Display code in hex
as double word
...
CAN1_bFDO31_b
7−2
Display code
CAN1_bCtrlQuickstop_b
CAN1_bCtrlB2_b
7.1.2
Address
%QX31.3.15
Double integer
Position
%QD31.1
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.1
7.1.3
CAN1_IO (node number: 31) − 9300 Servo PLC
Process data telegram
The process data telegram consists of an identifier and 8 bytes of user data.
11bit
8 bytes user data
Identifier
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Information on the identifier can be found in chapter 2.4.1. (^ 2−3)
7.1.4
Assignment of the user data to variables
Several variables of different data types are assigned to the user data to be transmitted and received.
Thus, the data in the PLC program can be optionally interpreted as:
· binary information (1 bit)
· status word/quasi−analog value (16 bit)
· angle information (32 bit)
Variables for user data to be transmitted
User data
Assigned variables
Byte
1
2
3
4
5
Bit
0...7
0...7
0...7
0...7
0
...
7
Variable (1 bit)
6
0
...
7
CAN1_bFDO8_b
...
CAN1_bFDO15_b
7
0
...
7
CAN1_bFDO16_b
...
CAN1_bFDO23_b
8
0
...
7
CAN1_bFDO24_b
...
CAN1_bFDO31_b
Variable (16 bit)
Variable (32 bit)
CAN1_wDctrlStat
CAN1_nOutW1_a
CAN1_bFDO0_b
...
CAN1_bFDO7_b
CAN1_nOutW2_a
CAN1_dnOutD1_p
CAN1_nOutW3_a
Note!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
For instance, if you want to write bytes 5 and 6, only use the variable CAN1_dnOutD1_p,
CAN1_nOutW2_a, or only the variables CAN1_bFDO0_b ... CAN1_bFDO15_b for this purpose!
L
PLC−Systembus EN 2.0
7−3
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.1
CAN1_IO (node number: 31) − 9300 Servo PLC
Variables for received user data
User data
Byte
1
Variable (1 bit)
CAN1_bInB0_b
CAN1_bInB1_b
CAN1_bInB2_b
CAN1_bCtrlQuickstop_b
CAN1_bInB4_b
CAN1_bInB5_b
CAN1_bInB6_b
CAN1_bInB7_b
CAN1_bCtrlDisable_b
CAN1_bCtrlCInhibit_b
CAN1_bCtrlTripSet_b
CAN1_bCtrlTripReset_b
CAN1_bInB12_b
CAN1_bInB13_b
CAN1_bInB14_b
CAN1_bInB15_b
6
0
...
7
CAN1_bInB8_b
...
CAN1_bInB15_b
7
0
...
7
CAN1_bInB16_b
...
CAN1_bInB23_b
8
0
...
7
CAN1_bInB24_b
...
CAN1_bInB31_b
2
3
4
5
7−4
Assigned variables
Bit
0
1
2
3
4
5
6
7
0
1
2
3
4
5
6
7
0...7
0...7
0
...
7
Variable (16 bit)
Variable (32 bit)
CAN1_wDctrlCtrl
CAN1_nInW1_a
CAN1_bInB0_b
...
CAN1_bInB7_b
CAN1_nInW2_a
CAN1_dnInD1_p
CAN1_nInW3_a
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.1
7.1.5
CAN1_IO (node number: 31) − 9300 Servo PLC
Transferring status and control information of the device control
Via the user data bytes 1 and 2, you can exchange status and control information of the device
control (DCTRL) between different 9300 Servo PLCs via the system bus (CAN) in a simple manner.
Sending the status word of the DCTRL SB
Connect the variable DCTRL_wStat of the DCTRL SB to the variable CAN1_wDctrlStat to transfer
the status word of the DCTRL SB via the user data bytes 1 and 2.
Tip!
In addition to signals such as IMP and CINH, the SB status word DCTRL contains some freely
assignable signals which can be overwritten via the variables DCTRL_bStateB.._b of the DCTRL SB.
Detailed information on the DCTRL SB can be found in the "9300 Servo PLC" Online Manual.
Transferring the control word to the DCTRL SB
Connect the variable CAN1_wDctrlCtrl to the variable DCTRL_wCAN1Ctrl of the DCTRL SB to
transfer the control word received via the user data bytes 1 and 2 to the DCTRL SB.
Tip!
The control signals for the functions quick stop (QSP), DISABLE, CINH, TRIP−SET, and TRIP−RESET
can be additionally read out and processed via the following variables:
· CAN1_bCtrlQuickstop_b
· CAN1_bCtrlDisable_b
· CAN1_bCtrlInhibit_b
· CAN1_bCtrlTripSet_b
· CAN1_bCtrlTripReset_b
The remaining 11 bits (CAN1_bCtrlB..._b) can be used for controlling further functions/function
blocks.
L
PLC−Systembus EN 2.0
7−5
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.2
7.2
CAN1_IO (node number: 31) − Drive PLC
CAN1_IO (node number: 31) − Drive PLC
This SB serves to transmit cyclic process data via the system bus.
· For the transmission a sync telegram is required, which has to be generated by a different
node. (^ 2−9)
CAN1_IO
CAN1_nOutW0_a
CAN1_bFDO0...15_b
CAN1_nOutW1_a
Byte
Byte
WORD
1
1
WORD
16 x BOOL
2
2
16 x BOOL
3
3
CAN1_bFDO16...31_b
4
4
CAN1_nOutW2_a
CAN1_bFDO32...47_b
CAN1_nOutW3_a
CAN1_bInB0...15_b
WORD
WORD
C0868/1
16 x BOOL
16 x BOOL
WORD
C0868/2
C0866/2
5
CAN1_dnOutD1_p
CAN1_nInW2_a
16 x BOOL
6
WORD
6
WORD
CAN1_nInW3_a
C0866/3
16 x BOOL
DINT
CAN1_bInB16...31_b
CAN1_bInB32...47_b
16 x BOOL
C0868/3
CAN1_bFDO48...63_b
CAN1_nInW1_a
C0866/1
WORD
5
CAN1_nInW0_a
C0136/2
L
7
7
8
8
CAN1_bInB48...63_b
16 x BOOL
C0869/1 H
Output user data
(8 bytes)
L
DINT
H
C0867/1
CAN1_dnInD1_p
Input user data
(8 bytes)
System bus interface
Fig. 7−2
7−6
CAN1_IO system block
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.2
7.2.1
CAN1_IO (node number: 31) − Drive PLC
Inputs_CAN1
Variable
Data type
Signal type
Integer
Analog
CAN1_nInW0_a
CAN1_bInB0_b
...
Bool
Binary
Integer
Analog
CAN1_bInB16_b
%IW31.0
C0136/2
dec [%]
C0863/1
hex
C0866/1
dec [%]
C0863/2
hex
C0866/2
dec [%]
C0866/3
dec [%]
Notes
...
%IW31.1
%IX31.1.0
...
Bool
Binary
CAN1_bInB31_b
...
%IX31.1.15
CAN1_nInW2_a
Integer
Analog
CAN1_bInB32_b
%IW31.2
%IX31.2.0
...
Bool
Binary
Integer
Analog
CAN1_bInB47_b
...
%IX31.2.15
CAN1_nInW3_a
CAN1_bInB48_b
%IW31.3
%IX31.3.0
...
Bool
Binary
CAN1_bInB63_b
...
%IX31.3.15
Double integer
Position
%ID31.1
C0867/1
dec [inc]
Data type
Signal type
Address
Display code
Display
format
Integer
Analog
%QW31.0
−
−
−
hex
C0868/1
dec [%]
−
hex
C0868/2
dec [%]
−
hex
C0868/3
dec [%]
−
hex
C0869/1
dec [inc]
Outputs_CAN1
Variable
CAN1_nOutW0_a
CAN1_bFDO0_b
..
CAN1_nOutW1_a
Bool
Binary
Integer
Analog
Bool
Binary
Integer
Analog
Bool
Binary
Integer
Analog
Bool
Binary
Double integer
Position
%QW31.3
Display code in hex
as double word
%QX31.3.0
CAN1_bFDO63_b
CAN1_dnOutD1_p
..
%QX31.2.15
CAN1_bFDO48_b
..
%QW31.2
Display code in hex
as double word
%QX31.2.0
CAN1_bFDO47_b
CAN1_nOutW3_a
..
%QX31.1.15
CAN1_bFDO32_b
..
%QW31.1
Display code in hex
as double word
%QX31.1.0
CAN1_bFDO31_b
CAN1_nOutW2_a
..
%QX31.0.15
CAN1_bFDO16_b
..
Notes
%QX31.0.0
CAN1_bFDO15_b
L
Display
format
%IX31.0.15
CAN1_nInW1_a
7.2.2
Display code
%IX31.0.0
CAN1_bInB15_b
CAN1_dnInD1_p
Address
..
%QX31.3.15
%QD31.1
PLC−Systembus EN 2.0
Display code in hex
as double word
7−7
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.2
7.2.3
CAN1_IO (node number: 31) − Drive PLC
Process data telegram
The process data telegram consists of an identifier and 8 bytes of user data.
11bit
8 bytes user data
Identifier
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Information on the identifier can be found in chapter 2.4.1. (^ 2−3)
7.2.4
Assignment of the user data to variables
Several variables of different data types are assigned to the user data to be transmitted and received.
Thus, the data in the PLC program can be optionally interpreted as:
· binary information (1 bit)
· status word/quasi−analog value (16 bit)
· angle information (32 bit)
Variables for user data to be transmitted
User data
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CAN1_bFDO0_b
...
CAN1_bFDO7_b
2
0
...
7
CAN1_bFDO8_b
...
CAN1_bFDO15_b
3
0
...
7
CAN1_bFDO16_b
...
CAN1_bFDO23_b
4
0
...
7
CAN1_bFDO24_b
...
CAN1_bFDO31_b
5
0
...
7
CAN1_bFDO32_b
...
CAN1_bFDO39_b
6
0
...
7
CAN1_bFDO40_b
...
CAN1_bFDO47_b
7
0
...
7
CAN1_bFDO48_b
...
CAN1_bFDO55_b
8
0
...
7
CAN1_bFDO56_b
...
CAN1_bFDO63_b
Variable (16 bit)
Variable (32 bit)
CAN1_nOutW0_a
CAN1_nOutW1_a
CAN1_nOutW2_a
CAN1_dnOutD1_p
CAN1_nOutW3_a
Note!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
For instance, if you want to write bytes 5 and 6, only use the variable CAN1_dnOutD1_p,
CAN1_nOutW2_a, or only the variables CAN1_bFDO32_b ... CAN1_bFDO47_b for this purpose!
7−8
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.2
CAN1_IO (node number: 31) − Drive PLC
Variables for received user data
User data
L
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CAN1_bInB0_b
...
CAN1_bInB7_b
2
0
...
7
CAN1_bInB8_b
...
CAN1_bInB15_b
3
0
...
7
CAN1_bInB16_b
...
CAN1_bInB23_b
4
0
...
7
CAN1_bInB24_b
...
CAN1_bInB31_b
5
0
...
7
CAN1_bInB32_b
...
CAN1_bInB39_b
6
0
...
7
CAN1_bInB40_b
...
CAN1_bInB47_b
7
0
...
7
CAN1_bInB48_b
...
CAN1_bInB55_b
8
0
...
7
CAN1_bInB56_b
...
CAN1_bInB63_b
Variable (16 bit)
Variable (32 bit)
CAN1_nInW0_a
CAN1_nInW1_a
CAN1_nInW2_a
CAN1_dnInD1_p
CAN1_nInW3_a
PLC−Systembus EN 2.0
7−9
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.3
7.3
CAN1_IO (node number: 31) − ECSxA
CAN1_IO (node number: 31) − ECSxA
This SB serves to transmit cyclic process data via the system bus.
· For the transmission a sync telegram is required, which has to be generated by a different
node. (^ 2−9)
CAN1_IO
CAN1_nOutW0_a
CAN1_bFDO0...15_b
CAN1_nOutW1_a
Byte
Byte
WORD
1
1
WORD
16 x BOOL
2
2
16 x BOOL
3
3
CAN1_bFDO16...31_b
4
4
CAN1_nOutW2_a
CAN1_bFDO32...47_b
CAN1_nOutW3_a
CAN1_bInB0...15_b
WORD
WORD
C0868/1
16 x BOOL
16 x BOOL
WORD
C0868/2
C0866/2
5
CAN1_dnOutD1_p
CAN1_nInW2_a
16 x BOOL
6
WORD
6
WORD
CAN1_nInW3_a
C0866/3
16 x BOOL
DINT
CAN1_bInB16...31_b
CAN1_bInB32...47_b
16 x BOOL
C0868/3
CAN1_bFDO48...63_b
CAN1_nInW1_a
C0866/1
WORD
5
CAN1_nInW0_a
C0136/2
L
7
7
8
8
CAN1_bInB48...63_b
16 x BOOL
C0869/1 H
Output user data
(8 bytes)
L
DINT
H
C0867/1
CAN1_dnInD1_p
Input user data
(8 bytes)
System bus interface
Fig. 7−3
7−10
CAN1_IO system block
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.3
7.3.1
CAN1_IO (node number: 31) − ECSxA
Inputs_CAN1
Variable
Data type
Signal type
Integer
Analog
CAN1_nInW0_a
CAN1_bInB0_b
...
Bool
Binary
Integer
Analog
CAN1_bInB16_b
%IW31.0
C0136/2
dec [%]
C0863/1
hex
C0866/1
dec [%]
C0863/2
hex
C0866/2
dec [%]
C0866/3
dec [%]
Notes
...
%IW31.1
%IX31.1.0
...
Bool
Binary
CAN1_bInB31_b
...
%IX31.1.15
CAN1_nInW2_a
Integer
Analog
CAN1_bInB32_b
%IW31.2
%IX31.2.0
...
Bool
Binary
Integer
Analog
CAN1_bInB47_b
...
%IX31.2.15
CAN1_nInW3_a
CAN1_bInB48_b
%IW31.3
%IX31.3.0
...
Bool
Binary
CAN1_bInB63_b
...
%IX31.3.15
Double integer
Position
%ID31.1
C0867/1
dec [inc]
Data type
Signal type
Address
Display code
Display
format
Integer
Analog
%QW31.0
−
−
−
hex
C0868/1
dec [%]
−
hex
C0868/2
dec [%]
−
hex
C0868/3
dec [%]
−
hex
C0869/1
dec [inc]
Outputs_CAN1
Variable
CAN1_nOutW0_a
CAN1_bFDO0_b
..
CAN1_nOutW1_a
Bool
Binary
Integer
Analog
Bool
Binary
Integer
Analog
Bool
Binary
Integer
Analog
Bool
Binary
Double integer
Position
%QW31.3
Display code in hex
as double word
%QX31.3.0
CAN1_bFDO63_b
CAN1_dnOutD1_p
..
%QX31.2.15
CAN1_bFDO48_b
..
%QW31.2
Display code in hex
as double word
%QX31.2.0
CAN1_bFDO47_b
CAN1_nOutW3_a
..
%QX31.1.15
CAN1_bFDO32_b
..
%QW31.1
Display code in hex
as double word
%QX31.1.0
CAN1_bFDO31_b
CAN1_nOutW2_a
..
%QX31.0.15
CAN1_bFDO16_b
..
Notes
%QX31.0.0
CAN1_bFDO15_b
L
Display
format
%IX31.0.15
CAN1_nInW1_a
7.3.2
Display code
%IX31.0.0
CAN1_bInB15_b
CAN1_dnInD1_p
Address
..
%QX31.3.15
%QD31.1
PLC−Systembus EN 2.0
Display code in hex
as double word
7−11
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.3
7.3.3
CAN1_IO (node number: 31) − ECSxA
Process data telegram
The process data telegram consists of an identifier and 8 bytes of user data.
11bit
8 bytes user data
Identifier
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Information on the identifier can be found in chapter 2.4.1. (^ 2−3)
7.3.4
Assignment of the user data to variables
Several variables of different data types are assigned to the user data to be transmitted and received.
Thus, the data in the PLC program can be optionally interpreted as:
· Binary information (1 bit)
· Status word/quasi−analog value (16 bit)
· Angle information (32 bit)
Variables for user data to be transmitted
User data
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CAN1_bFDO0_b
...
CAN1_bFDO7_b
2
0
...
7
CAN1_bFDO8_b
...
CAN1_bFDO15_b
3
0
...
7
CAN1_bFDO16_b
...
CAN1_bFDO23_b
4
0
...
7
CAN1_bFDO24_b
...
CAN1_bFDO31_b
5
0
...
7
CAN1_bFDO32_b
...
CAN1_bFDO39_b
6
0
...
7
CAN1_bFDO40_b
...
CAN1_bFDO47_b
7
0
...
7
CAN1_bFDO48_b
...
CAN1_bFDO55_b
8
0
...
7
CAN1_bFDO56_b
...
CAN1_bFDO63_b
Variable (16 bit)
Variable (32 bit)
CAN1_nOutW0_a
CAN1_nOutW1_a
CAN1_nOutW2_a
CAN1_dnOutD1_p
CAN1_nOutW3_a
Note!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
For instance, if you want to write the bytes 5 and 6, only use the variable CAN1_dnOutD1_p,
CAN1_nOutW2_a, or only the variables CAN1_bFDO32_b ... CAN1_bFDO47_b for this purpose!
7−12
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.3
CAN1_IO (node number: 31) − ECSxA
Variables for received user data
User data
L
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CAN1_bInB0_b
...
CAN1_bInB7_b
2
0
...
7
CAN1_bInB8_b
...
CAN1_bInB15_b
3
0
...
7
CAN1_bInB16_b
...
CAN1_bInB23_b
4
0
...
7
CAN1_bInB24_b
...
CAN1_bInB31_b
5
0
...
7
CAN1_bInB32_b
...
CAN1_bInB39_b
6
0
...
7
CAN1_bInB40_b
...
CAN1_bInB47_b
7
0
...
7
CAN1_bInB48_b
...
CAN1_bInB55_b
8
0
...
7
CAN1_bInB56_b
...
CAN1_bInB63_b
Variable (16 bit)
Variable (32 bit)
CAN1_nInW0_a
CAN1_nInW1_a
CAN1_nInW2_a
CAN1_dnInD1_p
CAN1_nInW3_a
PLC−Systembus EN 2.0
7−13
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.4
7.4
CAN2_IO (node number: 32)
CAN2_IO (node number: 32)
This SB serves to transmit event−controlled or time−controlled process data via the system bus.
· The setting of the transmission mode (event− or time−controlled) is effected via C0356. (^ 3−6)
· A sync telegram is not required.
