Lenze 9300 Servo PLC User manual

L
Global Drive
System bus (CAN)
with 9300 Servo PLC & Drive PLC
Manual
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The information given in this Manual applies to the below Lenze PLCs:
Automation system Type as from hardware version as from software version
9300 Servo PLC EVS93XX-xI 2K 2.0
9300 Servo PLC EVS93XX-xT 2K 2.0
Drive PLC EPL10200 Px 2.0
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.
E2001 Lenze GmbH & Co KG
No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze GmbH & Co KG.
All information given in this online documentation has been carefully selected and tested for compliance with the hardware and software
described. Nevertheless, discrepancies cannot be ruled out. We do not accept any responsibility or liability for any damage that may occur.
Required corrections will be included in updates of this documentation.
Windows, Windows NT and MS-DOS are either registered trademarks or trademarks of Microsoft Corporation in the U.S.A and/or other coun-
tries.
IBM and VGA are registered trademarks of International Business Machines, Inc.
All other product names are trademarks of the corresponding owners.
Version 1.1 07/2001 - TD11
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System bus (CAN) with Servo PLC & Drive PLC
Contents
i
lPLC-Systembus EN 1.1
1 Preface and general information 1-1...........................................
1.1 About this Manual 1-1................................................................
1.1.1 Conventions used in this Manual 1-1..............................................
1.1.2 Layout of the descriptions 1-2...................................................
1.1.3 Pictographs used in this Manual 1-3...............................................
1.1.4 Terminology used 1-3.........................................................
1.2 Information about the function library version 1-3............................................
2 General information about the system bus (CAN) 2-1..............................
2.1 Introduction 2-1.....................................................................
2.1.1 System bus interfaces of the Lenze PLCs 2-1........................................
2.2 Device identifiers 2-2.................................................................
2.3 Structure of the CAN telegram 2-2.......................................................
2.3.1 Identifier 2-2................................................................
2.3.2 User data 2-4...............................................................
2.4 Network management (NMT) 2-5........................................................
2.5 Process data transmission 2-6..........................................................
2.5.1 Process data channels 2-6......................................................
2.5.2 Sync telegram for cyclic process data 2-8..........................................
2.5.3 Process data telegram 2-8......................................................
2.6 Transmitting parameter data 2-9.........................................................
2.6.1 Telegram structure 2-9........................................................
2.6.2 Writing a parameter (example) 2-13................................................
2.6.3 Reading a parameter (example) 2-14...............................................
2.7 Free CAN objects 2-15.................................................................
2.8 Recommended applications for the individual CAN objects 2-16...................................
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System bus (CAN) with Servo PLC & Drive PLC
