Lenze DDS System bus CAN for PLC User Manual

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 EVS93XX−xI 2K 2.0

9300 Servo PLC EVS93XX−xT 2K 2.0

Drive PLC EPL10200 Px 2.0

ECSxA ECSxAxxx 1A 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Conventions used in this Manual 1−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Structure of the description 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3 Pictographs used in this Manual 1−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.4 Terminology used 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 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Identifier 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 User data 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 Network management (NMT) 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Transmission of process data 2−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 Process data channels 2−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.2 Sync telegram for cyclic process data 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.3 Process data telegram 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 Transmitting parameter data 2−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.1 Parameter data telegram 2−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.2 Writing parameters (example) 2−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.3 Reading a parameter (example) 2−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Free CAN objects 2−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 Application recommendations for the different CAN objects 2−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10 Monitoring mechanisms 2−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10.1 "Heartbeat" 2−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10.2 "Node Guarding" 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.1 Allocation of individual identifiers 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.2 Display of the identifier set 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7.1 CAN sync response 3−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7.2 CAN sync identifiers 3−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7.3 CAN sync Tx transmission cycle 3−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8 Reset node 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9 System bus management 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.10 Mapping indexes to codes 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.10.1 Functional principle considering as example 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 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.12.1 Time monitoring for CAN1_IN ... CAN3_IN 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.12.2 Bus−off 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.12.3 Time−out when remote parameterisation is activated 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.12.4 Response in the case of system bus fault messages 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.13 Diagnostics 3−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.13.1 Operating status of the CAN interface 3−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.13.2 Telegram counter 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.13.3 Bus load by the PLC 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Allocation of individual identifiers 4−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 Display of the identifier set 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 Cycle time (XCAN1_OUT ... XCAN3_OUT) 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Synchronisation 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.1 XCAN sync response 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.2 XCAN sync identifier 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6.3 XCAN sync Tx transmission cycle 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7 Reset node 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8 Monitoring processes 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8.1 Time monitoring for XCAN1_IN ... XCAN3_IN 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8.2 Bus off 4−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8.3 Response for system bus fault messages 4−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.9 Diagnostics 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.9.1 Automation interface (AIF) operating status 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Configuration (FIF interface) 5−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.1 Allocation of individual identifiers 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.2 Display of the identifiers set 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.1 FIF−CAN sync response 5−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.2 FIF−CAN sync identifier 5−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.3 FIF−CAN sync Tx transmission cycle 5−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8 Reset node 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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PLC−Systembus EN 2.0

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System bus (CAN) for Lenze PLC devices

Contents

5.9 System bus management 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10 Monitoring processes 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10.1 Time monitoring for FIF−CAN1_IN ... FIF−CAN3_IN 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10.2 Bus−off 5−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10.3 Response in the case of system bus fault messages 5−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.11 Diagnostics 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.11.1 Function interface (FIF) operating status 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.11.2 Telegram counter 5−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.11.3 Bus load by FIF−CAN 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Configuration (CAN−AUX system bus interface) 6−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.1 Allocation of individual identifiers 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.2 Display of the identifiers set 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.1 CANaux sync response 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.2 CANaux sync identifiers 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.3 CANaux sync Tx transmission cycle 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.8 Reset node 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9 System bus management 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.10 Monitoring processes 6−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.10.1 Time monitoring for CANaux1_IN ... CANaux3_IN 6−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.10.2 Bus−off 6−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.10.3 Response in the case of system bus fault messages 6−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.11 Diagnostics 6−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.11.1 Operating status of the CAN−AUX interface 6−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.11.2 Telegram counter 6−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.11.3 Bus load by CAN−AUX 6−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 CAN system blocks 7−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 CAN1_IO (node number: 31) − 9300 Servo PLC 7−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1 Inputs_CAN1 7−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2 Outputs_CAN1 7−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.3 Process data telegram 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.4 Assignment of the user data to variables 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.5 Transferring status and control information of the device control 7−5 . . . . . . . . . . . . . . . . . . . . . . .