CAN2_IO
CAN2_nOutW1_a
Byte
Byte
1
1
WORD
C0868/4
CAN2_nOutW2_a
2
WORD
WORD
2
WORD
C0868/5
CAN2_bFDO0...15_b
CAN2_bFDO16...31_b
CAN2_dnOutD1_p
3
4
16 x BOOL
16 x BOOL
CAN2_bInB0...15_b
4
16 x BOOL
CAN2_bInB16...31_b
C0863/4
L
WORD
C0868/6
CAN2_nOutW4_a
3
C0863/3
C0869/2 H
CAN2_nOutW3_a
CAN2_nInW2_a
C0866/5
16 x BOOL
DINT
CAN2_nInW1_a
C0866/4
5
5
6
6
7
7
8
8
L
DINT
H
C0867/2
WORD
WORD
Output user data
(8 bytes)
CAN2_nInW3_a
C0866/6
WORD
C0868/7
CAN2_dnInD1_p
CAN2_nInW4_a
C0866/7
Input user data
(8 bytes)
System bus interface
Fig. 7−4
CAN2_IOsystem block
Tip!
Via C0357/2 you can set the monitoring time for the data reception. (Lenze setting: 3000 ms)
· Further information on this subject can be found in chapter 3.12.1. (^ 3−11)
7−14
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.4
7.4.1
CAN2_IO (node number: 32)
Inputs_CAN2
Variable
Data type
Signal type
Integer
Analog
CAN2_nInW1_a
CAN2_nInW2_a
CAN2_bInB0_b
Bool
CAN2_bInB16_b
Binary
C0866/4
%IW32.1
C0866/5
Display
format
Notes
dec [%]
C0863/3
%IX32.0.15
hex
%IX32.1.0
...
...
CAN2_bInB31_b
C0863/4
%IX32.1.15
Double integer
CAN2_nInW3_a
Position
Integer
Analog
Data type
Signal type
Integer
Analog
CAN2_nInW4_a
%ID32.0
C0867/2
%IW32.2
C0866/6
%IW32.3
C0866/7
Address
Display code
%QW32.0
C0868/4
%QW32.1
C0868/5
dec [inc]
dec [%]
Outputs_CAN2
Variable
CAN2_nOutW1_a
CAN2_nOutW2_a
CAN2_bFDO0_b
CAN2_bFDO15_b
CAN2_bFDO16_b
Bool
Binary
%QX32.0.15
%QX32.1.0
...
CAN2_nOutW3_a
CAN2_nOutW4_a
Notes
dec [%]
...
Display code in hex
as double word
C0151/2
hex
dec [inc]
...
CAN2_bFDO31_b
CAN2_dnOutD1_p
Display
format
%QX32.0.0
...
7.4.3
%IW32.0
...
CAN2_bInB15_b
7.4.2
Display code
%IX32.0.0
...
CAN2_dnInD1_p
Address
%QX32.1.15
Double integer
Position
Integer
Analog
%QD32.0
C0869/2
%QW32.2
C0868/6
%QW32.3
C0868/7
dec [%]
Process data telegram
The process data telegram consists of an identifier and 8 bytes of user data.
11 bit
Identifier
8 bytes user data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Information on the identifier can be found in chapter 2.4.1. (^ 2−3)
L
PLC−Systembus EN 2.0
7−15
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.4
7.4.4
CAN2_IO (node number: 32)
Assignment of the user data to variables
Several variables of different data types are assigned to the user data to be transmitted and received.
Thus, the data in the PLC program can be optionally interpreted as:
· binary information (1 bit)
· status word/quasi−analog value (16 bit)
· angle information (32 bit)
Variables for user data to be transmitted
User data
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CAN2_bFDO0_b
...
CAN2_bFDO7_b
2
0
...
7
CAN2_bFDO8_b
...
CAN2_bFDO15_b
3
0
...
7
CAN2_bFDO16_b
...
CAN2_bFDO23_b
4
0
...
7
CAN2_bFDO24_b
...
CAN2_bFDO31_b
5
6
7
8
0...7
0...7
0...7
0...7
Variable (16 bit)
Variable (32 bit)
CAN2_nOutW1_a
CAN2_dnOutD1_p
CAN2_nOutW2_a
CAN2_nOutW3_a
CAN2_nOutW4_a
Note!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
For instance, if you want to write bytes 1 and 2, only use the variable CAN2_dnOutD1_p,
CAN2_nOutW2_a, or only the variables CAN2_bFDO0_b ... CAN2_bFDO15_b for this purpose!
Variables for received user data
User data
7−16
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CAN2_bInB0_b
...
CAN2_bInB7_b
2
0
...
7
CAN2_bInB8_b
...
CAN2_bInB15_b
3
0
...
7
CAN2_bInB16_b
...
CAN2_bInB23_b
4
0
...
7
CAN2_bInB24_b
...
CAN2_bInB31_b
5
6
7
8
0...7
0...7
0...7
0...7
Variable (16 bit)
Variable (32 bit)
CAN2_nInW1_a
CAN2_dnInD1_p
CAN2_nInW2_a
CAN2_nInW3_a
CAN2_nInW4_a
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.5
7.5
CAN3_IO (node number: 33)
CAN3_IO (node number: 33)
This SB serves to transmit event−controlled or time−controlled process data via the system bus.
· The setting of the transmission mode (event− or time−controlled) is effected via C0356. (^ 3−6)
· A sync telegram is not required.
CAN3_IO
CAN3_nOutW1_a
Byte
Byte
1
1
WORD
C0868/8
CAN3_nOutW2_a
2
WORD
WORD
2
WORD
C0868/9
CAN3_bFDO0...15_b
CAN3_bFDO16...31_b
CAN3_dnOutD1_p
3
4
16 x BOOL
16 x BOOL
CAN3_bInB0...15_b
4
16 x BOOL
CAN3_bInB16...31_b
C0863/4
L
WORD
C0868/10
CAN3_nOutW4_a
3
C0863/3
C0869/3 H
CAN3_nOutW3_a
CAN3_nInW2_a
C0866/9
16 x BOOL
DINT
CAN3_nInW1_a
C0866/8
5
5
6
6
7
7
8
8
L
DINT
H
C0867/3
WORD
WORD
Output user data
(8 bytes)
CAN3_nInW3_a
C0866/10
WORD
C0868/11
CAN3_dnInD1_p
CAN3_nInW4_a
C0866/11
Input user data
(8 bytes)
System bus interface
Fig. 7−5
CAN3_IOsystem block
Tip!
Via C0357/3 you can set the monitoring time for the data reception. (Lenze setting: 3000 ms)
· Further information on this subject can be found in chapter 3.12.1. (^ 3−11)
L
PLC−Systembus EN 2.0
7−17
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.5
7.5.1
CAN3_IO (node number: 33)
Inputs_CAN3
Variable
Data type
Signal type
Integer
Analog
CAN3_nInW1_a
CAN3_nInW2_a
CAN3_bInB0_b
Bool
CAN3_bInB16_b
Binary
C0866/8
%IW33.1
C0866/9
Display
format
Notes
dec [%]
C0863/5
%IX33.0.15
hex
%IX33.1.0
...
...
CAN3_bInB31_b
C0863/6
%IX33.1.15
Double integer
CAN3_nInW3_a
Position
Integer
Analog
Data type
Signal type
Integer
Analog
CAN3_nInW4_a
%ID33.0
C0867/3
%IW33.2
C0866/10
%IW33.3
C0866/11
Address
Display code
%QW33.0
C0868/8
%QW33.1
C0868/9
dec [inc]
dec [%]
Outputs_CAN3
Variable
CAN3_nOutW1_a
CAN3_nOutW2_a
CAN3_bFDO0_b
CAN3_bFDO15_b
CAN3_bFDO16_b
Bool
Binary
%QX33.0.15
%QX33.1.0
...
CAN3_nOutW3_a
CAN3_nOutW4_a
Notes
dec [%]
...
Display code in hex
as double word
C0151/3
hex
dec [inc]
...
CAN3_bFDO31_b
CAN3_dnOutD1_p
Display
format
%QX33.0.0
...
7.5.3
%IW33.0
...
CAN3_bInB15_b
7.5.2
Display code
%IX33.0.0
...
CAN3_dnInD1_p
Address
%QX33.1.15
Double integer
Position
Integer
Analog
%QD33.0
C0869/3
%QW33.2
C0868/10
%QW33.3
C0868/11
dec [%]
Process data telegram
The process data telegram consists of an identifier and 8 bytes of user data.
11bit
Identifier
8 bytes user data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Information on the identifier can be found in chapter 2.4.1. (^ 2−3)
7−18
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.5
7.5.4
CAN3_IO (node number: 33)
Assignment of the user data to variables
Several variables of different data types are assigned to the user data to be transmitted and received.
Thus, the data in the PLC program can be optionally interpreted as:
· binary information (1 bit)
· status word/quasi−analog value (16 bit)
· angle information (32 bit)
Variables for user data to be transmitted
User data
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CAN3_bFDO0_b
...
CAN3_bFDO7_b
2
0
...
7
CAN3_bFDO8_b
...
CAN3_bFDO15_b
3
0
...
7
CAN3_bFDO16_b
...
CAN3_bFDO23_b
4
0
...
7
CAN3_bFDO24_b
...
CAN3_bFDO31_b
5
6
7
8
0...7
0...7
0...7
0...7
Variable (16 bit)
Variable (32 bit)
CAN3_nOutW1_a
CAN3_dnOutD1_p
CAN3_nOutW2_a
CAN3_nOutW3_a
CAN3_nOutW4_a
Note!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
For instance, if you want to write bytes 1 and 2, only use the variable CAN3_dnOutD1_p,
CAN3_nOutW1_a, or only the variables CAN3_bFDO0_b ... CAN3_bFDO15_b for this purpose!
Variables for received user data
User data
L
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CAN3_bInB0_b
...
CAN3_bInB7_b
2
0
...
7
CAN3_bInB8_b
...
CAN3_bInB15_b
3
0
...
7
CAN3_bInB16_b
...
CAN3_bInB23_b
4
0
...
7
CAN3_bInB24_b
...
CAN3_bInB31_b
5
6
7
8
0...7
0...7
0...7
0...7
Variable (16 bit)
Variable (32 bit)
CAN3_nInW1_a
CAN3_dnInD1_p
CAN3_nInW2_a
CAN3_nInW3_a
CAN3_nInW4_a
PLC−Systembus EN 2.0
7−19
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.6
7.6
CAN_Management (node number: 101)
CAN_Management (node number: 101)
By using this SB
· a reset node can be activated, e. g. to accept changes with regard to the baud rate and
addressings.
· Communication error, Bus−off state, and further states can be processed in the PLC
program.
· the instant of transmission of CAN2_OUT and CAN3_OUT can be influenced.
CAN_Management
CAN1_IN
Communication error
CAN_bCe1CommErrCanIn1_b
CAN2_IN
Communication error
CAN_bCe2CommErrCanIn2_b
CAN3_IN
Communication error
CAN_bCe3CommErrCanIn3_b
CAN_bCe4BusOffState_b
CAN
Bus off state
Free PDO Tx
buffer overflow
CAN_bFreePdoTxBufferOverflow_b
Free PDO Rx
overflow
CAN_bFreePdoRxOverflow_b
CAN_bOverrunLifeTime_b
Overrun life time
CAN_byNodeAddress
CAN
Node address (C0350)
CAN_byState
CAN
State (C0359)
C0358
CAN_bResetNode_b
1
CAN_bTxCan2Synchronized_b
CAN_bTxCan3Synchronized_b
Fig. 7−6
CAN_ResetNode
CAN2_OUT
CAN_SYNC
CAN3_OUT
CAN_SYNC
CAN_Management system block
Note!
The process image for this SB is generated in a fixed system task (interval: 1 ms).
7.6.1
Inputs_CAN_Management
Variable
Signal type
Address
Display
code
Display
format
Notes
CAN_bCe1CommErrCanIn1_b
%IX101.0.0
CAN1_IN communication error
CAN_bCe2CommErrCanIn1_b
%IX101.0.1
CAN2_IN communication error
CAN_bCe3CommErrCanIn1_b
%IX101.0.2
CAN3_IN communication error
CAN_bCe4BusOffState_b
%IX101.0.3
Bool
Binary
−
−
CAN bus "off state" recognised
CAN_bFreePdoTxBufferOverflow_b
%IX101.0.4
Transmit request memory overflow
CAN_bFreePdoRxOverflow_b
%IX101.0.5
Receive memory overflow
CAN_bOverrunLifeTime_b
%IX101.0.6
CAN_byNodeAddress
CAN_byState
7−20
Data type
Byte
−
"Node life time" exceeded
%IB101.2
C0350
−
CAN mode address
%IB101.3
C0359
−
CAN status
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.6
7.6.2
CAN_Management (node number: 101)
Outputs_CAN_Management
Variable
Data type
Signal type
Address
CAN_bResetNode_b
%QX101.0.0
CAN_bTxCan2Synchronized_b
%QX101.0.1
Bool
CAN_bTxCan3Synchronized_b
Binary
Display
code
Display
format
Notes
Carry out reset node of the PLC
−
%QX101.0.2
−
Transmit CAN2_OUT with sync
telegram.
Transmit CAN3_OUT with sync
telegram.
Note!
If CAN_bTxCan2Synchronized_b and/or CAN_bTxCan3Synchronized_b are integrated, it is required
to configure the device as sync transmitter. The data are transmitted immediately after the sync
signal is sent.
7.6.3
Activating a reset node
A reset node is activated by setting CAN_bResetNode_b to TRUE or C0358 = 1.
Tip!
Even if the CAN_Management SB has not been assigned to the control configuration, a reset node
can be activated via C0358. (^ 3−8)
7.6.4
Defining the instant of transmission for CAN2_OUT/CAN3_OUT
Via CAN_bTxCan2Synchonized_b and CAN_bTxCan3Synchonized_b you define the instant of
transmission for the CAN objects CAN2_OUT and CAN3_OUT:
· FALSE: Data from CAN2_OUT/CAN3_OUT are sent at the end of the process image.
· TRUE: Data from CAN2_OUT/CAN3_OUT are sent to sync.
– The identifiers for the sync transmission C0369 and reception telegram can be set via
C0367/C0368.
– The sync Tx time can be set via C0369.
– Detailed information on this can be found in the description of the CAN_Syncronization SB.
(^ 7−23)
L
PLC−Systembus EN 2.0
7−21
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.6
7.6.5
CAN_Management (node number: 101)
Status messages
The CAN_Management SB provides different status messages which can be processed in the PLC
program:
Variable
Description
CAN_bCe1CommErrCanIn1_b
TRUE CAN1_IN communication error
CAN_bCe2CommErrCanIn1_b
TRUE CAN2_IN communication error
CAN_bCe3CommErrCanIn1_b
TRUE CAN3_IN communication error
CAN_bCe4BusOffState_b
TRUE CAN bus "off state" recognised
CAN_bFreePdoTxBufferOverflow_b Free CAN objects
TRUE Overflow of send order memory
· See L_CanPdoTransmit FB. (^ 10−8)
CAN_bFreePdoRxOverflow_b
Free CAN objects
TRUE Overflow of the receive memory
· See L_CanPdoReceive FB. (^ 10−12)
CAN_bOverrunLifeTime_b
CAN"Node guarding" monitoring mechanism
TRUE The "Node life time" has been exceeded
· See chapter 2.10, "monitoring mechanisms". (^ 2−21)
CAN_byNodeAddress
CAN_byState
1...63 CAN node address (^ 3−3)
Operating status of the system bus
1 Operational
2 Pre−operational
3 Warning
4 Bus−off
7−22
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.7
7.7
CAN_Synchronization (node number: 102)
CAN_Synchronization (node number: 102)
This SB can be used to synchronise the internal time base of the controller to the instant of reception
of the sync telegram or of a terminal signal. Thus, the start of cyclic and time−controlled internal
processes (e. g. data transfer from tasks to the DCTRL function block) is effected in a synchronous
manner for all controllers involved in the synchronisation.
CAN_Synchronization
C0367
C0368
CAN_bResetSyncForInterpolartor_b
Off
0
Sync telegram
1
Sync signal
2
CAN_bSyncInsideWindow_b
Sync
Control
CAN_bSyncForInterpolator_b
CAN_nSyncDeviation
C1120
C1121
C1122
C1123
Fig. 7−7
C0363
C0366
C0369
CAN_Synchronizationsystem block
Variable
Data type
Signal type
CAN_bSyncInsideWindow_b
Address
Display
code
Display
format
%IX102.0.0
Bool
Binary
−
CAN_bSyncForInterpolator_b
%IX102.0.1
Integer
CAN_nSyncDeviation
CAN_bResetSyncForInterpolator
_b
−
Bool
%IX102.1
Binary
%QX102.0.0
−
Notes
TRUE:
Sync telegram/signal within the
time slot (C1123)
FALSE:
· Exit synchronicity
· No sync telegram/signal
· Time slot (C1123) too small
TRUE:
Sync telegram/signal recognised
Current sync deviation
TRUE:
Reset CAN_bSyncForInterpolator_b
Operating mode
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
[C1120] Sync mode
0
CAN sync. source
Synchronisation deactivated.
0
Off
1
Synchronisation via system bus (CAN)
Synchronisation by sync telegram
via system bus.
2
Synchronisation via terminal
Synchronisation by sync signal via
terminal:
· 9300 Servo PLC: X5/E5
· Drive PLC: X3/I1
· ECSxA: X6/DI1
Axis synchronisation via system bus (CAN)
The system bus transmits both the sync telegram and the process signals.
Example for applications:
· Specification of cyclic, synchronised position setpoint information for multi−axis applications
via the system bus.
L
PLC−Systembus EN 2.0
7−23
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.7
CAN_Synchronization (node number: 102)
Axis synchronisation via terminal
The transmission paths for the sync signal and the process signals are separated.
· The process signals are applied via a freely selectable input channel (e. g. AIF interface, DF
input).
· The sync signal is injected via terminal:
PLC
Terminal for sync signal
9300 Servo PLC
Drive PLC
X5/E5
X3/I1
ECSxA
X6/DI1
Note!
For the synchronisation via terminal, in addition to the SB CAN_Synchronization the SB
DIGITAL_IO has to be included in the control configuration of the Drive PLC Developer Studio.
Examples for applications:
· Specification of cyclic, synchronised position setpoint information for multi−axis applications
via other bus systems (e. g. INTERBUS).
· Synchronisation of the internal process cycles to higher−level process controls.
Synchronisation time
After mains power−up and the initialisation time of the PLC, an additional period is required for
synchronisation.
The synchronisation time depends on
· the baud rate of the system bus
· the starting time (arrival of the first sync telegram/signal)
· the interval of the sync telegrams/signals
· the sync correction factor (C0363)
· the operating mode (C1120)
7−24
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.7
CAN_Synchronization (node number: 102)
Synchronisation cycle
The controllers/PLCs receive the sync telegram/signal and compare the time between two
LOW−HIGH edges of the signal to the specified cycle time (C1121).
Code
Possible settings
LCD
IMPORTANT
Lenze Selection
[C1121] Sync cycle
2
1
{1 ms}
13 Synchronisation cycle
Definition of the cycle time of the
sync telegram/signal.
· Parameterisation is only
required for the slave!
· The value set in C1121 is the time between two sync telegrams/signals of the master.
Phase displacement
Code
Possible settings
LCD
IMPORTANT
Lenze Selection
[C1122] Sync phase
0.460
0
{0.001 ms}
6.5 Synchronisation phase
Phase shift between the sync
telegram/signal and the start of the
internal control program.
Monitoring the synchronisation (time slot)
The variable CAN_bSyncInsideWindow_b can be used for monitoring the synchronisation.
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
[C1123] Sync window
0
0
{0.001 ms}
6.5 Synchronisation window
If the sync telegram/signal sent by
the master is in this "time slot",
CAN_bSyncInsideWindow_b
switches to TRUE.
Sync window
Sync signal
SyncCycle
Fig. 7−8
L
SyncCycle
"Time slot" for the LOW−HIGH edges of the sync signal
PLC−Systembus EN 2.0
7−25
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.7
CAN_Synchronization (node number: 102)
Tip!
A jitter* up to ±200 ms on the LOW−HIGH edges of the sync signal is permissible. The extent of the
jitter has an effect on the parameter setting of the "time slot".
* Jitter refers to the phase shiftings and therefore to the periodic changes of signal frequencies. They
are variations of fixed points in time (e. g. the time of the transition from one signal amplitude to
another) of a digital signal. Jitter particularly occurs with high frequencies and can result in data
losses.
Correction value of the phase controller
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
C0363 Sync corr
1
1
2
3
4
5
9300 Servo PLC:
0.2 ms/ms
0.4 ms/ms
0.6 ms/ms
0.8 ms/ms
1.0 ms/ms
Drive PLC:
0.4 ms/ms
0.8 ms/ms
1.2 ms/ms
1.6 ms/ms
2.0 ms/ms
CAN sync correction increment
Alter the correction value until
CAN_nSyncDeviation has reached a
minimum.
CAN sync response
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
C0366 Sync response
1
CAN sync response
0
1
No response
Response to sync
No response
PLC responds to a sync telegram
by sending the CAN1_OUT object.
CAN sync identifier
Transmit or receive identifier of the sync telegram
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
C0367 Sync Rx Id
128
1
{1}
256 CAN sync Rx identifier
Receive identifier of the sync
telegram.
C0368 Sync Tx Id
128
1
{1}
256 CAN sync Tx identifier
Send identifier of the sync
telegram.
CAN sync Tx transmission cycle
Code
LCD
Possible settings
IMPORTANT
Lenze Selection
C0369 Sync Tx time
7−26
0
0
0 = Off
{1}
PLC−Systembus EN 2.0
65000 CAN sync transmission telegram
cycle
A sync telegram with the identifier
of C0368 is sent with the set cycle
time.
L
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.7
CAN_Synchronization (node number: 102)
Configuration example: synchronisation via system bus (CAN)
When carrying out the commissioning, observe the following sequence:
Location
All devices
Step
1.
Commission controller/PLC and system bus.
2.
Inhibit controller/PLC.
Information
DDS
Slave devices
3.
4.
5.
Integrate CAN_Synchronization SB into the control configuration.
Connect CAN_bSyncInsideWindow_b to a digital output.
C1120 = 1
6.
C0366 = 1 (Lenze setting)
Master
7.
Define order of the telegrams (identifiers):
1. Send new setpoint to all slaves
2. Send sync telegram
3. Receive response of all slaves
Slave devices
8.
9.
Start communication / send sync telegrams.
Read C0362 from the master.
10.
Set C1121 in accordance with C0362 from the master.
Adjust interval of the sync telegrams to be
received to the cycle time of the master.
11.
Set C1123.
Set optimum size for the "time slot".
· If the sync signal "jitters" heavily, increase
"time slot".
12.
Enable controller/PLC via the signal CAN_bSyncInsideWindow_b
applied to the digital output.
Monitor the synchronisation.
· If CAN_bSyncInsideWindow_b = TRUE, enable
controller/PLC.
Synchronisation by sync telegram via system bus
active.
CAN sync response:
Slave devices respond to sync telegram.
Query cycle time of the sync telegram from the
master.
Configuration example: synchronisation via terminal
When carrying out the commissioning, observe the following sequence:
L
Location
All devices
Step
1.
2.
Commission controller/PLC and system bus.
Inhibit controller/PLC.
Information
DDS
Slave devices
3.
Integrate CAN_Synchronization SB into the control configuration.
4.
5.
Connect CAN_bSyncInsideWindow_b to a digital output.
Apply sync signal of the master to terminal.
Slave devices
6.
C1120 = 2
Slave devices
7.
C0366 = 1 (Lenze setting)
Master
Slave devices
8.
Start communication, send sync telegrams.
9.
Read C0362 from the master.
Query cycle time of the sync signal from the
master.
10.
Set C1121 in accordance with C0362 from the master.
Adjust interval of the sync signals to be received
to the cycle time of the master.
11.
Set C1123.
Set optimum size for the "time slot".
· If the sync signal "jitters" heavily, increase
"time slot".
12.
Enable controller/PLC via the signal CAN_bSyncInsideWindow_b
applied to the digital output.
Monitor the synchronisation.
· If CAN_bSyncInsideWindow_b = TRUE, enable
controller/PLC.
PLC−Systembus EN 2.0
9300 Servo PLC: terminal X5/E5
Drive PLC: terminal X3/I1
ECSxA: X6/DI1
Synchronisation by sync signal via terminal active.
CAN sync response:
Slave devices respond to sync telegram.
7−27
System bus (CAN) for Lenze PLC devices
CAN system blocks
7.7
7−28
CAN_Synchronization (node number: 102)
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.1
FIF_CAN1_IO (node number: 34)
8
FIF−CAN system blocks (only Drive PLC)
8.1
FIF_CAN1_IO (node number: 34)
This SB serves to the transmission of cyclic process data via the function interface of the Drive PLC.
· For the transmission a sync telegram is required, which has to be generated by a different
node. (^ 2−9)
FIF_CAN1_IO
FIF_CAN1_nOutW0_a
FIF_CAN1_bFDO0...15_b
FIF_CAN1_nOutW1_a
Byte
Byte
WORD
1
1
WORD
16 x BOOL
2
2
16 x BOOL
3
3
FIF_CAN1_bFDO16...31_b
4
4
WORD
FIF_CAN1_nOutW2_a
FIF_CAN1_bFDO32...47_b
FIF_CAN1_nOutW3_a
WORD
C2493/2
C2492/2
5
FIF_CAN1_dnOutD1_p
16 x BOOL
6
WORD
6
WORD
FIF_CAN1_nInW3_a
C2492/3
16 x BOOL
DINT
FIF_CAN1_nInW2_a
FIF_CAN1_bInB32...47_b
16 x BOOL
C2493/3
FIF_CAN1_bFDO48...63_b
FIF_CAN1_bInB16...31_b
C2491/2
WORD
5
FIF_CAN1_nInW1_a
C2492/1
16 x BOOL
16 x BOOL
FIF_CAN1_bInB0...15_b
C2491/1
WORD
C2493/1
FIF_CAN1_nInW0_a
L
7
7
8
8
FIF_CAN1_bInB48...63_b
16 x BOOL
L
H
H
Output user data
(8 bytes)
FIF_CAN1_dnInD1_p
DINT
Input user data
(8 bytes)
FIF System bus interface
Fig. 8−1
L
FIF_CAN1_IO system block
PLC−Systembus EN 2.0
8−1
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.1
8.1.1
FIF_CAN1_IO (node number: 34)
FIF_Inputs_CAN1
Variable
FIF_CAN1_nInW0_a
Data type
Signal type
Integer
Analog
FIF_CAN1_bInB0_b
...
Bool
Binary
Integer
Analog
Bool
Binary
Integer
Analog
Bool
Binary
Integer
Analog
8.1.2
Bool
Binary
hex
C2492/2
dec [%]
C2492/3
dec [%]
%IW34.2
...
%IW34.3
...
%IX34.3.15
Double integer
Position
%ID34.1
Address
Display code
Display
format
%QW34.0
−
−
−
−
C2493/1
dec [%]
−
−
C2493/2
dec [%]
−
−
C2493/3
dec [%]
−
−
−
−
FIF_Outputs_CAN1
Variable
Data type
Signal type
FIF_CAN1_nOutW0_a
Integer
Analog
FIF_CAN1_bFDO0_b
..
FIF_CAN1_nOutW1_a
Bool
Binary
Integer
Analog
Bool
Binary
Integer
Analog
Bool
Binary
Integer
Analog
Bool
Binary
%QW34.3
%QX34.3.0
FIF_CAN1_bFDO63_b
FIF_CAN1_dnOutD1_p
..
%QX34.2.15
FIF_CAN1_bFDO48_b
..
%QW34.2
%QX34.2.0
FIF_CAN1_bFDO47_b
FIF_CAN1_nOutW3_a
..
%QX34.1.15
FIF_CAN1_bFDO32_b
..
%QW34.1
%QX34.1.0
FIF_CAN1_bFDO31_b
FIF_CAN1_nOutW2_a
..
%QX34.0.15
FIF_CAN1_bFDO16_b
..
Notes
%QX34.0.0
FIF_CAN1_bFDO15_b
8−2
C2491/2
...
%IX34.3.0
FIF_CAN1_bInB63_b
FIF_CAN1_dnInD1_p
dec [%]
%IW34.1
%IX34.2.15
FIF_CAN1_bInB48_b
...
C2492/1
...
%IX34.2.0
FIF_CAN1_bInB47_b
FIF_CAN1_nInW3_a
hex
%IW34.0
%IX34.1.15
FIF_CAN1_bInB32_b
...
C2491/1
Notes
%IX34.1.0
FIF_CAN1_bInB31_b
FIF_CAN1_nInW2_a
Display
format
%IX34.0.15
FIF_CAN1_bInB16_b
...
Display code
%IX34.0.0
FIF_CAN1_bInB15_b
FIF_CAN1_nInW1_a
Address
..
%QX34.3.15
Double integer
Position
%QD34.1
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.1
8.1.3
FIF_CAN1_IO (node number: 34)
Process data telegram
The process data telegram consists of an identifier and 8 bytes of user data.
11bit
8 bytes user data
Identifier
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Information on the identifier can be found in chapter 2.4.1. (^ 2−3)
8.1.4
Assignment of the user data to variables
Several variables of different data types are assigned to the user data to be transmitted and received.
Thus, the data in the PLC program can be optionally interpreted as:
· binary information (1 bit)
· status word/quasi−analog value (16 bit)
· angle information (32 bit)
Variables for user data to be transmitted
User data
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
FIF_CAN1_bFDO0_b
...
FIF_CAN1_bFDO7_b
2
0
...
7
FIF_CAN1_bFDO8_b
...
FIF_CAN1_bFDO15_b
3
0
...
7
FIF_CAN1_bFDO16_b
...
FIF_CAN1_bFDO23_b
4
0
...
7
FIF_CAN1_bFDO24_b
...
FIF_CAN1_bFDO31_b
5
0
...
7
FIF_CAN1_bFDO32_b
...
FIF_CAN1_bFDO39_b
6
0
...
7
FIF_CAN1_bFDO40_b
...
FIF_CAN1_bFDO47_b
7
0
...
7
FIF_CAN1_bFDO48_b
...
FIF_CAN1_bFDO55_b
8
0
...
7
FIF_CAN1_bFDO56_b
...
FIF_CAN1_bFDO63_b
Variable (16 bit)
Variable (32 bit)
FIF_CAN1_nOutW0_a
FIF_CAN1_nOutW1_a
FIF_CAN1_nOutW2_a
FIF_CAN1_dnOutD1_p
FIF_CAN1_nOutW3_a
Note!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
For instance, if you want to write the bytes 5 and 6, only use the variable FIF_CAN1_dnOutD1_p,
FIF_CAN1_nOutW2_a, or only the variables FIF_CAN1_bFDO32_b ... FIF_CAN1_bFDO47_b for this
purpose!
L
PLC−Systembus EN 2.0
8−3
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.1
FIF_CAN1_IO (node number: 34)
Variables for received user data
User data
8−4
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
FIF_CAN1_bInB0_b
...
FIF_CAN1_bInB7_b
2
0
...
7
FIF_CAN1_bInB8_b
...
FIF_CAN1_bInB15_b
3
0
...
7
FIF_CAN1_bInB16_b
...
FIF_CAN1_bInB23_b
4
0
...
7
FIF_CAN1_bInB24_b
...
FIF_CAN1_bInB31_b
5
0
...
7
FIF_CAN1_bInB32_b
...
FIF_CAN1_bInB39_b
6
0
...
7
FIF_CAN1_bInB40_b
...
FIF_CAN1_bInB47_b
7
0
...
7
FIF_CAN1_bInB48_b
...
FIF_CAN1_bInB55_b
8
0
...
7
FIF_CAN1_bInB56_b
...
FIF_CAN1_bInB63_b
Variable (16 bit)
Variable (32 bit)
FIF_CAN1_nInW0_a
FIF_CAN1_nInW1_a
FIF_CAN1_nInW2_a
FIF_CAN1_dnInD1_p
FIF_CAN1_nInW3_a
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.2
8.2
FIF_CAN2_IO (node number: 35)
FIF_CAN2_IO (node number: 35)
This SB serves to the transmission of event− or time−controlled process data via the function interface
of the Drive PLC.
· The setting of the transmission mode (event− or time−controlled) is effected via C2456. (^ 5−6)
· A sync telegram is not required.
FIF_CAN2_IO
FIF_CAN2_nOutW1_a
Byte
Byte
1
1
WORD
C2493/4
FIF_CAN2_nOutW2_a
2
WORD
WORD
2
WORD
C2493/5
FIF_CAN2_bFDO0...15_b
FIF_CAN2_bFDO16...31_b
FIF_CAN2_dnOutD1_p
FIF_CAN2_nOutW3_a
3
3
16 x BOOL
FIF_CAN2_bInB0...15_b
C2491/3
4
16 x BOOL
4
16 x BOOL
FIF_CAN2_bInB16...31_b
C2491/4
L
H
WORD
C2493/6
FIF_CAN2_nOutW4_a
FIF_CAN2_nInW2_a
C2492/5
16 x BOOL
DINT
FIF_CAN2_nInW1_a
C2492/4
5
5
6
6
7
7
8
8
L
H
DINT
WORD
WORD
Output user data
(8 bytes)
FIF_CAN2_nInW3_a
C2492/6
WORD
C2493/7
FIF_CAN2_dnInD1_p
FIF_CAN2_nInW4_a
C2492/7
Input user data
(8 bytes)
FIF System bus interface
Fig. 8−2
FIF_CAN2_IO system block
Tip!
Via code C2457/2 you can set the monitoring time for the data reception. (Lenze setting: 3000 ms)
· Further information on this subject can be found in chapter 5.10.1. (^ 5−9)
L
PLC−Systembus EN 2.0
8−1
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.2
8.2.1
FIF_CAN2_IO (node number: 35)
FIF_Inputs_CAN2
Variable
FIF_CAN2_nInW1_a
FIF_CAN2_nInW2_a
Data type
Signal type
Integer
Analog
FIF_CAN2_bInB0_b
Bool
FIF_CAN2_bInB16_b
Display
format
Notes
dec [%]
C2491/3
hex
...
C2491/4
%IX35.1.15
Double integer
Position
Integer
Analog
%ID35.0
−
%IW35.2
C2492/6
−
%IW35.3
C2492/7
Address
Display code
%QW35.0
C2493/4
%QW35.1
C2493/5
dec [%]
FIF_Outputs_CAN2
Variable
FIF_CAN2_nOutW1_a
FIF_CAN2_nOutW2_a
Data type
Signal type
Integer
Analog
FIF_CAN2_bFDO0_b
Bool
FIF_CAN2_bFDO16_b
Binary
%QX35.0.15
%QX35.1.0
...
...
FIF_CAN2_bFDO31_b
%QX35.1.15
FIF_CAN2_nOutW3_a
FIF_CAN2_nOutW4_a
Notes
dec [%]
...
FIF_CAN2_bFDO15_b
FIF_CAN2_dnOutD1_p
Display
format
%QX35.0.0
...
8.2.3
C2492/5
%IX35.1.0
...
8.2.2
C2492/4
%IW35.1
%IX35.0.15
Binary
FIF_CAN2_bInB31_b
FIF_CAN2_nInW4_a
%IW35.0
...
FIF_CAN2_bInB15_b
FIF_CAN2_nInW3_a
Display code
%IX35.0.0
...
FIF_CAN2_dnInD1_p
Address
Double integer
Integer
Position
Analog
−
−
−
%QD35.0
−
%QW35.2
C2493/6
%QW35.3
C2493/7
dec [%]
Process data telegram
The process data telegram consists of an identifier and 8 bytes of user data.
11bit
Identifier
8 bytes user data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Information on the identifier can be found in chapter 2.4.1. (^ 2−3)
8−2
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.2
8.2.4
FIF_CAN2_IO (node number: 35)
Assignment of the user data to variables
Several variables of different data types are assigned to the user data to be transmitted and received.
Thus, the data in the PLC program can be optionally interpreted as:
· binary information (1 bit)
· status word/quasi−analog value (16 bit)
· angle information (32 bit)
Variables for user data to be transmitted
User data
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
FIF_CAN2_bFDO0_b
...
FIF_CAN2_bFDO7_b
2
0
...
7
FIF_CAN2_bFDO8_b
...
FIF_CAN2_bFDO15_b
3
0
...
7
FIF_CAN2_bFDO16_b
...
FIF_CAN2_bFDO23_b
4
0
...
7
FIF_CAN2_bFDO24_b
...