7.2 CAN1_IO (node number: 31) − Drive PLC 7−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Inputs_CAN1 7−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.2 Outputs_CAN1 7−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.3 Process data telegram 7−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.4 Assignment of the user data to variables 7−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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7.3 CAN1_IO (node number: 31) − ECSxA 7−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.1 Inputs_CAN1 7−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.2 Outputs_CAN1 7−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.3 Process data telegram 7−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.4 Assignment of the user data to variables 7−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 CAN2_IO (node number: 32) 7−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.1 Inputs_CAN2 7−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.2 Outputs_CAN2 7−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.3 Process data telegram 7−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.4 Assignment of the user data to variables 7−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5 CAN3_IO (node number: 33) 7−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5.1 Inputs_CAN3 7−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5.2 Outputs_CAN3 7−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5.3 Process data telegram 7−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5.4 Assignment of the user data to variables 7−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6 CAN_Management (node number: 101) 7−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.1 Inputs_CAN_Management 7−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.2 Outputs_CAN_Management 7−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.3 Activating a reset node 7−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.4 Defining the instant of transmission for CAN2_OUT/CAN3_OUT 7−21 . . . . . . . . . . . . . . . . . . . . . . . .

7.6.5 Status messages 7−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.7 CAN_Synchronization (node number: 102) 7−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 FIF−CAN system blocks (only Drive PLC) 8−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 FIF_CAN1_IO (node number: 34) 8−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.1 FIF_Inputs_CAN1 8−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.2 FIF_Outputs_CAN1 8−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.3 Process data telegram 8−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.4 Assignment of the user data to variables 8−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 FIF_CAN2_IO (node number: 35) 8−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.1 FIF_Inputs_CAN2 8−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.2 FIF_Outputs_CAN2 8−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.3 Process data telegram 8−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.4 Assignment of the user data to variables 8−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 FIF_CAN3_IO (node number: 36) 8−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.1 FIF_Inputs_CAN3 8−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.2 FIF_Outputs_CAN3 8−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.3 Process data telegram 8−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.4 Assignment of the user data to variables 8−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4 FIF_CAN_Management (node number: 111) 8−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.1 FIF_Inputs_CAN_Management 8−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.2 FIF_Outputs_CAN_Management 8−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.3 Activating a reset node 8−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.4 Defining the instant of transmission for FIF−CAN2_OUT/FIF−CAN3_OUT 8−5 . . . . . . . . . . . . . . . . . .

8.4.5 Status messages 8−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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9 CAN−AUX system blocks (only ECSxA) 9−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1 CANaux1_IO (node number: 34) 9−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.1 Inputs_CANaux1 9−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.2 Outputs_CANaux1 9−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.3 Process data telegram 9−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.4 Assignment of the user data to variables 9−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2 CANaux2_IO (node number: 35) 9−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2.1 Inputs_CANaux2 9−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2.2 Outputs_CANaux2 9−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2.3 Process data telegram 9−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2.4 Assignment of the user data to variables 9−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 CANaux3_IO (node number: 36) 9−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.1 Inputs_CANaux3 9−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.2 Outputs_CANaux3 9−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.3 Process data telegram 9−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.4 Assignment of the user data to variables 9−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4 CANaux_Management (node number: 111) 9−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.1 Inputs_CANaux_Management 9−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.2 Outputs_CANaux_Management 9−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.3 Activating a reset node 9−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.4 Defining the instant of transmission for CANaux2_OUT/CANaux3_OUT 9−5 . . . . . . . . . . . . . . . . . . .

9.4.5 Status messages 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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12 Index 12−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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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) ^ 2−1

Configuration

3

4

5

6

7

8

9

10

11

Integrated "CAN" system bus interface ^ 3−1

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

^ 4−1

^ 5−1

^ 6−1

^ 7−1

^ 8−1

^ 9−1

^ 10−1

^ 11−1

L

PLC−Systembus EN 2.0

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System bus (CAN) for Lenze PLC devices

Preface and general information

1.1 About this Manual

1.1.1 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..."

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PLC−Systembus EN 2.0

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System bus (CAN) for Lenze PLC devices

Preface and general information

1.1 About this Manual

1.1.2 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

 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 About this Manual

1.1.3 Pictographs used in this Manual

Pictographs
used

Warning of
material damage

More notes Tip!

1.1.4 Terminology used

Term In the following text used for

AIF Automation interface

DDS Drive PLC Developer Studio

FB Function block

FIF Function interface

GDC Global Drive Control (parameterisation program from Lenze)

Parameter codes Codes for setting the function of a function block

PLC · 9300 Servo PLC

SB System block

System bus System bus (CAN): Lenze standard bus system similar to CANopen

Signal words

Stop! Warns of potential damage to material.