FIF_CAN2_bFDO31_b
5
6
7
8
0...7
0...7
0...7
0...7
Variable (16 bit)
Variable (32 bit)
FIF_CAN2_nOutW1_a
FIF_CAN2_dnOutD1_p
FIF_CAN2_nOutW2_a
FIF_CAN2_nOutW3_a
FIF_CAN2_nOutW4_a
Note!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
For instance, if you want to write the bytes 1 and 2, only use the variable FIF_CAN2_dnOutD1_p,
FIF_CAN2_nOutW1_a, or only the variables FIF_CAN2_bFDO0_b ... FIF_CAN2_bFDO15_b for this
purpose!
Variables for received user data
User data
L
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
FIF_CAN2_bInB0_b
...
FIF_CAN2_bInB7_b
2
0
...
7
FIF_CAN2_bInB8_b
...
FIF_CAN2_bInB15_b
3
0
...
7
FIF_CAN2_bInB16_b
...
FIF_CAN2_bInB23_b
4
0
...
7
FIF_CAN2_bInB24_b
...
FIF_CAN2_bInB31_b
5
6
7
8
0...7
0...7
0...7
0...7
Variable (16 bit)
Variable (32 bit)
FIF_CAN2_nInW1_a
FIF_CAN2_dnInD1_p
FIF_CAN2_nInW2_a
FIF_CAN2_nInW3_a
FIF_CAN2_nInW4_a
PLC−Systembus EN 2.0
8−3
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.3
8.3
FIF_CAN3_IO (node number: 36)
FIF_CAN3_IO (node number: 36)
This SB serves to the transmission of event− or time−controlled process data via the function interface
of the Drive PLC.
· The setting of the transmission mode (event− or time−controlled) is effected via C2456. (^ 5−6)
· A sync telegram is not required.
FIF_CAN3_IO
FIF_CAN3_nOutW1_a
Byte
Byte
1
1
WORD
C2493/8
FIF_CAN3_nOutW2_a
2
WORD
WORD
2
WORD
C2493/9
FIF_CAN3_bFDO0...15_b
FIF_CAN3_bFDO16...31_b
FIF_CAN3_dnOutD1_p
FIF_CAN3_nOutW3_a
3
3
16 x BOOL
FIF_CAN3_bInB0...15_b
C2492/5
4
16 x BOOL
4
16 x BOOL
FIF_CAN3_bInB16...31_b
C2491/6
L
H
WORD
C2493/10
FIF_CAN3_nOutW4_a
FIF_CAN3_nInW2_a
C2492/9
16 x BOOL
DINT
FIF_CAN3_nInW1_a
C2492/8
5
5
6
6
7
7
8
8
L
H
DINT
WORD
WORD
Output user data
(8 bytes)
FIF_CAN3_nInW3_a
C2492/10
WORD
C2493/11
FIF_CAN3_dnInD1_p
FIF_CAN3_nInW4_a
C2492/11
Input user data
(8 bytes)
FIF System bus interface
Fig. 8−3
FIF_CAN3_IO system block
Tip!
Via code C2457/3 you can set the monitoring time for the data reception. (Lenze setting: 3000 ms)
· Further information on this subject can be found in chapter 5.10.1. (^ 5−9)
L
PLC−Systembus EN 2.0
8−1
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.3
8.3.1
FIF_CAN3_IO (node number: 36)
FIF_Inputs_CAN3
Variable
FIF_CAN3_nInW1_a
FIF_CAN3_nInW2_a
Data type
Signal type
Integer
Analog
FIF_CAN3_bInB0_b
Bool
FIF_CAN3_bInB16_b
Display
format
Notes
dec [%]
C2491/5
hex
...
C2491/6
%IX36.1.15
Double integer
Position
Integer
Analog
%ID36.0
−
%IW36.2
C2492/10
−
%IW36.3
C2492/11
Address
Display code
%QW36.0
C2493/8
%QW36.1
C2493/9
dec [%]
FIF_Outputs_CAN3
Variable
FIF_CAN3_nOutW1_a
FIF_CAN3_nOutW2_a
Data type
Signal type
Integer
Analog
FIF_CAN3_bFDO0_b
Bool
FIF_CAN3_bFDO16_b
Binary
%QX36.0.15
%QX36.1.0
...
...
FIF_CAN3_bFDO31_b
%QX36.1.15
FIF_CAN3_nOutW3_a
FIF_CAN3_nOutW4_a
Notes
dec [%]
...
FIF_CAN3_bFDO15_b
FIF_CAN3_dnOutD1_p
Display
format
%QX36.0.0
...
8.3.3
C2492/9
%IX36.1.0
...
8.3.2
C2492/8
%IW36.1
%IX36.0.15
Binary
FIF_CAN3_bInB31_b
FIF_CAN3_nInW4_a
%IW36.0
...
FIF_CAN3_bInB15_b
FIF_CAN3_nInW3_a
Display code
%IX36.0.0
...
FIF_CAN3_dnInD1_p
Address
Double integer
Integer
Position
Analog
−
−
−
%QD36.0
−
%QW36.2
C2493/10
%QW36.3
C2493/11
dec [%]
Process data telegram
The process data telegram consists of an identifier and 8 bytes of user data.
11bit
Identifier
8 bytes user data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Information on the identifier can be found in chapter 2.4.1. (^ 2−3)
8−2
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.3
8.3.4
FIF_CAN3_IO (node number: 36)
Assignment of the user data to variables
Several variables of different data types are assigned to the user data to be transmitted and received.
Thus, the data in the PLC program can be optionally interpreted as:
· binary information (1 bit)
· status word/quasi−analog value (16 bit)
· angle information (32 bit)
Variables for user data to be transmitted
User data
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
FIF_CAN3_bFDO0_b
...
FIF_CAN3_bFDO7_b
2
0
...
7
FIF_CAN3_bFDO8_b
...
FIF_CAN3_bFDO15_b
3
0
...
7
FIF_CAN3_bFDO16_b
...
FIF_CAN3_bFDO23_b
4
0
...
7
FIF_CAN3_bFDO24_b
...
FIF_CAN3_bFDO31_b
5
6
7
8
0...7
0...7
0...7
0...7
Variable (16 bit)
Variable (32 bit)
FIF_CAN3_nOutW1_a
FIF_CAN3_dnOutD1_p
FIF_CAN3_nOutW2_a
FIF_CAN3_nOutW3_a
FIF_CAN3_nOutW4_a
Note!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
For instance, if you want to write the bytes 1 and 2, only use the variable FIF_CAN3_dnOutD1_p,
FIF_CAN3_nOutW1_a, or only the variables FIF_CAN3_bFDO0_b ... FIF_CAN3_bFDO15_b for this
purpose!
Variables for received user data
User data
L
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
FIF_CAN3_bInB0_b
...
FIF_CAN3_bInB7_b
2
0
...
7
FIF_CAN3_bInB8_b
...
FIF_CAN3_bInB15_b
3
0
...
7
FIF_CAN3_bInB16_b
...
FIF_CAN3_bInB23_b
4
0
...
7
FIF_CAN3_bInB24_b
...
FIF_CAN3_bInB31_b
5
6
7
8
0...7
0...7
0...7
0...7
Variable (16 bit)
Variable (32 bit)
FIF_CAN3_nInW1_a
FIF_CAN3_dnInD1_p
FIF_CAN3_nInW2_a
FIF_CAN3_nInW3_a
FIF_CAN3_nInW4_a
PLC−Systembus EN 2.0
8−3
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.4
8.4
FIF_CAN_Management (node number: 111)
FIF_CAN_Management (node number: 111)
By means of this SB
· a reset node can be activated, e. g. to accept changes with regard to the baud rate and
addressings.
· Communication error, Bus−off state, and further states can be processed in the PLC
program.
· the instant of transmission of FIF−CAN2_OUT and FIF−CAN3_OUT can be influenced.
FIF_CAN_Management
FIF_CAN1_IN
Communication error
FIF_CAN_bCe1CommErrCanIn1_b
FIF_CAN2_IN
Communication error
FIF_CAN_bCe2CommErrCanIn2_b
FIF_CAN3_IN
Communication error
FIF_CAN_bCe3CommErrCanIn3_b
FIF_CAN_bCe4BusOffState_b
FIF_CAN
Bus off state
FIF_CAN_byNodeAddress
FIF-CAN
Node address (C2450)
FIF_CAN_byState
FIF-CAN
State (C2459)
C2458
FIF_CAN_bResetNode_b
1
FIF_CAN_bTxCan2Synchronized_b
FIF_CAN_bTxCan3Synchronized_b
Fig. 8−4
FIF-CAN_ResetNode
FIF_CAN2_OUT
CAN_SYNC
FIF_CAN3_OUT
CAN_SYNC
FIF_CAN_Managementsystem block
Note!
The process image for this SB is generated in a fixed system task (interval: 1 ms).
8.4.1
FIF_Inputs_CAN_Management
Variable
Data type
Signal type
FIF_CAN_bCe1CommErrCanIn1_b
%IX111.0.0
FIF_CAN_bCe2CommErrCanIn1_b
%IX111.0.1
FIF_CAN_bCe3CommErrCanIn1_b
Bool
Binary
FIF_CAN_bCe4BusOffState_b
FIF_CAN_byNodeAddress
FIF_CAN_byState
8−4
Address
Display
code
Display
format
FIF−CAN1_IN communication error
−
FIF−CAN2_IN communication error
−
−
%IB111.2
C2450
−
FIF−CAN node address
%IB111.3
C2459
−
FIF−CAN status
%IX111.0.2
%IX111.0.3
Byte
Notes
PLC−Systembus EN 2.0
FIF−CAN3_IN communication error
FIF−CAN−bus "off state" recognised
L
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.4
8.4.2
FIF_CAN_Management (node number: 111)
FIF_Outputs_CAN_Management
Variable
Data type
Signal type
Address
FIF_CAN_bResetNode_b
%QX111.0.0
FIF_CAN_bTxCan2Synchronized_b
%QX111.0.1
Bool
FIF_CAN_bTxCan3Synchronized_b
Binary
Display
code
Display
format
Notes
Carry out reset node of the FIF−CAN
−
−
%QX111.0.2
Transmit FIF−CAN2_OUT with sync
telegram.
Transmit FIF−CAN_OUT with sync
telegram.
Note!
If FIF_CAN_bTxCan2Synchronized_b and/or FIF_CAN_bTxCan3Synchronized_b are integrated, it
is required to configure the device as sync transmitter. The data are transmitted immediately after
the sync telegram is sent.
8.4.3
Activating a reset node
A reset node can be activated by setting FIF_CAN_bResetNode_b to TRUE or C2458 = 1.
Tip!
Even if the FIF_CAN_Management SB has not been assigned to the control configuration, a reset
node can be activated via C2458. (^ 5−8)
8.4.4
Defining the instant of transmission for FIF−CAN2_OUT/FIF−CAN3_OUT
Via FIF_CAN_bTxCan2Synchonized_b and FIF_CAN_bTxCan3Synchonized_b you define the
instant of transmission for the CAN objects FIF−CAN2_OUT and FIF−CAN3_OUT:
· FALSE: Data from FIF−CAN2_OUT/FIF−CAN3_OUT are sent at the end of the process image.
· TRUE: Data from FIF−CAN2_OUT/FIF−CAN3_OUT are sent to sync.
– The identifiers for the sync transmission and reception telegram can be set via
C2467/C2468.
– The sync Tx time can be set via C2469.
L
PLC−Systembus EN 2.0
8−5
System bus (CAN) for Lenze PLC devices
FIF−CAN system blocks
8.4
8.4.5
FIF_CAN_Management (node number: 111)
Status messages
The FIF_CAN_Management SB provides different status messages which can be processed in the
PLC program:
Variable
Description
FIF_CAN_bCe1CommErrCanIn1_b
TRUE FIF−CAN1_IN communication error
FIF_CAN_bCe2CommErrCanIn1_b
TRUE FIF−CAN2_IN communication error
FIF_CAN_bCe3CommErrCanIn1_b
TRUE FIF−CAN3_IN communication error
FIF_CAN_bCe4BusOffState_b
TRUE FIF−CAN bus "off state" recognised
FIF_CAN_byNodeAddress
1...63 FIF−CAN node address (^ 3−3)
FIF_CAN_byState
FIFsystem busoperating status
1 Operational
2 Pre−operational
3 Warning
4 Bus−off
8−6
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.1
CANaux1_IO (node number: 34)
9
CAN−AUX system blocks (only ECSxA)
9.1
CANaux1_IO (node number: 34)
This SB serves to transmit cyclic process data via the system bus.
· For the transmission a sync telegram is required, which has to be generated by a different
node. (^ 2−9)
CANaux1_IO
CANaux1_nOutW0_a
CANaux1_bFDO0...15_b
CANaux1_nOutW1_a
Byte
Byte
WORD
1
1
WORD
16 x BOOL
2
2
16 x BOOL
3
3
CANaux1_bFDO16...31_b
4
4
WORD
CANaux1_nOutW2_a
CANaux1_bFDO32...47_b
CANaux1_nOutW3_a
WORD
C2493/2
C2492/2
5
CANaux1_dnOutD1_p
16 x BOOL
6
WORD
6
WORD
CANaux1_nInW3_a
C2492/3
16 x BOOL
DINT
CANaux1_nInW2_a
CANaux1_bInB32...47_b
16 x BOOL
C2493/3
CANaux1_bFDO48...63_b
CANaux1_bInB16...31_b
C2491/2
WORD
5
CANaux1_nInW1_a
C2492/1
16 x BOOL
16 x BOOL
CANaux1_bInB0...15_b
C2491/1
WORD
C2493/1
CANaux1_nInW0_a
L
7
7
8
8
CANaux1_bInB48...63_b
16 x BOOL
L
H
H
Output user data
(8 bytes)
CANaux1_dnInD1_p
DINT
Input user data
(8 bytes)
CAN-AUX System bus interface
Fig. 9−1
L
CANaux1_IOsystem block
PLC−Systembus EN 2.0
9−1
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.1
9.1.1
CANaux1_IO (node number: 34)
Inputs_CANaux1
Variable
CANaux1_nInW0_a
Data type
Signal type
Integer
Analog
CANaux1_bInB0_b
...
Bool
Binary
Integer
Analog
Bool
Binary
Integer
Analog
Bool
Binary
Integer
Analog
9.1.2
hex
C2492/2
dec [%]
C2492/3
dec [%]
%IW34.2
...
%IW34.3
Bool
Binary
...
%IX34.3.15
Double integer
Position
%ID34.1
Data type
Signal type
Address
Display code
Display
format
Integer
Analog
%QW34.0
−
−
−
−
C2493/1
dec [%]
−
−
C2493/2
dec [%]
−
−
C2493/3
dec [%]
−
−
−
−
Outputs_CANaux1
Variable
CANaux1_nOutW0_a
CANaux1_bFDO0_b
..
CANaux1_nOutW1_a
Bool
Binary
Integer
Analog
Bool
Binary
Integer
Analog
Bool
Binary
Integer
Analog
Bool
Binary
%QW34.3
%QX34.3.0
CANaux1_bFDO63_b
CANaux1_dnOutD1_p
..
%QX34.2.15
CANaux1_bFDO48_b
..
%QW34.2
%QX34.2.0
CANaux1_bFDO47_b
CANaux1_nOutW3_a
..
%QX34.1.15
CANaux1_bFDO32_b
..
%QW34.1
%QX34.1.0
CANaux1_bFDO31_b
CANaux1_nOutW2_a
..
%QX34.0.15
CANaux1_bFDO16_b
..
Notes
%QX34.0.0
CANaux1_bFDO15_b
9−2
C2491/2
...
%IX34.3.0
CANaux1_bInB63_b
CANaux1_dnInD1_p
dec [%]
%IW34.1
%IX34.2.15
CANaux1_bInB48_b
...
C2492/1
...
%IX34.2.0
CANaux1_bInB47_b
CANaux1_nInW3_a
hex
%IW34.0
%IX34.1.15
CANaux1_bInB32_b
...
C2491/1
Notes
%IX34.1.0
CANaux1_bInB31_b
CANaux1_nInW2_a
Display
format
%IX34.0.15
CANaux1_bInB16_b
...
Display code
%IX34.0.0
CANaux1_bInB15_b
CANaux1_nInW1_a
Address
..
%QX34.3.15
Double integer
Position
%QD34.1
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.1
9.1.3
CANaux1_IO (node number: 34)
Process data telegram
The process data telegram consists of an identifier and 8 bytes of user data.
11bit
8 bytes user data
Identifier
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Information on the identifier can be found in chapter 2.4.1. (^ 2−3)
9.1.4
Assignment of the user data to variables
Several variables of different data types are assigned to the user data to be transmitted and received.
Thus, the data in the PLC program can be optionally interpreted as:
· binary information (1 bit)
· status word/quasi−analog value (16 bit)
· angle information (32 bit)
Variables for user data to be transmitted
User data
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CANaux1_bFDO0_b
...
CANaux1_bFDO7_b
2
0
...
7
CANaux1_bFDO8_b
...
CANaux1_bFDO15_b
3
0
...
7
CANaux1_bFDO16_b
...
CANaux1_bFDO23_b
4
0
...
7
CANaux1_bFDO24_b
...
CANaux1_bFDO31_b
5
0
...
7
CANaux1_bFDO32_b
...
CANaux1_bFDO39_b
6
0
...
7
CANaux1_bFDO40_b
...
CANaux1_bFDO47_b
7
0
...
7
CANaux1_bFDO48_b
...
CANaux1_bFDO55_b
8
0
...
7
CANaux1_bFDO56_b
...
CANaux1_bFDO63_b
Variable (16 bit)
Variable (32 bit)
CANaux1_nOutW0_a
CANaux1_nOutW1_a
CANaux1_nOutW2_a
CANaux1_dnOutD1_p
CANaux1_nOutW3_a
Note!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
For instance, if you want to write bytes 5 and 6, only use the variable CANaux1_dnOutD1_p,
CANaux1_nOutW2_a, or only the variables CANaux1_bFDO32_b ... CANaux1_bFDO47_b for this
purpose!
L
PLC−Systembus EN 2.0
9−3
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.1
CANaux1_IO (node number: 34)
Variables for received user data
User data
9−4
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CANaux1_bInB0_b
...
CANaux1_bInB7_b
2
0
...
7
CANaux1_bInB8_b
...
CANaux1_bInB15_b
3
0
...
7
CANaux1_bInB16_b
...
CANaux1_bInB23_b
4
0
...
7
CANaux1_bInB24_b
...
CANaux1_bInB31_b
5
0
...
7
CANaux1_bInB32_b
...
CANaux1_bInB39_b
6
0
...
7
CANaux1_bInB40_b
...
CANaux1_bInB47_b
7
0
...
7
CANaux1_bInB48_b
...
CANaux1_bInB55_b
8
0
...
7
CANaux1_bInB56_b
...
CANaux1_bInB63_b
Variable (16 bit)
Variable (32 bit)
CANaux1_nInW0_a
CANaux1_nInW1_a
CANaux1_nInW2_a
CANaux1_dnInD1_p
CANaux1_nInW3_a
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.2
9.2
CANaux2_IO (node number: 35)
CANaux2_IO (node number: 35)
This SB serves to transmit event−controlled or time−controlled process data via the system bus.
· The setting of the transmission mode (event− or time−controlled) is effected via C2456. (^ 3−6)
· A sync telegram is not required.
CANaux2_IO
CANaux2_nOutW1_a
Byte
Byte
1
1
WORD
C2493/4
CANaux2_nOutW2_a
2
WORD
C2492/4
2
CANaux2_bFDO16...31_b
CANaux2_dnOutD1_p
CANaux2_nOutW3_a
C2492/5
3
16 x BOOL
4
CANaux2_bInB0...15_b
16 x BOOL
4
16 x BOOL
CANaux2_bInB16...31_b
C2491/4
L
H
WORD
C2493/6
CANaux2_nOutW4_a
3
C2491/3
16 x BOOL
DINT
CANaux2_nInW2_a
WORD
C2493/5
CANaux2_bFDO0...15_b
CANaux2_nInW1_a
WORD
5
5
6
6
7
7
8
8
L
H
DINT
WORD
WORD
Output user data
(8 bytes)
CANaux2_nInW3_a
C2492/6
WORD
C2493/7
CANaux2_dnInD1_p
CANaux2_nInW4_a
C2492/7
Input user data
(8 bytes)
CAN-AUX System bus interface
Fig. 9−2
CANaux2_IOsystem block
Tip!
Via C2457/2 you can set the monitoring time for the data reception. (Lenze setting: 3000 ms)
· Further information on this subject can be found in chapter 3.12.1. (^ 3−11)
L
PLC−Systembus EN 2.0
9−1
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.2
9.2.1
CANaux2_IO (node number: 35)
Inputs_CANaux2
Variable
CANaux2_nInW1_a
CANaux2_nInW2_a
Data type
Signal type
Integer
Analog
CANaux2_bInB0_b
Bool
CANaux2_bInB16_b
Display
format
Notes
dec [%]
C2491/3
hex
...
C2491/4
%IX35.1.15
Double integer
Position
Integer
Analog
%ID35.0
−
%IW35.2
C2492/6
−
%IW35.3
C2492/7
Address
Display code
%QW35.0
C2493/4
%QW35.1
C2493/5
dec [%]
Outputs_CANaux2
Variable
CANaux2_nOutW1_a
CANaux2_nOutW2_a
Data type
Signal type
Integer
Analog
CANaux2_bFDO0_b
Bool
CANaux2_bFDO16_b
Binary
%QX35.0.15
%QX35.1.0
...
CANaux2_nOutW4_a
dec [%]
−
−
−
...
CANaux2_bFDO31_b
CANaux2_nOutW3_a
Notes
...
CANaux2_bFDO15_b
CANaux2_dnOutD1_p
Display
format
%QX35.0.0
...
9.2.3
C2492/5
%IX35.1.0
...
9.2.2
C2492/4
%IW35.1
%IX35.0.15
Binary
CANaux2_bInB31_b
CANaux2_nInW4_a
%IW35.0
...
CANaux2_bInB15_b
CANaux2_nInW3_a
Display code
%IX35.0.0
...
CANaux2_dnInD1_p
Address
%QX35.1.15
Double integer
Integer
Position
Analog
%QD35.0
−
%QW35.2
C2493/6
%QW35.3
C2493/7
dec [%]
Process data telegram
The process data telegram consists of an identifier and 8 bytes of user data.
11bit
Identifier
8 bytes user data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Information on the identifier can be found in chapter 2.4.1. (^ 2−3)
9−2
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.2
9.2.4
CANaux2_IO (node number: 35)
Assignment of the user data to variables
Several variables of different data types are assigned to the user data to be transmitted and received.
Thus, the data in the PLC program can be optionally interpreted as:
· binary information (1 bit)
· status word/quasi−analog value (16 bit)
· angle information (32 bit)
Variables for user data to be transmitted
User data
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CANaux2_bFDO0_b
...
CANaux2_bFDO7_b
2
0
...
7
CANaux2_bFDO8_b
...
CANaux2_bFDO15_b
3
0
...
7
CANaux2_bFDO16_b
...
CANaux2_bFDO23_b
4
0
...
7
CANaux2_bFDO24_b
...
CANaux2_bFDO31_b
5
6
7
8
0...7
0...7
0...7
0...7
Variable (16 bit)
Variable (32 bit)
CANaux2_nOutW1_a
CANaux2_dnOutD1_p
CANaux2_nOutW2_a
CANaux2_nOutW3_a
CANaux2_nOutW4_a
Note!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
For instance, if you want to write bytes 1 and 2, only use the variable CANaux2_dnOutD1_p,
CANaux2_nOutW1_a, or only the variables CANaux2_bFDO0_b ... CANaux2_bFDO15_b for this
purpose!
Variables for received user data
User data
L
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CANaux2_bInB0_b
...
CANaux2_bInB7_b
2
0
...
7
CANaux2_bInB8_b
...
CANaux2_bInB15_b
3
0
...
7
CANaux2_bInB16_b
...
CANaux2_bInB23_b
4
0
...
7
CANaux2_bInB24_b
...
CANaux2_bInB31_b
5
6
7
8
0...7
0...7
0...7
0...7
Variable (16 bit)
Variable (32 bit)
CANaux2_nInW1_a
CANaux2_dnInD1_p
CANaux2_nInW2_a
CANaux2_nInW3_a
CANaux2_nInW4_a
PLC−Systembus EN 2.0
9−3
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.3
9.3
CANaux3_IO (node number: 36)
CANaux3_IO (node number: 36)
This SB serves to transmit event−controlled or time−controlled process data via the system bus.
· The setting of the transmission mode (event− or time−controlled) is effected via C2456. (^ 3−6)
· A sync telegram is not required.
CANaux3_IO
CANaux3_nOutW1_a
Byte
Byte
1
1
WORD
C2493/8
CANaux3_nOutW2_a
2
WORD
C2492/8
2
CANaux3_bFDO16...31_b
CANaux3_dnOutD1_p
CANaux3_nOutW3_a
C2492/9
3
16 x BOOL
4
CANaux3_bInB0...15_b
16 x BOOL
4
16 x BOOL
CANaux3_bInB16...31_b
C2491/6
L
H
WORD
C2493/10
CANaux3_nOutW4_a
3
C2492/5
16 x BOOL
DINT
CANaux3_nInW2_a
WORD
C2493/9
CANaux3_bFDO0...15_b
CANaux3_nInW1_a
WORD
5
5
6
6
7
7
8
8
L
H
DINT
WORD
WORD
Output user data
(8 bytes)
CANaux3_nInW3_a
C2492/10
WORD
C2493/11
CANaux3_dnInD1_p
CANaux3_nInW4_a
C2492/11
Input user data
(8 bytes)
CAN-AUX System bus interface
Fig. 9−3
CANaux3_IOsystem block
Tip!
Via C2457/3 you can set the monitoring time for the data reception. (Lenze setting: 3000 ms)
· Further information on this subject can be found in chapter 3.12.1. (^ 3−11)
L
PLC−Systembus EN 2.0
9−1
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.3
9.3.1
CANaux3_IO (node number: 36)
Inputs_CANaux3
Variable
CANaux3_nInW1_a
CANaux3_nInW2_a
Data type
Signal type
Integer
Analog
CANaux3_bInB0_b
Bool
CANaux3_bInB16_b
Display
format
Notes
dec [%]
C2491/5
hex
...
C2491/6
%IX36.1.15
Double integer
Position
Integer
Analog
%ID36.0
−
%IW36.2
C2492/10
−
%IW36.3
C2492/11
Address
Display code
%QW36.0
C2493/8
%QW36.1
C2493/9
dec [%]
Outputs_CANaux3
Variable
CANaux3_nOutW1_a
CANaux3_nOutW2_a
Data type
Signal type
Integer
Analog
CANaux3_bFDO0_b
Bool
CANaux3_bFDO16_b
Binary
%QX36.0.15
%QX36.1.0
...
CANaux3_nOutW4_a
dec [%]
−
−
−
...
CANaux3_bFDO31_b
CANaux3_nOutW3_a
Notes
...
CANaux3_bFDO15_b
CANaux3_dnOutD1_p
Display
format
%QX36.0.0
...
9.3.3
C2492/9
%IX36.1.0
...
9.3.2
C2492/8
%IW36.1
%IX36.0.15
Binary
CANaux3_bInB31_b
CANaux3_nInW4_a
%IW36.0
...
CANaux3_bInB15_b
CANaux3_nInW3_a
Display code
%IX36.0.0
...
CANaux3_dnInD1_p
Address
%QX36.1.15
Double integer
Integer
Position
Analog
%QD36.0
−
%QW36.2
C2493/10
%QW36.3
C2493/11
dec [%]
Process data telegram
The process data telegram consists of an identifier and 8 bytes of user data.
11bit
Identifier
8 bytes user data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Information on the identifier can be found in chapter 2.4.1. (^ 2−3)
9−2
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.3
9.3.4
CANaux3_IO (node number: 36)
Assignment of the user data to variables
Several variables of different data types are assigned to the user data to be transmitted and received.
Thus, the data in the PLC program can be optionally interpreted as:
· binary information (1 bit)
· status word/quasi−analog value (16 bit)
· angle information (32 bit)
Variables for user data to be transmitted
User data
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CANaux3_bFDO0_b
...
CANaux3_bFDO7_b
2
0
...
7
CANaux3_bFDO8_b
...
CANaux3_bFDO15_b
3
0
...
7
CANaux3_bFDO16_b
...
CANaux3_bFDO23_b
4
0
...
7
CANaux3_bFDO24_b
...
CANaux3_bFDO31_b
5
6
7
8
0...7
0...7
0...7
0...7
Variable (16 bit)
Variable (32 bit)
CANaux3_nOutW1_a
CANaux3_dnOutD1_p
CANaux3_nOutW2_a
CANaux3_nOutW3_a
CANaux3_nOutW4_a
Note!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
For instance, if you want to write bytes 1 and 2, only use the variable CANaux3_dnOutD1_p,
CANaux3_nOutW1_a, or only the variables CANaux3_bFDO0_b ... CANaux3_bFDO15_b for this
purpose!
Variables for received user data
User data
L
Assigned variables
Byte
1
Bit
0
...
7
Variable (1 bit)
CANaux3_bInB0_b
...
CANaux3_bInB7_b
2
0
...
7
CANaux3_bInB8_b
...
CANaux3_bInB15_b
3
0
...
7
CANaux3_bInB16_b
...
CANaux3_bInB23_b
4
0
...
7
CANaux3_bInB24_b
...
CANaux3_bInB31_b
5
6
7
8
0...7
0...7
0...7
0...7
Variable (16 bit)
Variable (32 bit)
CANaux3_nInW1_a
CANaux3_dnInD1_p
CANaux3_nInW2_a
CANaux3_nInW3_a
CANaux3_nInW4_a
PLC−Systembus EN 2.0
9−3
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.4
9.4
CANaux_Management (node number: 111)
CANaux_Management (node number: 111)
By means of this SB
· a reset node can be activated, e. g. to accept changes with regard to the baud rate and
addressings.
· Communication error, Bus−off state, and further states can be processed in the PLC
program.
· the instant of transmission of CANaux2_OUT and CANaux3_OUT can be influenced.
CANaux_Management
CANaux1_IN
Communication error
CANaux_bCe1CommErrCanIn1_b
CANaux2_IN
Communication error
CANaux_bCe2CommErrCanIn2_b
CANaux3_IN
Communication error
CANaux_bCe3CommErrCanIn3_b
CANaux_bCe4BusOffState_b
CAN-AUX
Bus off state
CANaux_byNodeAddress
CAN-AUX
Node address (C2450)
CANaux_byState
CAN-AUX
State (C2459)
C2458
CANaux_bResetNode_b
1
CANaux_ResetNode
CANaux_bTxCan2Synchronized_b
CANaux_bTxCan3Synchronized_b
Fig. 9−4
CANaux2_OUT
CAN_SYNC
CANaux3_OUT
CAN_SYNC
CANaux_Managementsystem block
Note!
The process image for this SB is generated in a fixed system task (interval: 1 ms).
9.4.1
Inputs_CANaux_Management
Identifier
Data type
Signal type
CANaux_bCe1CommErrCanIn1_b
%IX111.0.0
CANaux_bCe2CommErrCanIn1_b
%IX111.0.1
CANaux_bCe3CommErrCanIn1_b
Bool
Binary
CANaux_bCe4BusOffState_b
CANaux_byNodeAddress
CANaux_byState
9−4
Address
DIS
DIS format
CANaux1_IN communication error
−
CANaux2_IN communication error
−
−
%IB111.2
C2450
−
CAN−AUX node address
%IB111.3
C2459
−
CAN−AUX status
%IX111.0.2
%IX111.0.3
Byte
Information
PLC−Systembus EN 2.0
CANaux3_IN communication error
CAN−AUX bus "off state" recognised
L
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.4
9.4.2
CANaux_Management (node number: 111)
Outputs_CANaux_Management
Identifier
Data type
Signal type
Address
CANaux_bResetNode_b
%QX111.0.0
CANaux_bTxCan2Synchronized_b
%QX111.0.1
Bool
CANaux_bTxCan3Synchronized_b
Binary
DIS
Information
Carry out reset node of the CANaux
−
%QX111.0.2
DIS format
−
Transfer CANaux2_OUT with sync
telegram.
Transfer CANaux3_OUT with sync
telegram.
Note!
If CANaux_bTxCan2Synchronized_b and/or CANaux_bTxCan3Synchronized_b are integrated, it is
required to configure the device as sync transmitter. The data are transmitted immediately after the
sync telegram is sent.
9.4.3
Activating a reset node
A reset node can be activated by setting CANaux_bResetNode_b to TRUE or C2458 = .
Tip!
Even if the CANaux_Management SB has not been assigned to the control configuration, a reset
node can be activated via C2458. (^ 3−8)
9.4.4
Defining the instant of transmission for CANaux2_OUT/CANaux3_OUT
Via CANaux_bTxCan2Synchonized_b and CANaux_bTxCan3Synchonized_b you define the instant
of transmission for the CAN objects CANaux2_OUT and CANaux3_OUT:
· FALSE: Data from the CANaux2_OUT/CANaux3_OUT are transmitted at the end of the
process image.
· TRUE: Data from the CANaux2_OUT/CANaux3_OUT are sent to sync.
– The identifiers for the sync transmission and reception telegram can be set via
C2467/C2468.
– The sync Tx time can be set via C2469.
L
PLC−Systembus EN 2.0
9−5
System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.4
9.4.5
CANaux_Management (node number: 111)
Status messages
The CANaux_Management SB provides different status messages which can be processed in the
PLC program:
Identifier
Information
CANaux_bCe1CommErrCanIn1_b
TRUE CANaux1_IN communication error
CANaux_bCe2CommErrCanIn1_b
TRUE CANaux2_IN communication error
CANaux_bCe3CommErrCanIn1_b
TRUE CANaux3_IN communication error
CANaux_bCe4BusOffState_b
TRUE CAN−AUX−bus "off state" recognised
CANaux_byNodeAddress
1...63 CAN−AUX node address (^ 3−3)
CANaux_byState
Operating status of the system bus
1 Operational
2 Pre−operational
3 Warning
4 Bus−off
9−6
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.1
10
Overview
LenzeCanDrv.lib function library
By using the functions/function blocks of the LenzeCanDrv.lib function library, so−called "free CAN
objects" can be added to the fixedly integrated CAN objects.
10.1
10.2
Overview
Function/FB
Information
CAN driver
L_CanInit
L_CanClose
Initialise CAN driver
Deactivate CAN driver
^ 10−2
^ 10−5
L_CanGetStatus
L_CanGetRelocCobId
Query driver status
Query COB−ID range
^ 10−6
^ 10−7
Transmitting/receiving CAN objects
L_CanPdoTransmit
Send CAN object
^ 10−8
L_CanPdoReceive
Receive CAN object
^ 10−12
Version identifiers of the function library
The version of the function library can
C_w[Function library name]Version .
be
found
under
the
global
constant
Version identifiers as of PLC software version 7.x:
Constant
Meaning
Example
value
C_w[FunctionLibraryName]VersionER
External Release
01
C_w[FunctionLibraryName]VersionEL
External Level
05
C_w[FunctionLibraryName]VersionIR
Internal Release
00
C_w[FunctionLibraryName]VersionBN
Build No.
00
Version: 01
05
00
00
The value of this constant is a hexadecimal code.
· In the example, "01050000" stands for version "1.05".
L
PLC−Systembus EN 2.0
10−1
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.3
10.3
L_CanInit − initialising the CAN driver
L_CanInit − initialising the CAN driver
Function
DWORD L_CanInit (wDrvNr, dwRelocCobIdArea)
Before it is possible to work with the free CAN objects, an initialisation of the CAN driver has to be
carried out.
· By repeatedly calling this function, the CAN driver in the initialised state can be switched over
to other parameters.
– The acceptance of the new parameters is effected immediately and therefore can have an
impact on transmission and reception jobs which are still pending. Thus, the function may
not be called cyclically.
L_CanInit
wDrvNr
dwRelocCobId
Transfer parameters
Identifier
Data type
wDrvNr
dwRelocCobIdArea
Word
Possible settings
Information
10
System bus
0
192...319
832...1344
1664...1728
1856...1984
Identifier area − Only relevant for 9300 Servo PLC!
dwRelocCobIdArea = 832 (Lenze setting)
Free range 1
Free range 2
Free range 3
Free range 4
Double Word
Return value
Data type
Double Word
Bit
Value
0
0
Driver is initialised.
1
Error during initialisation.
· In this case the bits 1 ... 31 are all set to "1" and therefore are invalid.
0
Setting dwRelocCobIdAreaOK.
1
Setting dwRelocCobIdAreanot OK.
· The identifier area featuring 64 objects overlaps with another area or is settled
beyond the limits 0 ... 2047.
0
Free object found.
1
No free object found.
Remedy:
· Do not use one of the CAN objects CAN1_IN ... CAN3_IN or CAN1_OUT ... CAN3_OUT.
· Set C2118 to 0" (write parameters via SDO2).
PLEASE NOTE: at C2118 = 0 the SDO2 channel is no longer available!
· Switch off generation of the sync object (C0369 = 0).
1
2
10−2
Meaning
3−15
Reserved for future supplements (bits are set to "0").