Possible consequences if disregarded:
Damage of the controller/drive system or its environment

Indicates a tip or note.

Note!

· Drive PLC

· ECSxA

.

1−4

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 Information

System bus interface CAN

Automation interface (AIF)

with corresponding fieldbus module
(e.g. 2175)

Function interface (FIF)

with corresponding function module
(e.g. CAN−I/O system bus)

System bus interface CAN−AUX

PDOs CAN1_IN/CAN1_OUT

CAN2_IN/CAN2_OUT
CAN3_IN/CAN3_OUT

SDOs

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

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 See chapter 5, "Configuration (FIF interface)".

PDOs CANaux1_IN/CANaux1_OUT

CANaux2_IN/CANaux2_OUT
CANaux3_IN/CANaux3_OUT

SDOs

CAN−AUX−SDO (parameter data
channel)

L_ParRead/L_ParWrite
functionality

Sync telegram See chapter 6, "Configuration (CAN−AUX system bus

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

^ 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

interface)".
^ 6−1

2−2

PLC−Systembus EN 2.0

l

System bus (CAN) for Lenze PLC devices

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

General information

Start

Identifier

1bit 11bit 1bit 6bit

Description see chapter 2.4.1

Fig. 2−1 Basic structure of a CAN telegram

RTR bit

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:

Control field

User data

0 ... 8 byte

· Network management

· Parameter data

· Process data

Description see chapter 2.4.2

CRC
sequence

15bit

CRC delimit.

1bit 1bit 1bit 7bit

ACK delimit.

ACK slot

End

l

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.

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

·Network management

Tx (transmission) 0 0

Rx (reception) 0 0

Sync telegram

Tx (transmission) 128 80

Rx (reception) 128 80

SDOs Parameter data channel 1

Output (transmission) 1536 600

Input (reception) 1408 580

Parameter data channel 2

Output (transmission) 1600 640

Input (reception) 1472 5C0

PDOs CAN1_IO (cyclic process data)

CAN1_IN 512 200

CAN1_OUT 384 180

CAN2_IO (event− or time−controlled process data)

CAN2_IN 640 280

CAN2_OUT 641 281

CAN3_IO (event− or time−controlled process data)

CAN3_IN 768 300

CAN3_OUT 769 301

+ C0350
+ C2350
+ C2450

+ C0350
+ C2350
+ C2450

+ C0350
+ C2350
+ C2450

+ C0350
+ C2350
+ C2450

+ C0350
+ C2350
+ C2450

(CAN)
(XCAN)
(FIF−CAN/CAN−AUX)

(CAN)
(XCAN)
(FIF−CAN/CAN−AUX)

(CAN)
(XCAN)
(FIF−CAN/CAN−AUX)

(CAN)
(XCAN)
(FIF−CAN/CAN−AUX)

(CAN)
(XCAN)
(FIF−CAN/CAN−AUX)

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 Interface Information

C0353 / C0354 CAN (system bus interface) ^ 3−4

C2353 / C2354 XCAN (AIF interface) ^ 4−4

C2453 / C2454

FIF−CAN (FIF interface) ^ 5−4
CAN−AUX (system bus interface) ^ 6−4

2−4

PLC−Systembus EN 2.0

l

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

system bus interface)

System bus (CAN) for Lenze PLC devices

General information

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:

CAN

(integrated

SB CAN1_IO for cyclic process data (sync−controlled)

9300 Servo PLC:

Drive PLC:

ECSxA:

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)

Chapter 2.6(^ 2−7)

Chapter 7.1(^ 7−1)
Chapter 7.2(^ 7−6)
Chapter 7.2(^ 7−6)

(automation interface)

XCAN

FIF−CAN

(function interface,

Drive PLC only!

CAN−AUX

(integrated

system bus interface,

ECSxA only)

Free CAN objects By using the functions/function blocks of the LenzeCanDrv.lib function

Parameter data For Lenze devices, parameter data are the so−called codes.

SB AIF1_IO_AutomationInterface

for cyclic process data (sync−controlled)

SB AIF2_IO_AutomationInterface

for event− or time−controlled process data

SB AIF3_IO_AutomationInterface

for event− or time−controlled process data

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)

library, so−called "free CAN objects" additionally can be added to the
fixedly integrated CAN objects.

· 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.