16−31
Version of the LenzeCanDrv.lib
function library
Format: main version/subversion (e. g. 0103hex = version 1.03)
PLC−Systembus EN 2.0
Priority
−
L
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.3
L_CanInit − initialising the CAN driver
Reception identifier area
Fig. 10−1 shows the identifier area provided for data reception.
· Basically the entire identifier area of 0 ... 2047 is provided.
· The grayed out fields in Fig. 10−1 are pre−assigned for specific applications, e. g. for network
management commands and process data.
· Fields which are not pre−assigned are designated as free area 1 ... 4.
Note on the 9300 Servo PLC (firmware version 2.6 or lower)!
In contrast to the Drive PLC, in the case of the 9300 Servo PLC due to memory limitations only the
following data can be received at the same time:
· Data with identifiers within the grayed out fields in Fig. 10−1.
· Data with identifiers within the identifier field COB−ID field featuring 64 objects.
0
NMT commands
127
128
129
Tx−sync
Alarm objects
191
192
Free range 1
383
384
Process data objects (PDO)
COB−ID field
(shiftable identifier field − Lenze setting)
831
832
895
Free range 2
1407
1408
Service data objects (SDO)
1663
1664
Free range 3
1791
1792
Node monitoring
COB−ID area
(only relevant for 9300 Servo PLC)
For the simultaneous data reception concerning the 9300
Servo PLC in addition to the pre−assigned areas, 64
further identifiers are provided to you via the COB−ID area.
· In the Lenze setting these are the identifiers
832 ... 895.
· If you require other identifiers you can shift the COB−ID
area within the free areas 1...4 during initialisation
using the variable dwRelocCobIdArea.
· If the COB−ID area by means of dwRelocCobIdArea is
shifted in a way that causes an overlapping with a
fixedly predefined area, an error in the return value of
the function is reported.
(Bit 0 = 1 / Bit 1 = 1)
1855
1856
Free range 4
2047
Fig. 10−1
L
Pre−assigned and free identifier fields as well as relocatable COB−ID area for 9300 Servo PLC
PLC−Systembus EN 2.0
10−3
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.3
L_CanInit − initialising the CAN driver
Response with regard to errors (Tx/Rx buffer)
The response in the case of errors in the Tx/Rx buffer can be configured via the codes C0608/C0609:
Code
LCD
Possible settings
Information
Lenze Selection
C0608 over Tx−Queue
0
0
1
2
3
4
TRIP
Message
Warning
Off
FAIL QSP (not for Drive PLC!)
Configuration of the monitoring for
Tx buffer
C0609 over Rx−lsr
0
0
4
TRIP
Fail−QSP
Configuration of the monitoring for
Rx buffer
· Not for Drive PLC!
Example
Calling the function in ST with decoding of the return value:
(* open CAN driver − returns g_dwReturnValue *)
g_dwReturnValue:=L_CanInit(10, 0);
g_bInitOK
g_bDriverFail
g_wVersion
10−4
:= NOT DWORD_TO_BOOL(g_dwReturnValue AND 16#0000_0001);
:= DWORD_TO_BOOL(SHR(g_dwReturnValue,1) AND 16#0000_0001);
:= DWORD_TO_WORD(SHR(g_dwReturnValue,16) AND 16#FFFF);
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.4
10.4
L_CanClose − deactivating the CAN driver
L_CanClose − deactivating the CAN driver
Function
BOOL L_CanClose (wDrvNr)
By means of this function the CAN driver is deactivated.
· Transmission and reception tasks which are still available are cancelled when this function is
called.
L_CanClose
wDrvNr
Transfer parameters
Identifier
wDrvNr
Data type
Possible settings
Notes
Word
10
System bus
Value
Meaning
Return value
Data type
Bool
0
Error while activating the driver
(incorrect driver number, or driver was not initialised.)
1
Driver has been deactivated.
Priority
−
Example
Calling the function in ST:
(* close CAN driver − returns g_bCanCloseState *)
g_bCanCloseState := L_CanClose(10)
L
PLC−Systembus EN 2.0
10−5
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.5
10.5
L_CanGetStatus − querying the driver status
L_CanGetStatus − querying the driver status
Function
DWORD L_CanGetStatus (wDrvNr)
By means of this function the status of the CAN driver can be determined.
L_CanGetStatus
wDrvNr
Transfer parameters
Identifier
Data type
wDrvNr
Word
Possible settings
Information
10
System bus
Return value
Data type
Bit
Value
Double Word
0, 1
0
CAN driver is Operational.
1
CAN driver is not available or not initialised.
· In this case the bits 16 ... 31 are all set to "1" and therefore are invalid.
2
CAN driver is Pre−operational.
3
CAN driver is stopped.
Double Word
Meaning
2...15
Reserved for future supplements (bits are set to "0").
16...31
Version of the CAN driver
Format: main version/subversion (e. g. 0103hex = version 1.03)
Priority
−
Example
Calling the function in ST:
g_dwCanDrvState:=L_Can_GetStatus(10);
10−6
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.6
10.6
L_CanGetRelocCobId − querying the COB−ID range
L_CanGetRelocCobId − querying the COB−ID range
Function
INT L_CanGetRelocCobId (wDrvNr)
By means of this function the starting identifier of the identifier range (COB−ID range) consisting of
64 objects can be determined for reception operations.
· This function only is relevant for the 9300 Servo PLC!
L_CanGetRelocCobId
wDrvNr
Transfer parameters
Identifier
Possible settings
Information
Word
10
System bus
Data type
Value
Meaning
Double integer
−121
Incorrect driver number (wDrvNr)
1 (high)
−120
Driver not initialised
2 (low)
wDrvNr
Data type
Return value
Priority
* If there are several error causes, always the return value associated with the error cause
of the highest priority is returned.
0
Return value for use in Drive PLC, as function only is relevant for 9300 Servo PLC!
192...319
Start identifier of the free range 1
832...1344
Start identifier of the free range 2
1664...1728
Start identifier of the free range 3
1856...1984
Start identifier of the free range 4
Note!
From version 6.x of the 9300 Servo PLC, all free identifiers are provided.
Example
Calling the function in ST:
g_nRelocCobIdLocation := L_CanGetRelocCobId(10);
L
PLC−Systembus EN 2.0
10−7
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.7
10.7
L_CanPdoTransmit − transmitting a CAN object
L_CanPdoTransmit − transmitting a CAN object
Function block
This FB serves to transmit data via the system bus interface according to CANopen.
· The data transmission is carried out simultaneously to the process of the PLC program by the
operating system of the controller, whereby an object can be max. sent every 250 ms.
L_CanPdoTransmit
wDrvNr
byLen
dwCobId
pIOAdress
tRepeatTime
byTransmitMode
Identifier
nState
wNrOfCallsToSend
Data type
Variable type
Possible settings
Information
wDrvNr
Word
VAR_INPUT
10
System bus
byLen
Byte
VAR_INPUT
0...8
Telegram length (in bytes)
dwCobID
Double Word
VAR_INPUT
0...2047
CAN identifier
pIOAdress
Pointer to Byte
VAR_INPUT
Pointer to the address in the
memory from which the data
bytes to be transmitted are
stored.
The address of a variable can be determined via
the address function ADR.
Time
VAR_INPUT
tRepeatTime
T#0s
T#xms
byTransmitMode
10−8
Byte
VAR_INPUT
Parameter for the time−controlled transmission
(byTransmitMode = 1/2)
· Transmission takes place at each call of the
FB.
· TRansmission takes place after the set cycle
time x (in ms) has expired.
0
Event−controlled transmission
· Transmission takes place if the input data
have changed.
· If the bus state changes from
Pre−operational to Operational, the telegram
on principle is transmitted once.
1
Time−controlled transmission
· Transmission takes place after the cycle time
set via
tRepeatTime has expired.
2
Time−controlled transmission with superimposed
event control
· Transmission takes place after the cycle time
set via
tRepeatTime has expired, and if the
transmitted data have changed.
3
Forced transmission
· Transmission takes place if the action
<Instance name>.SendData is
called, irrespective of the cycle time set.
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.7
L_CanPdoTransmit − transmitting a CAN object
Identifier
nState
wNrOfCallsToSend
Data type
Variable type
Possible settings
Information
Integer
VAR_OUTPUT
−
Displays the current transmit status.
· See the following table "Transmit state
(nState)"
Word
VAR_OUTPUT
−
Displays how many FB calls were required to
transmit the object.
· The "time measurement" starts with entering
the transmit request in the transmit request
memory and ends with the actual
transmission of the object.
Note!
With regard to the allocation of the CAN identifier (dwCobId) please be sure that it is not already used
by one of the other CAN objects CAN1_IO ... CAN3_IO, as otherwise bus errors/bus overload may
occur!
Transmit status (nState)
Data type
Value
Meaning
Priority
Integer
−150
CAN bus is not in the Operational state.
1 (high)
−121
Incorrect driver number (wDrvNr)
2
−120
Driver not initialised
3
−119
The transmit request memory is full. The transmit request could not be entered
anymore.
Remedy:
· Decrease number of the transmission objects.
· Increase cycle time of the transmission objects.
· Increase baud rate.
Basically, an object is transmitted every 250 ms.
4
−118
No free CAN channel is provided.
5
Remedy:
· Do not use one of the CAN objects CAN1_IN ... CAN3_IN or CAN1_OUT ... CAN3_OUT.
· Set C2118 to 1" (write parameters via SDO2).
PLEASE NOTE: at C2118 = 1 the SDO2 channel no longer is available!
· Switch off generation of the sync object (C0369 = 0).
−12
The set message identifier (COB−ID) is beyond the permissible range (0 ... 2047).
6
−11
Pointer pIOAdress does not point to PLC−RAM.
7 (low)
* If there are several error causes, always the return value associated with the error cause
of the highest priority is returned.
L
0
The transmit request has been carried out and the data have been transmitted.
1
The transmit request has not yet been completed and is still pending in the transmit request memory.
10
The specification for the telegram length byLen is higher than 8. The telegram length has been
limited to 8 bytes.
PLC−Systembus EN 2.0
10−9
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.7
L_CanPdoTransmit − transmitting a CAN object
Transmit request memory as an interface between the CAN driver and the
L_CanPdoTransmitFB
As the data transmission via the CAN driver is effected simultaneously to the process of the PLC
program, a temporary storage for the transmit requests, the so−called transmit request memory, is
used between the CAN driver and the L_CanPdoTransmit FB.
PLC program
L_CanPdoTransmit
Operating system
250 ms cycle
Transmission request memory
Transmit request 1
L_CanPdoTransmit
Transmit request 2
Transmit request 3
CAN driver
System bus (CAN)
Transmit request 64
L_ParWrite
· Every time the L_CanPdoTransmit FB is called, a transmit request is stored in the transmit
request memory.
· Transmit requests can also be stored in the transmit request memory using the L_ParWrite FB
of the LenzeDrive.lib function library.
· The transmit request memory can buffer 64 transmit requests of the L_CanPdoTransmit or
L_ParWrite FBs at a total.
· Every 250 ms, simultaneously to the process of the PLC program, a transmit request is
collected from the transmit request memory and is processed by the operating system.
Note!
If the transmit request memory due to a too frequent call of the L_CanPdoTransmit or L_ParWrite
FBs is filled up faster as it is emptied by the operating system which collects the transmit requests,
an overflow error will occur.
· In the case of an overflow error, the variable nState receives the value "−119".
· Additionally a corresponding error message is output by the operating system.
(See chapter "Error messages" in the Manual to the respective target system, e. g.
9300 Servo PLC, Drive PLC, or ECSxA).
10−10
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.7
L_CanPdoTransmit − transmitting a CAN object
Forced transmission
Some cases may require an entry of a transmit request in the transmit request memory without
considering a data change (event−controlled) or a cycle time (time−controlled).
For this purpose, the L_CanPdoTransmit FB supports the action SendData in the "Forced
transmission" transmit mode (byTransmitMode = 3).
Example
Declaration of the function block in ST:
SendWithID678: L_CanPdoTransmit;
(* send data with identifier 678 *)
Calling the function block in ST:
SendWithID678 (wDrvNr:=10,
byLen:=8,
dwCobID:=678,
pIOAdress:=ADR(abySendData),
tRepeatTime:=T#5ms,
byTransmitMode:=3);
Action "Forced transmission" in ST:
SendWithID678.SendData;
(* force send procedure *)
Note!
The use of an address which is stored in the memory area of the operating system is not permitted
for the L_CanPdoTransmit and L_CanPdoReceiveFBs!
Problem:
The addresses of the system variables (inputs/outputs of system
blocks) are also placed in the memory area of the operating system, in
the following illustration the system variable AIN1_nIn_a:
Remedy:
Instead of the address of the system variable, use the address of a
temporary variable, which the value of the corresponding system
variable is copied into:
AIN1_nIn_a
nAnalogInput
L_CanPdoTransmit
10
8
750
AIN1_nIn_a
ADR
t#10ms
2
L
nState
wDrvNr
wNrOfCallsToSend
byLen
dwCobId
pIOAdress
tRepeatTime
byTransmitMode
PLC−Systembus EN 2.0
L_CanPdoTransmit
10
8
750
nAnalogInput
ADR
t#10ms
2
nState
wDrvNr
wNrOfCallsToSend
byLen
dwCobId
pIOAdress
tRepeatTime
byTransmitMode
10−11
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.8
10.8
L_CanPdoReceive − receiving a CAN object
L_CanPdoReceive − receiving a CAN object
Function block
This FB serves to receive data via the system bus interface according to CANopen.
Tip!
An overload with regard to the receive process can occur if due to a high bus utilisation or very fast
transmission activities of the other nodes further receive telegrams already arrive while a receive
telegram is processed.
The operating system responds to this with an overflow error:
· A corresponding error message is output (see chapter "Error messages" in the Manual for the
respective PLC, e. g. 9300 Servo PLC, Drive PLC, or ECSxA).
· Furthermore the CAN driver is deactivated for the free CAN objects and has to be reinitialised
via the function L_CanInit.
L_CanPdoReceive
wDrvNr
byLen
dwCobId
pIOAdress
Identifier
Data type
Variable type
wDrvNr
Word
byLen
Byte
dwCobID
pIOAdress
Bool
Integer
bNewMessage
nState
nState
bNewMessage
Possible settings
Information
VAR_INPUT
10
System bus
VAR_INPUT
0...8
Telegram length (in bytes)
Double Word
VAR_INPUT
0...2047
CAN identifier
Pointer to Byte
VAR_INPUT
Pointer to the address in the
memory from which the data
bytes received are stored.
The address of a variable can be determined via
the address function ADR.
VAR_OUTPUT
−
Is set to TRUE if data have been received, and
only is reset to FALSE by calling the following
action:
<Instance
name>.ResetNewMessage
· If no reset is carried out, data can furthermore
be received, but data reception is not
displayed.
VAR_OUTPUT
−
Displays the current receive status.
· See the following table
"Receive state (nState)"
Note!
With regard to the allocation of the CAN identifier (dwCobId) please be sure that it is not already used
by one of the other CAN objects CAN1_IO ... CAN3_IO, as otherwise incorrect data are received!
10−12
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.8
L_CanPdoReceive − receiving a CAN object
Receive status (nState)
Data type
Value
Meaning
Integer
−150
CAN bus is not in the Operational state.
1 (high)
Priority
−121
Incorrect driver number (wDrvNr)
2
−120
Driver not initialised
3
−12
The set message identifier (COB−ID) is beyond the permissible range (0 ... 2047).
4
−11
Pointer pIOAdress does not point to PLC−RAM.
5 (low)
* If there are several error causes, always the value associated with the error cause
of the highest priority is returned.
0
Data have been faultlessly received.
10
The specification for the telegram length byLen is higher than 8. The telegram length has been
limited to 8 bytes.
200
Data were received without resetting bNewMessage. Therefore valid data were possibly overwritten
in the receive memory.
Resetting the variable "bNewMessage"
If data have been received from the CAN bus, the output variable bNewMessage is set to TRUE and
only is reset to FALSE again by calling the action <Instance name>.ResetNewMessage:
(* FB instance *)
ReceiveFromID678: L_CanPdoReceive;
(* receive data
*)
(* from identifier 678 *)
...
(* reset NewMessage information at FB ReceiveFromID678 *)
ReceiveFromID678.ResetNewMessage;
(* reset NewMessage
*)
Example
Calling the function block in ST:
ReceiveFromID678(wDrvNr:=10,
byLen:=8,
dwCobID:=678,
pIOAdress:=ADR(abyReceiveData);
Note!
The use of an address which is stored in the memory area of the operating system is not permitted
for the L_CanPdoTransmit and L_CanPdoReceiveFBs!
· See also note to the function L_CanPdoTransmit. (^ 10−8)
L
PLC−Systembus EN 2.0
10−13
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.8
10−14
L_CanPdoReceive − receiving a CAN object
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.1
11
Overview
LenzeCanDSxDrv.libfunction library
The LenzeCanDSxDrv.lib function library contains functions by means of which CAN indexes
received via the system bus interface within the PLC can be "mapped" to other codes than to those
which are automatically allocated.
Furthermore functions/FBs are provided, by means of which the "Heartbeat" and "Node guarding"
monitoring mechanisms for ensuring the function of system bus nodes can be realised.
Tip!
General information
· on the mapping of indexes to codes can be found in chapter 3.10. (^ 3−8)
· on the "Heartbeat" and "Node Guarding" monitoring mechanisms can be found in chapter
2.10. (^ 2−21)
11.1
Overview
Function/FB
Information
Mapping indexes to codes
· The functions are limited to the parameter access via the system bus interface integrated in the PLC.
L_CanDSxInitIndexCode
Configure index mapping
^ 11−3
L_CanDSxOpen
L_CanDSxClose
Activate index mapping
Deactivate index mapping again
^ 11−5
^ 11−6
"Hearbeat" monitoring mechanism
L_CanDSxOpenHeartBeat
Initialise "Heartbeat"
^ 11−7
L_CanDSxHeartBeat
L_CanDSxCloseHeartBeat
Carry out "Heartbeat"
Deactivate "Heartbeat" again
^ 11−8
^ 11−10
"Node guarding" monitoring mechanism
L_CanDSxOpenNodeGuarding
Initialise "Node guarding"
^ 11−11
L_CanDSxNodeGuarding
L_CanDSxCloseNodeGuarding
^ 11−12
^ 11−15
Carry out "Node guarding"
Deactivate "Node guarding" again
Tip!
For mapping codes which are accessed via the AIF interface, the LenzeAifParMapDrv.lib function
library with its corresponding functions is provided to you.
L
PLC−Systembus EN 2.0
11−1
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.2
11.2
Version identifiers of the function library
Version identifiers of the function library
The version of the function library can
C_w[Function library name]Version .
be
found
under
the
global
constant
Version identifiers as of PLC software version 7.x:
Constant
Meaning
Example
value
C_w[FunctionLibraryName]VersionER
External Release
01
C_w[FunctionLibraryName]VersionEL
External Level
05
C_w[FunctionLibraryName]VersionIR
Internal Release
00
C_w[FunctionLibraryName]VersionBN
Build No.
00
Version: 01
05
00
00
The value of this constant is a hexadecimal code.
· In the example, "01050000" stands for version "1.05".
11−2
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.3
11.3
L_CanDSxInitIndexCode − Configuration of index mapping
L_CanDSxInitIndexCode − Configuration of index mapping
Function
This function is used to configure the mapping table and the redirection of indeces to codes other
than the automatically assigned codes.
· With every function call one index and the corresponding Lenze code can be entered in the
mapping table.
Declaration
INT
L_CanDSxInitIndexCode (byTabIndex,
wCANIndex, byCANSubIndex,
wLenzeCodeNumber, byLenzeSubCodeNumber);
Transfer parameters
byTabIndex
Data type
Byte
Information/possible settings
0 ... 255
Number of the configuration entry in the mapping table.
Index to be redirected:
wCANIndex
Word
1000hex ...
8FFFhex
(4096dec ...
36863dec)
CAN index
byCANSubIndex
Byte
0 ... 255
CAN subindex
Redirection target (Lenze code):
wLenzeCodeNumber
Word
1 ... 7999
Code number
byLenzeSubCode
Number
Byte
0 ... 255
Subcode number
Return value
Data type
Integer
Value/meaning
Status
0 Entry in the mapping table has been successful.
−20 Error: Transfer parameter wCANIndex is invalid.
−30 Error: Transfer parameter wLenzeCodeNumber is invalid.
· A maximum of 256 entries can be entered in the mapping table:
Code to be redirected
byTabIndex
Redirection target
wCANIndex
byCANSubIndex
wLenzeCodeNumber
byLenzeSubCodeNumber
4104
2
3200
5
0
1
2
...
255
Note!
If the function L_CanDSxInitIndexCode is called while code read or write requests are active an
error may occur!
This is why all actions with code access should be completed before this function is called.
L
PLC−Systembus EN 2.0
11−3
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.3
L_CanDSxInitIndexCode − Configuration of index mapping
Example
Calling the function in ST:
nReturnInitIndexCode := L_CanDSxInitIndexCode(byTabIndex:=1,
wCANIndex:=4101,
byCANSubIndex:=2,
wLenzeCodeNumber:=3200,
byLenzeSubCodeNumber:=5);
11−4
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.4
11.4
L_CanDSxOpen − initialising the CanDSx driver
L_CanDSxOpen − initialising the CanDSx driver
Function
By means of this function the CanDSx driver is initialised in the operating system of the PLC.
· For the initialisation the transfer parameter bOpen has to be set to TRUE.
· After this function has been carried out, index accesses via the system bus interface are
accordingly diverted to other codes than to the ones which are automatically allocated, using
the mapping table configured by means of the function L_CanDSxIndexInitCode.
Declaration
DWORD L_CanDSxOpen (bOpen);
Transfer parameters
bOpen
Data type
Bool
Information/possible settings
Initialising the CanDSx driver in the operating system.
TRUE The CanDSx driver in the operating system is initialised.
Return value
Data type
Double word
Value/meaning
Status
Bit
0
Value
0 Driver is initialised.
1 Driver is not initialised.
· Remedy: function call via transfer parameter bOpen = TRUE.
1−15
16−31
Reserved for future supplements (bits are set to 0).
· Invalid for bit 0 = 1
Version of the LenzeCanDSxDrv.lib
function library
· Format: main version/subversion (e. g. 0103hex = version 1.03)
· Invalid for bit 0 = 1
Note!
If the function L_CanDSxOpenis called up while write or read requests for codes are still active, they
are possibly disturbed!
Therefore all actions with a code access should be completed before this function is called.
Example
Calling the function in ST:
IF bOpenCanDSxDriver AND NOT bOpen THEN
bOpen := TRUE;
dwReturnOpen := L_CanDSxOpen(bOpen:=TRUE);
END_IF
L
PLC−Systembus EN 2.0
11−5
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.5
11.5
L_CanDSxClose − deactivating the index mapping
L_CanDSxClose − deactivating the index mapping
Function
By means of this function the mapping table and therefore the diversion of indexes is deactivated
again.
· For the deactivation the transfer parameter bClose has to be set to TRUE.
· After carrying out this function, index accesses via the system bus interface according to the
mapping table are not diverted to other codes anymore.
Declaration
BOOL L_CanDSxClose (bClose);
Transfer parameters
bClose
Data type
Bool
Information/possible settings
Deactivating the index diversions according to the mapping table.
TRUE The CanDSx driver in the operating system is deactivated.
Return value
Data type
Bool
Value/meaning
Status
TRUE The CanDSx driver in the operating system has been deactivated.
FALSE The CanDSx driver in the operating system has not been deactivated.
· Remedy: function call via transfer parameter bClose = TRUE.
Note!
If the function L_CanDSxCloseis called up while write or read requests for codes are still active, they
are possibly disturbed!
Therefore all actions with a code access should be completed before this function is called.
Example
Calling the function in ST:
IF bCloseCanDSxDriver AND NOT bClose THEN
bClose := TRUE;
dwReturnClose := L_CanDSxClose(bClose:=TRUE);
END_IF
11−6
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.6
11.6
L_CanDSxOpenHeartBeat − initialising a "Heartbeat"
L_CanDSxOpenHeartBeat − initialising a "Heartbeat"
Function
In the CANopen communication profile (CiA DS301, version 4.01) two optional monitoring
mechanisms for ensuring the function of system bus nodes are specified, "Heartbeat" and "Node
Guarding".
By means of this function, the "Heartbeat" monitoring mechanism of the CanDSx driver is initialised.
· For the initialisation the transfer parameter bOpen has to be set to TRUE.
· The actual monitoring is carried out using the L_CanDSxHeartBeat FB. (^ 11−8)
· By means of the function L_CanDSxCloseHeartBeat you can deactivate the "Heartbeat"
monitoring mechanism again. (^ 11−10)
Note!
Using both monitoring mechanisms at the same is not permitted!
If a non−zero transmission cycle time for the "Heartbeat" message is configured for the node to be
monitored, the "Heartbeat" mechanism is used prior to the "Node Guarding" mechanism.
Declaration
BOOL L_CanDSxOpenHeartBeat(bOpen);
Transfer parameters
bOpen
Data type
Bool
Information/possible settings
Initialising the "Heartbeat" monitoring mechanism.
TRUE The "Heartbeat" monitoring mechanism of the CanDSx driver is initialised.
Return value
Data type
Bool
Value/meaning
Status
TRUE The "Heartbeat" monitoring mechanism has been initialised.
FALSE A The "Heartbeat" monitoring mechanism has not been initialised.
– Remedy: function call with transfer parameter bOpen = TRUE.
or
B Beforehand the function L_CanDSxOpenNodeGuarding has been called
("Node Guarding" is activated).
– Remedy: function call L_CanDSxCloseNodeGuarding with transfer
parameter bClose = TRUE (deactivate "Node Guarding").
Example
Calling the function in ST:
bReturnOpenHeartBeat := L_CanDSxOpenHeartBeat(bOpen:=TRUE);
L
PLC−Systembus EN 2.0
11−7
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.7
11.7
L_CanDSxHeartBeat − carrying out a "Heartbeat"
L_CanDSxHeartBeat − carrying out a "Heartbeat"
Function block
Use this FB to cyclically monitor the CAN connection between the PLC and other system bus nodes
by means of the so−called "Heartbeat" mechanism.
· Here the FB assumes the function of the "heartbeat consumer" and therefore has to be called
up on the monitoring PLC.
· The "Heartbeat" monitoring mechanism first has to be initialised in the CanDSx driver using
the function L_CanDSxOpenHeartBeat. (^ 11−7)
L_CanDSxHeartBeat
wDrvNr
nState
byNodeAddr
CTRL
bRun
tHeartBeatConsumerTime
System bus
(CAN)
© © ©
Heartbeat producer
(Node address = byNodeAddr)
FB call in:
o Cyclic task
(PLC_PRG)
Þ Time−controlled task
(INTERVAL)
o Event−controlled
task (EVENT)
Inputs
Data type
wDrv
Word
Driver number for the CAN interface of the PLC that is to be used
byNodeAddr
Byte
Node address of the node to be monitored.
bRun
Bool
Activate "Heartbeat" monitoring.
o Interrupt task
Information/possible settings
10 On board system bus (CAN)
1...128 Node address
TRUE Monitoring is activated.
· The FB now continuously monitors whether the node with the node address
byNodeAddr sends its "Heartbeat" message within the set monitoring time
tHeartBeatConsumerTime via the system bus and outputs a corresponding
status at output nState.
tHeartBeat
ConsumerTime
11−8
Time
Monitoring time within which the "Heartbeat" message has to arrive from the node to be
monitored, so that no "Heartbeat" event (nState = −10) is actuated.
· Adjust this time in accordance with the "heartbeat producer time", by which the node to be
monitored sends the "Heartbeat" message.
· Recommended setting: 200 ... 2000 ms
· Maximum setting: 65535 ms
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.7
L_CanDSxHeartBeat − carrying out a "Heartbeat"
Outputs
Data type
nState
Information/possible settings
Integer
Status
300 FB is deactivated (bRun= FALSE).
127 Node to be monitored is in the Pre−operational CAN status.
5 Node to be monitored is in the Operational CAN status.
4 Node to be monitored is in the Stopped CAN status.
0 Node to be monitored is in the Boot−up CAN status, or the FB is not called up.
−5 The monitoring time tHeartBeatConsumerTime is set to the value "0".
−10 "Heartbeat" event:
No "Heartbeat" message was received from the node to be monitored within the
monitoring time tHeartBeatConsumerTime.
−12 The node address set (byNodeAddr) is invalid.
−120 The monitoring mechanism has not been initialised in the CanDSx driver.
· Initialise the monitoring mechanism using the function
L_CanDSxOpenHeartBeat.
−121 The set driver number (wDrvNr) is invalid.
Settings required for the PLC to be monitored
(valid for 9300 Servo PLC, Drive PLC, ECSxA as of V6.2)
The following settings are required for the PLC to be monitored, thus causing the PLC to take over
the function of the "Heartbeat producer":
1. Set code C0352 in the PLC to be monitored to the value "3" to configure the corresponding
PLC as a "slave and heartbeat producer":
Code
LCD
Possible settings
Lenze
C0352 CAN mst
Information
Selection
0
System bus: master/slave
configuration of the PLC
0
1
2
Slave (boot−up not active)
Master (boot−up active)
Master with node guarding
(SyncReceived no longer possible)
Slave and heartbeat producer
Slave with node guarding
3
4
2. Set the time interval for sending the "Heartbeat" message in the PLC to be monitored via
C0381; according to the bus load, we recommend a setting in the range of 200 ... 2000 ms:
Code
LCD
Possible settings
Lenze
C0381 HeartProTime
Information
Selection
0
System bus: heartbeat (slave):
heartbeat producer time
0
{1 ms}
65535
3. Set code C0003 in the PLC to be monitored to the value "1" to save the effected changes safe
against mains failure.
4. Set code C0358 in the PLC to be monitored to the value "1" to carry out a CAN reset node.
– Alternatively, the CAN reset node can also be carried out by mains switching.
After carrying out the CAN reset node, the PLC to be monitored as a "heartbeat producer"
continuously sends the "Heartbeat" telegram via the system bus within the time interval set under
C0381. Then, by means of this FB, the "heartbeat" monitoring can be activated within the monitoring
PLC.
L
PLC−Systembus EN 2.0
11−9
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.8
11.8
L_CanDSxCloseHeartBeat − deactivating the "Heartbeat"
L_CanDSxCloseHeartBeat − deactivating the "Heartbeat"
Function
By means of this function, the "Heartbeat" monitoring mechanism of the CanDSx driver is
deactivated again.
·
For the deactivation the transfer parameter bClose has to be set to TRUE.
Declaration
BOOL L_CanDSxCloseHeartBeat(bClose);
Transfer parameters
bClose
Data type
Bool
Information/possible settings
Deactivating the "Heartbeat" monitoring mechanism.
TRUE The "Heartbeat" monitoring mechanism of the CanDSx driver in the operating
system is deactivated.
Return value
Data type
Bool
Value/meaning
Status
TRUE The "Heartbeat" monitoring mechanism of the CanDSx driver has been
deactivated.
FALSE The "Heartbeat" monitoring mechanism of the CanDSx driver has not been
deactivated.
· Remedy: function call via transfer parameter bClose = TRUE.
Example
Calling the function in ST:
bReturnCloseHeartBeat := L_CanDSxCloseHeartBeat(bClose:=TRUE);
11−10
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.9
11.9
L_CanDSxOpenNodeGuarding − initialising the "Node Guarding"
L_CanDSxOpenNodeGuarding − initialising the "Node Guarding"
Function
In the CANopen communication profile (CiA DS301, version 4.01) two optional monitoring
mechanisms for ensuring the function of system bus nodes are specified, "Heartbeat" and "Node
Guarding".
By means of this function the "Node Guarding" monitoring mechanism of the CanDSx driver is
initialised.
· For the initialisation, the transfer parameter bOpen has to be set to TRUE.
· The actual monitoring is carried out using the L_CanDSxNodeGuarding FB. (^ 11−12)
· By means of the function L_CanDSxCloseNodeGuarding you can deactivate the "Node
Guarding" monitoring mechanism again. (^ 11−15)
Note!
Using both monitoring mechanisms at the same is not permitted!
If a non−zero transmission cycle time for the "Heartbeat" message is configured for the node to be
monitored, the "Heartbeat" mechanism is used prior to the "Node Guarding" mechanism.
Declaration
BOOL L_CanDSxOpenNodeGuarding(bOpen);
Transfer parameters
bOpen
Data type
Bool
Information/possible settings
Initialising the "Node Guarding" monitoring mechanism
TRUE The "Node Guarding" monitoring mechanism of the CanDSx driver is initialised.
return value
Data type
Bool
Value/meaning
Status
TRUE The "Node Guarding" monitoring mechanism has been initialised.
FALSE A The "Node Guarding" monitoring mechanism has not been initialised.
– Remedy: function call with transfer parameter bOpen = TRUE.
or
B The PLC is not configured as "Master with Node Guarding" anymore.
– Remedy: set code C352 to the value "2" to configure the PLC as "Master
with Node Guarding".
Example
Calling the function in ST:
bReturnOpenNodeGuarding := L_CanDSxOpenNodeGuarding(bOpen:=TRUE);
L
PLC−Systembus EN 2.0
11−11
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.10
11.10
L_CanDSxNodeGuarding − carrying out a "Node guarding"
L_CanDSxNodeGuarding − carrying out a "Node guarding"
Function block
Use this FB to cyclically monitor the CAN connection between the PLC and other system bus nodes
by means of the so−called "Node guarding" mechanism.
· This monitoring mechanism first has to be initialised in the CanDSx driver using the function
L_CanDSxOpenNodeGuarding. (^ 11−11)
L_CanDSxNodeGuarding
wDrvNr
nState
byNodeAddr
CTRL
bRun
tNodeGuardTime
byNodeLifeTimeFactor
System bus
(CAN)
š
2. š
1.
NMT Slave
(Node address = byNodeAddr)
FB call in:
o Cyclic task
(PLC_PRG)
Þ Time−controlled task
(INTERVAL)
o Event−controlled task
(EVENT)
Inputs
Data type
wDrv
Word
Driver number for the CAN interface of the PLC that is to be used
byNodeAddr
Byte
Node address of the node to be monitored.
bRun
Bool
Activating the "Node guarding".
o Interrupt task
Information/possible settings
10 On board system bus (CAN)
1...128 Node address
TRUE Monitoring is activated.
· The FB now sends a "remote transmission request" telegram in the
transmission cycle set via tNodeGuardTime to the node with the node address
byNodeAddrand waits for a corresponding response. If it is not effected within
the "NodeLifeTime" monitoring time, the FB outputs a corresponding status at
the output nState.
11−12
tNodeGuardTime
Time
Transmission cycle of the remote transmission request telegram.
· Time interval in which the PLC sends a status request to the node to be monitored (cyclic
polling).
· This setting has to correspond to the "Guard Time" set in the PLC to be monitored (C0382).
byNodeLifeTimeFactor
Byte
Factor for the so−called "NodeLifeTime".
"NodeLifeTime" = byNodeLifeTimeFactor ž tNodeGuardTime
· If the node to be monitored does not respond to the status request of the PLC within the
"NodeLifeTime", a "Node Guarding" event is actuated (nState = −10).
· This setting has to correspond to the "NodeLifeTimeFactor" set in the PLC to be monitored
(C0383).
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.10
L_CanDSxNodeGuarding − carrying out a "Node guarding"
Outputs
Data type
nState
Information/possible settings
Integer
Status
300 FB is deactivated (bRun= FALSE).
127 Node to be monitored is in the Pre−operational CAN status.
5 Node to be monitored is in the Operational CAN status.
4 Node to be monitored is in the Stopped CAN status.
0 Node to be monitored is in the Boot−up CAN status, or the FB is not called up.
−5 The tNodeGuardTime monitoring time or the factor byNodeLifeTimeFactor is set to
the value "0".
−9 Response of the node to be monitored is invalid.
−10 "Node Guarding" event:
No status response from the node to be monitored was received within the
"NodeLifeTime" monitoring time.
−12 The set node address (byNodeAddr) is invalid.
−120 The monitoring mechanism has not been initialised in the CanDSx driver.
· Initialise the monitoring mechanism using the function
L_CanDSxOpenNodeGuarding.
−121 The set driver number (wDrvNr) is invalid.