See Manual

· 9300 Servo PLC

· Drive PLC

· ECSxA

Chapter 10(^ 10−1)

Chapter 2.7(^ 2−11)

l

PLC−Systembus EN 2.0

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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

00000000000

· By means of this telegram the master can carry out state changes for the entire CAN network.

Byte 1: command

Command Device address

Command

(hex)

01 Operational The PLC can receive parameter and process data.

02 Stopped

80 Pre−operational The PLC can receive parameter data. Process data, however, are ignored.

81

82

Network status

after change

Initialisation

Information

The PLC can receive network management telegrams, parameter and process data, however, cannot be
received.

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 All nodes on the bus are addressed. By this, a state change can be carried out simultaneously for all devices.

1...63 Node address of the node for which a state change is to be effected.

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System bus (CAN) for Lenze PLC devices

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:

General information

CAN

(integrated)

CAN1_IO AIF1_IO_AutomationInterface FIF_CAN1_IO CANaux1_IO Cyclic process data (sync−controlled)

CAN2_IO AIF2_IO_AutomationInterface FIF_CAN2_IO CANaux2_IO Event− or time−controlled process data

CAN3_IO AIF3_IO_AutomationInterface FIF_CAN3_IO CANaux3_IO Event− or time−controlled process data

XCAN

(AIF interface)

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.

FIF−CAN

(FIF interface)

For Drive PLC only!

cyclic process data (sync−controlled)

process data channel 1

CANaux

For ECSxA only!

Information

CAN1_IN

CAN1_OUT

Fig. 2−2 Process data channel 1 (CAN1_IO) for the cyclic data exchange

l

PLC−Systembus EN 2.0

Host

2−7

System bus (CAN) for Lenze PLC devices

s

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

Fig. 2−3 Process data channels 2 and 3 (CAN2_IO/CAN3_IO) for the event− or time−controlled data exchange

CAN2_OUT

CAN2_IN

event−controlled process data

process data channel 3

CAN3_IN

CAN3_OUT

CAN3_OUT

CAN3_IN

E. g. decentralised terminal

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)

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)

9300 Servo PLC:

Drive PLC:

ECSxA:

Chapter 7.1(^ 7−1)
Chapter 7.2(^ 7−6)
Chapter 7.3(^ 7−10)

2−8

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 CAN1_IN

1. 2. 3. 4.

Fig. 2−4 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)

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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 8 bytes user data

Identifier 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.

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:

(^ 2−3)

· CAN system blocks (^ 7−1 ff.)

· FIF−CAN system blocks (^ 8−1 ff.)

· CAN−AUX system blocks (^ 9−1 ff.)

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PLC−Systembus EN 2.0

l

System bus (CAN) for Lenze PLC devices

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

Identifier

Command

code

· 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)

Index

Low byte High byte

General information

Subindex Data 1 Data 2 Data 3 Data 4

2.7.1.1 Identifier

Identifier

For the transmission of parameter data, two parameter data channels are provided, which are
addressed via the identifier:

SDOs Parameter data channel 1

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

Command

code

Output (transmission) 1536 600

Input (reception) 1408 580

Output (transmission) 1600 640

Input (reception) 1472 5C0

Index

Low byte High byte

Identifier = basic identifier + node address of the node

Subindex Data 1 Data 2 Data 3 Data 4

dec hex

+ C0350
+ C2350
+ C2450

+ C0350
+ C2350
+ C2450

(CAN)
(XCAN)
(FIF−CAN/CANaux)

(CAN)
(XCAN)
(FIF−CAN/CANaux)

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PLC−Systembus EN 2.0

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System bus (CAN) for Lenze PLC devices

General information

2.7.1.2 Command code

Identifier

Command

code

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) Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Command Command Specifier (cs) Length e s

Write request 0 0 1 0

Write response 0 1 1 0 0 0

Read request 0 1 0 0 0 0

Read response 0 1 0 0 1 1

Error Response 1 0 0 0 0 0 0 0

00 = 4 bytes
01 = 3 bytes
10 = 2 bytes

11 = 1 byte

1 1

Command code for parameters with 1, 2, or 4 bytes data length:

4 byte data

(32 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

2 byte data

(16 bit)

1 byte data

(8 bit)

"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 Error message

3

80

hex

C0

hex

5 Incorrect subindex

6 Incorrect index

8

6

Access denied

Job was not edited
(for 8200 vector + FIF module)

2−12

PLC−Systembus EN 2.0

l

System bus (CAN) for Lenze PLC devices

2.7.1.3 Addressing the parameter (index/subindex)

General information

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 40C0

Lenze code Index

C0000 24575 5FFF

... ... ...