Settings required for the PLC to be monitored
(valid for 9300 Servo PLC, Drive PLC, ECSxA as of V6.2)
The following settings are required for the PLC to be monitored, thus causing the PLC to take over
the function of the "Node Guarding Slave":
1. Set code C0352 in the PLC to be monitored to the value "4" to configure the corresponding
PLC as a "Slave with Node Guarding":
Code
LCD
Possible settings
Lenze
C0352 CAN mst
Information
Selection
0
System bus: master/slave
configuration of the PLC
0
1
2
Slave (boot−up not active)
Master (boot−up active)
Master with Node Guarding
(SyncReceived no longer possible)
Slave and heartbeat producer
Slave with Node Guarding
3
4
2. Set the time interval for the status enquiry by the master in the PLC to be monitored via
C0382. This value has to correspond to the setting at the FB input tNodeGuardTime in the
monitoring PLC:
Code
LCD
Possible settings
Lenze
C0382 GuardTime
Information
Selection
0
System bus: Node Guarding (slave):
NodeGuardTime
0
{1 ms}
65535
3. Set the "Node Guarding Master" in the monitoring PLC with C0352/0 = 2.
L
PLC−Systembus EN 2.0
11−13
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.10
L_CanDSxNodeGuarding − carrying out a "Node guarding"
4. Set the factor for the "NodeLifeTime" monitoring time via C0383 in the PLC to be monitored.
This value has to correspond to the setting at the FB input byNodeLifeTimeFactor in the
monitoring PLC:
Code
Possible settings
LCD
Lenze
C0383 LifeTimeFact.
Information
Selection
0
System bus: Node Guarding (slave):
NodeLifeTimeFactor
0
{1}
255
Tip!
From the settings for the "NodeGuardTime" (C0382) and the "NodeLifeTimeFactor" (C0383) in the
PLC to be monitored, the so−called "NodeLifeTime" results:
NodeLifeTime = NodeGuardTime(C0382) ž NodeLifeTimeFactor (C0383)
· If the PLC to be monitored does not receive a status enquiry from the monitoring PLC within
this "NodeLifeTime", a so−called "Life Guarding" event is actuated in the PLC to be
monitored.
5. Set the desired response by which the PLC to be monitored is to react to a "Life Guarding
Event" via C0384 in the PLC to be monitored:
Code
LCD
Possible settings
Lenze
C0384 Err NodeGuard
Information
Selection
3
System bus: Node Guarding (slave):
response to a "Life Guard" event.
0
1
2
3
4
TRIP
Message
Warning
Off
Fail−QSP
6. Set code C0003 in the PLC to be monitored to the value "1" to save the effected changes in a
manner safe against mains failure.
7. Set code C0358 in the PLC to be monitored to the value "1" to carry out a CAN reset node.
– Alternatively, the CAN reset node can also be carried out by mains switching.
After the CAN reset node has been carried out, the PLC to be monitored is configured as "node
guarding slave", and monitoring in the "node guarding master" can be activated using this FB.
11−14
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.11
11.11
L_CanDSxCloseNodeGuarding − deactivating the "Node Guarding"
L_CanDSxCloseNodeGuarding − deactivating the "Node
Guarding"
Function
By means of this function, the "Node Guarding" monitoring mechanism of the CanDSx driver is
deactivated again.
· For the deactivation the transfer parameter bClose has to be set to TRUE.
Declaration
BOOL L_CanDSxCloseNodeGuarding (bClose);
Transfer parameters
bClose
Data type
Bool
Information/possible settings
Deactivating the "Node Guarding" monitoring mechanism
TRUE The "Node Guarding" monitoring mechanism of the CanDSx driver is deactivated.
Return value
Data type
Bool
Value/meaning
Status
TRUE The "Node Guarding" monitoring mechanism of the CanDSx driver has been
deactivated.
FALSE The "Node Guarding" monitoring mechanism of the CanDSx driver has not been
deactivated.
· Remedy: function call via transfer parameter bClose = TRUE.
Example
Calling the function in ST:
bReturnCloseNodeGuarding := L_CanDSxCloseNodeGuarding(bClose:=TRUE);
L
PLC−Systembus EN 2.0
11−15
System bus (CAN) for Lenze PLC devices
LenzeCanDSxDrv.lib function library
11.11
11−16
L_CanDSxCloseNodeGuarding − deactivating the "Node Guarding"
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
Index
12
Index
C0369, 3−7 , 7−26
A
Addressing parameters, 2−13
Axis synchronisation, 7−23
C0591, 3−11
C0592, 3−11
C0593, 3−11
C0595, 3−11
B
C0608, 10−4
Baud rate
AIF interface, 4−1
CAN interface, 3−1
CAN−AUX interface, 6−1
FIF interface, 5−1
Boot−up
AIF interface, 4−2
CAN interface, 3−2
CAN−AUX interface, 6−2
FIF interface, 5−2
Bus load
CAN interface, 3−15
CAN−AUX interface, 6−13
FIF interface, 5−13
C0609, 10−4
C1120, 7−23
C1121, 7−25
C1122, 7−25
C1123, 7−25
C2121, 4−10
C2350, 4−3
C2351, 4−1
C2352, 4−2
C2353, 4−4
C2354, 4−4
Bus off, AIF interface, 4−9
C2355, 4−5
Bus−off
C2356, 4−2 , 4−6 , 4−7
CAN interface, 3−11
CAN−AUX interface, 6−9
FIF interface, 5−9
C2357, 4−8
C2367, 4−7
C2368, 4−7
C
C0350, 3−3
C0351, 3−1
C0352, 3−2
C2375, 4−7
C2382, 4−8 , 4−9
C2450, 5−3 , 6−3
C2451, 5−1 , 6−1
C2452, 5−2 , 6−2
C0353, 3−4
C0354, 3−4
C0355, 3−5
C0356, 3−2 , 3−6
C0357, 3−11
C2453, 5−4 , 6−4
C2454, 5−4 , 6−4
C2455, 5−5 , 6−5
C2456, 5−2 , 5−6 , 6−2 , 6−6
C2457, 5−9 , 6−9
C0358, 3−8 , 4−8
C2458, 5−8 , 6−8
C0359, 3−13
C2459, 5−11 , 6−11
C0360, 3−14
C2460, 5−12 , 6−12
C0361, 3−15
C2461, 5−13 , 6−13
C0363, 7−26
C2466, 5−7 , 6−7
C0366, 3−7 , 7−26
C2467, 5−7 , 6−7
C0367, 3−7 , 7−26
C2468, 5−7 , 6−7
C0368, 3−7 , 7−26
C2469, 5−7 , 6−7
L
PLC−Systembus EN 2.0
12−1
System bus (CAN) for Lenze PLC devices
Index
C2481, 5−9 , 6−9
Command code, 2−12
C2482, 5−9 , 6−9
Communication Object Identifier, 2−3
C2483, 5−9 , 6−9
Configuring the AIF interface, 4−1
baud rate, 4−1
boot−up, 4−2
cycle time, 4−6
diagnostics, 4−10
operating status, 4−10
identifiers of the process data objects, 4−4
monitoring processes, 4−8
bus off, 4−9
fault messages, 4−9
time monitoring, 4−8
node address (node ID), 4−3
reset node, 4−8
synchronisation, 4−7
XCAN sync identifier, 4−7
XCAN sync response, 4−7
XCAN sync Tx transmission cycle, 4−7
C2484, 5−9 , 6−9
CAN objects, application recommendations, 2−20
CAN sync identifier, 7−26
CAN sync identifiers, 3−7
CAN sync response, 3−7 , 7−26
CAN sync Tx transmission cycle, 3−7 , 7−26
CAN system blocks, 7−1
CAN_Management, 7−20
CAN_Synchronization, 7−23
CAN1_IO (9300 Servo PLC), 7−1
CAN1_IO (Drive PLC), 7−6
CAN1_IO (ECSxA), 7−10
CAN2_IO, 7−14
CAN23_IO, 7−17
Configuring the CAN interface, 3−1
baud rate, 3−1
boot−up, 3−2
cycle time, 3−6
delay time, 3−6
diagnostics, 3−13
bus load, 3−15
operating status, 3−13
telegram counter, 3−14
identifiers of the process data objects, 3−4
mapping indexes to codes, 3−8
monitoring processes, 3−11
bus−off, 3−11
fault messages, 3−12
time monitoring, 3−11
time−out during activated remote parameterisation, 3−12
node address (node ID), 3−3
remote parameterisation (gateway function), 3−10
reset node, 3−8
synchronisation, 3−7
CAN sync identifiers, 3−7
CAN sync response, 3−7
CAN sync Tx transmission cycle, 3−7
system bus management, 3−8
CAN telegram, 2−3
CAN−AUX system blocks, 9−1
CANaux_Management, 9−4
CANaux1_IO, 9−1
CANaux2_IO, 9−1
CANaux3_IO, 9−1
CAN_bResetNode_b, 7−21
CAN_bTxCan2Syncronized_b, 7−21
CAN_bTxCan3Syncronized_b, 7−21
CAN_Management, 7−20
CAN_Synchronization, 7−23
CAN1_IO (9300 Servo PLC), 7−1
CAN1_IO (Drive PLC), 7−6
CAN1_IO (ECSxA), 7−10
CAN2_IO, 7−14
Configuring the CAN−AUX interface, 6−1
CAN3_IO, 7−17
baud rate, 6−1
boot−up, 6−2
cycle time, 6−6
delay time, 6−6
diagnostics, 6−11
bus load, 6−13
operating status, 6−11
telegram counter, 6−12
identifiers of the process data objects, 6−4
monitoring processes, 6−9
bus−off, 6−9
fault messages, 6−10
time monitoring, 6−9
node address (node ID), 6−3
reset node, 6−8
synchronisation, 6−7
CANaux sync identifiers, 6−7
CANaux sync response, 6−7
CANaux sync Tx transmission cycle, 6−7
system bus management, 6−8
CANaux sync identifiers, 6−7
CANaux sync response, 6−7
CANaux sync Tx transmission cycle, 6−7
CANaux_bResetNode_b, 9−5
CANaux_bTxCan2Syncronized_b, 9−5
CANaux_bTxCan3Syncronized_b, 9−5
CANaux_Management, 9−4
CANaux1_IO, 9−1
CANaux2_IO, 9−1
CANaux3_IO, 9−1
COB−ID, 2−3
Command, 2−6
12−2
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
Index
Configuring the FIF interface, 5−1
F
baud rate, 5−1
boot−up, 5−2
Fault messages, 6−10
AIF interface, 4−9
CAN interface, 3−12
CAN−AUX interface, 6−10
FIF interface, 5−10
cycle time, 5−6
delay time, 5−6
diagnostics, 5−11
bus load, 5−13
operating status, 5−11
diagnostics , telegram counter, 5−12
FIF−CAN sync identifier, 5−7
FIF−CAN sync response, 5−7
identifiers of the process data objects, 5−4
monitoring processes, 5−9
bus−off, 5−9
fault messages, 5−10
time monitoring, 5−9
FIF−CAN sync Tx transmission cycle, 5−7
FIF−CAN system blocks, 8−1
FIF_CAN_Management, 8−4
FIF_CAN1_IO, 8−1
FIF_CAN2_IO, 8−1
FIF_CAN3_IO, 8−1
node address (node ID), 5−3
reset node, 5−8
synchronisation, 5−7
FIF−CAN sync identifier, 5−7
FIF−CAN sync response, 5−7
FIF−CAN sync Tx transmission cycle, 5−7
system bus management, 5−8
FIF_CAN_bResetNode_b, 8−5
FIF_CAN_Management, 8−4
FIF_CAN1_IO, 8−1
Correction value of the phase controller, 7−26
FIF_CAN2_IO, 8−1
Cycle time
FIF_CAN3_IO, 8−1
AIF interface, 4−6
Forced transmission, 10−11
CAN interface, 3−6
Free CAN objects, 2−19
CAN−AUX interface, 6−6
FIF interface, 5−6
G
Gateway function, CAN interface, 3−10
D
Data of the parameter, 2−14
Delay time
CAN interface, 3−6
H
Heartbeat, 2−21
CAN−AUX interface, 6−6
I
FIF interface, 5−6
Identifier, 2−3 , 2−10
Device address, 2−6
Identifiers, 2−11
AIF interface, 4−4
CAN interface, 3−4
CAN−AUX interface, 6−4
FIF interface, 5−4
Diagnostics
AIF interface, 4−10
operating status, 4−10
CAN interface, 3−13
bus load, 3−15
operating status, 3−13
telegram counter, 3−14
CAN−AUX interface, 6−11
bus load, 6−13
operating status, 6−11
telegram counter, 6−12
FIF interface, 5−11 , 5−12
bus load, 5−13
operating status, 5−11
Index, 2−13
L
L_CanClose, 10−5
L_CanGetRelocCobId, 10−7
L_CanGetStatus, 10−6
L_CanInit, 10−2
E
Error Response, 2−12
L
L_CanPdoReceive, 10−12
L_CanPdoTransmit, 10−8
L_ParWrite, 10−10
PLC−Systembus EN 2.0
12−3
System bus (CAN) for Lenze PLC devices
Index
Process data, 2−5
M
identifier, 2−10
sync telegram, 2−9
telegram structure, 2−10
transmission, 2−7
user data, 2−10
Mapping indexes to codes, CAN interface, 3−8
Monitoring mechanisms, 2−21
"Heartbeat", 2−21
"Node Guarding", 2−22
Process data channels, 2−7
Monitoring processes
Process Data Objects, 2−5
AIF interface, 4−8
bus off, 4−9
fault messages, 4−9
time monitoring, 4−8
R
CAN interface, 3−11
bus−off, 3−11
fault messages, 3−12
time monitoring, 3−11
time−out during activated remote parameterisation, 3−12
Read request, 2−12
CAN−AUX interface, 6−9
bus−off, 6−9
fault messages, 6−10
time monitoring, 6−9
Receive status, 10−13
FIF interface, 5−9
bus−off, 5−9
fault messages, 5−10
time monitoring, 5−9
Read response, 2−12
Reading parameters, 2−17
Remote parameterisation (gateway function), CAN interface,
3−10
Reset node
AIF interface, 4−8
CAN interface, 3−8
CAN−AUX interface, 6−8
FIF interface, 5−8
N
Network management (NMT), 2−6
S
command, 2−6
device address, 2−6
Netwotk status, 2−6
Node address (node ID)
Safety information, layout, More notes, 1−4
Safety instructions, layout, warning of material damage, 1−4
SDOs, 2−5
AIF interface, 4−3
Service Data Objects, 2−5
CAN interface, 3−3
Subindex, 2−13
CAN−AUX interface, 6−3
FIF interface, 5−3
Sync telegram, 2−9
Synchronisation
Node Guarding, 2−22
AIF interface, 4−7
CAN interface, 3−7
CAN sync identifiers, 3−7
CAN sync response, 3−7
CAN sync Tx transmission cycle, 3−7
CAN−AUX interface, 6−7
CANaux sync identifiers, 6−7
CANaux sync response, 6−7
CANaux sync Tx transmission cycle, 6−7
FIF interface, 5−7
FIF−CAN sync identifier, 5−7
FIF−CAN sync response, 5−7
FIF_CAN sync Tx transmission cycle, 5−7
XCAN sync identifier, 4−7
XCAN sync response, 4−7
XCAN sync Tx transmission cycle, 4−7
Node ID, 2−3 , 6−3
P
Parameter data, 2−5 , 2−11
addressing (index/subindex), 2−13
command code, 2−12
data format, 2−14
identifiers, 2−11
reading parameters, 2−17
telegram structure, 2−11
transmission, 2−11
writing parameters, 2−15
12−4
PDOs, 2−5
Synchronisation cycle, 7−25
Phase displacement, 7−25
Synchronisation time, 7−24
PLC−Systembus EN 2.0
L
System bus (CAN) for Lenze PLC devices
Index
reset node
AIF interface, 4−8
CAN interface, 3−8
CAN−AUX interface, 6−8
FIF interface, 5−8
synchronisation
AIF interface, 4−7
CAN interface, 3−7
CAN−AUX interface, 6−7
FIF interface, 5−7
system bus management
CAN interface, 3−8
CAN−AUX interface, 6−8
FIF interface, 5−8
telegram structure, 2−3
user data, 2−5
System bus (CAN), 2−1
CAN objects, application recommendations, 2−20
cycle time
AIF interface, 4−6
CAN interface, 3−6
CAN−AUX interface, 6−6
FIF interface, 5−6
delay time
CAN interface, 3−6
CAN−AUX interface, 6−6
FIF interface, 5−6
diagnostics
AIF interface, 4−10
CAN interface, 3−13
CAN−AUX interface, 6−11
FIF interface, 5−11
System bus management
free CAN objects, 2−19
CAN, 7−20
CAN interface, 3−8
CAN−AUX, 8−4 , 9−4
CAN−AUX interface, 6−8
FIF interface, 5−8
identification of the nodes, 2−3
identifier, 2−3
identifiers
AIF interface, 4−4
CAN interface, 3−4
CAN−AUX interface, 6−4
FIFterface, 5−4
interfaces for system bus connection, 2−2
configuring the AIF interface, 4−1
configuring the CAN−AUX interface, 6−1
T
Telegram counter
CAN interface, 3−14
CAN−AUX interface, 6−12
FIF interface, 5−12
interfaces for systerm bus connection, Configuring the FIF
interface, 5−1
interfaces for the system bus connection, configuring the CAN
interface, 3−1
Term definitions, 1−4
Time monitoring
mapping indexes to codes, CAN interface, 3−8
AIF interface, 4−8
CAN interface, 3−11
CAN−AUX interface, 6−9
FIF interface, 5−9
monitoring mechanisms, 2−21
"Heartbeat", 2−21
"Node Guarding", 2−22
monitoring processes
AIF interface, 4−8
CAN interface, 3−11
CAN−AUX interface, 6−9
FIF interface, 5−9
network management (NMT), 2−6
command, 2−6
device address, 2−6
operating status
AIF interface, 4−10
CAN interface, 3−13
CAN−AUX interface, 6−11
FIF interface, 5−11
parameter data
addressing (index/subindex), 2−13
command code, 2−12
data format, 2−14
identifiers, 2−11
reading parameters, 2−17
telegram structure, 2−11
transmission, 2−11
writing parameters, 2−15
process data
identifier, 2−10
sync telegram, 2−9
telegram structure, 2−10
transmission, 2−7
user data, 2−10
remote parameterisation (gateway function), CAN interface,
3−10
L
Time slot, 7−25
Time−out during activated remote paramterisation, CAN
interface, 3−12
Transmission
parameter data, 2−11
process data, 2−7
Transmit request memory, 10−10
Transmit status, 10−9
U
User data, 2−5 , 2−10
V
Version identifiers of the function library, 10−1 , 11−2
W
Write request, 2−12
Write response, 2−12
Writing parameters, 2−15
PLC−Systembus EN 2.0
12−5
System bus (CAN) for Lenze PLC devices
Index
X
XCAN sync identifier, 4−7
XCAN sync response, 4−7
XCAN sync Tx transmission cycle, 4−7
12−6
PLC−Systembus EN 2.0
L
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