C7999 16576 40C0

(16576) and 5FFF

hex

dec hex

(24575).

hex

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

11bit 8 bytes user data

Identifier

Command

code

Index

Low byte High byte

57

hex

5Fhex 1

Subindex Data 1 Data 2 Data 3 Data 4

hex

hex

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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

Command

code

Index

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

11bit 8 bytes user data

Identifier

Command

code

+ 20 @ 10000 + 200000 + 00 03 0D 40

1...4

Index

Low byte High byte

Subindex Data 1 Data 2 Data 3 Data 4

hex

40

hex

(LSB) (MSB)

0D

hex

03

hex

00

hex

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

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 Information

Identifier = basic identifier + node address

Command code = 23

Index = 24575 − number of the Lenze code

Subindex = 0 · Subcode = 0 (no subcode)

Data 1 ... 4 = 20 x 10000

= 1536 + 1
= 1537

hex

= 24575 − 12
= 24563
= 5F F3

hex

= 200000
= 00 03 0D 40

hex

General information

· Basic identifier for parameter data channel 1 (output) = 1536

· Node address of the controller = 1

· Command "Write Request" (send parameter to controller)

· Code = C0012 (acceleration time)

· Value = 20 s

· Fixed32 data format (4 fixed decimal positions); multiply value by 10000

11bit 8 bytes user data

Identifier

1537 23

Fig. 2−5 Writing parameters

Command

code

hex

Index

Low byte High byte

F3

hex

Write Request
(C0012 = 20 s)

Write Response

5F

hex

Subindex Data 1 Data 2 Data 3 Data 4

0 40

hex

(LSB) (MSB)

0D

hex

03

hex

L

Identifier = 1537

Identifier = 1409

SDO 1 / Node-ID 1

00

hex

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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 Information

Identifier = basic identifier + node address

Command code = 60

Index = index of the read request

Subindex = subindex of the read request

Data 1 ... 4 = 0 · Acknowledgement only

11bit 8 bytes user data

Identifier

1409 60

= 1408 + 1
= 1409

hex

Command

code

hex

Index

Low byte High byte

F3

hex

5F

· Basic identifier for parameter data channel 1 (input) = 1408

· Node address of the controller = 1

· "Write Response" command (acknowledgement by the controller)

Subindex Data 1 Data 2 Data 3 Data 4

hex

0 0 0 0 0

2−16

PLC−Systembus EN 2.0

l

System bus (CAN) for Lenze PLC devices

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 Information

Identifier = basic identifier + node address

Command code = 40

Index = 24575 − number of the Lenze code

Subindex = 0 · Subcode = 0 (no subcode)

Data 1 ... 4 = 0 · Read request only

= 1536 + 5
= 1541

hex

= 24575 − 61
= 24514
= 5F C2

hex

General information

· Basic identifier for parameter data channel 1 (output) = 1536

· Node address of the controller = 5

· Command "Read Request" (request to read a parameter from the

controller)

· Code = C0061 (heatsink temperature)

11bit 8 bytes user data

Identifier

1541 40

Fig. 2−6 Reading parameters

Command

code

hex

Index

Low byte High byte

C2

hex

Read Request
(C0061 = ???)

Read Response
(C0061 = 43 ºC)

5F

hex

Subindex Data 1 Data 2 Data 3 Data 4

0 0 0 0 0

L

Identifier = 1541

Identifier = 1413

SDO 1 / Node-ID 5

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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 Information

Identifier = basic identifier + node address

Command code = 43

Index = index of the read request

Subindex = subindex of the read request

Data 1 ... 4 = 43 x 10000

11bit 8 bytes user data

Identifier

1413 43

= 1408 + 5
= 1413

hex

= 430000
= 00 06 8F B0

Command

code

hex

hex

Index

Low byte High byte

C2

hex

5F

· Basic identifier for parameter data channel 1 (input) = 1408

· Node address of the controller = 5

· "Read Response" command (response to the read request with the

current value)

· 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

Subindex Data 1 Data 2 Data 3 Data 4

hex

0 B0hex 8Fhex 06

hex

00

hex

(LSB) (MSB)

2−18

PLC−Systembus EN 2.0

l