Contents
ii l
PLC-Systembus EN 1.1
3 Configuration (integrated system bus interface) 3-1..............................
3.1 CAN baud rate 3-1...................................................................
3.2 CAN boot-up 3-1....................................................................
3.3 Node address (node ID) 3-2............................................................
3.4 Process data object identifiers 3-2.......................................................
3.4.1 Assignment of individual identifiers 3-2............................................
3.4.2 Displaying the set identifier 3-3..................................................
3.5 Cycle time (CAN2_OUT/CAN3_OUT) 3-4....................................................
3.6 Delay time (CAN2_OUT/CAN3_OUT) 3-4...................................................
3.7 Synchronisation 3-5..................................................................
3.7.1 CAN sync reaction 3-5.........................................................
3.7.2 CAN Sync identifier 3-5........................................................
3.7.3 CAN Sync Tx transmit cycle 3-5..................................................
3.8 Reset node 3-6.....................................................................
3.9 System bus management 3-6...........................................................
3.10 Monitoring 3-7......................................................................
3.10.1 Time monitoring for CAN1_IN ... CAN3_IN 3-7........................................
3.10.2 Bus off 3-7.................................................................
3.10.3 Reaction to system bus error messages 3-8.........................................
3.11 Diagnostics 3-9.....................................................................
3.11.1 Operating state of the system bus 3-9.............................................
3.11.2 Telegram counter 3-10.........................................................
3.11.3 Bus load through the PLC 3-10....................................................
4 Configuration (AIF interface) 4-1..............................................
4.1 CAN baud rate 4-1...................................................................
4.2 CAN boot-up 4-1....................................................................
4.3 Node address (node ID) 4-2............................................................
4.4 Process data object identifiers 4-3.......................................................
4.4.1 Assignment of individual identifiers 4-3............................................
4.4.2 Displaying the set identifier 4-4..................................................
4.5 Cycle time (XCAN1_OUT ... XCAN3_OUT) 4-4................................................
4.6 Synchronisation 4-5..................................................................
4.6.1 XCAN Sync reaction 4-5........................................................
4.6.2 XCAN Sync identifier 4-5.......................................................
4.6.3 XCAN Sync Tx transmission cycle 4-5..............................................
4.7 Reset node 4-6.....................................................................
4.8 Monitoring 4-6......................................................................
4.8.1 Time monitoring for XCAN1_IN ... XCAN3_IN 4-6......................................
4.8.2 Bus off 4-7.................................................................
4.8.3 Reaction to system bus error messages 4-7.........................................
4.9 Diagnostics 4-8.....................................................................
4.9.1 Operating state of the automation interface 4-8......................................
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System bus (CAN) with Servo PLC & Drive PLC
Contents
iii
lPLC-Systembus EN 1.1
5 Configuration (FIF interface) 5-1..............................................
5.1 CAN baud rate 5-1...................................................................
5.2 CAN boot-up 5-1....................................................................
5.3 Node address (node ID) 5-2............................................................
5.4 Process data object identifiers 5-3.......................................................
5.4.1 Assignment of individual identifiers 5-3............................................
5.4.2 Displaying the set identifier 5-4..................................................
5.5 Cycle time (FIF-CAN2_OUT/FIF-CAN3_OUT) 5-5..............................................
5.6 Delay time (FIF-CAN2_OUT/FIF-CAN3_OUT) 5-5.............................................
5.7 Synchronisation 5-6..................................................................
5.7.1 FIF CAN Sync reaction 5-6......................................................
5.7.2 FIF CAN Sync identifier 5-6.....................................................
5.7.3 FIF CAN Sync Tx transmission cycle 5-6............................................
5.8 Reset node 5-7.....................................................................
5.9 System bus management 5-7...........................................................
5.10 Monitoring 5-8......................................................................
5.10.1 Time monitoring for FIF-CAN1_IN ... FIF-CAN3_IN 5-8..................................
5.10.2 Bus off 5-8.................................................................
5.10.3 Reaction to system bus error messages 5-9.........................................
5.11 Diagnostics 5-10.....................................................................
5.11.1 FIF CAN operating state 5-10.....................................................
5.11.2 Telegram counter 5-11.........................................................
5.11.3 Bus load through FIF CAN 5-11...................................................
6 System blocks 6-1.........................................................
6.1 CAN1_IO (9300 Servo PLC) 6-1..........................................................
6.1.1 Inputs_CAN1 6-1.............................................................
6.1.2 Outputs_CAN1 6-4............................................................
6.2 CAN1_IO (Drive PLC) 6-6..............................................................
6.2.1 Inputs_CAN1 6-6.............................................................
6.2.2 Outputs_CAN1 6-8............................................................
6.3 CAN2_IO 6-10.......................................................................
6.3.1 Inputs_CAN2 6-10.............................................................
6.3.2 Outputs_CAN2 6-12............................................................
6.4 CAN3_IO 6-14.......................................................................
6.4.1 Inputs_CAN3 6-14.............................................................
6.4.2 Outputs_CAN3 6-16............................................................
6.5 CAN_Management 6-18................................................................
6.6 CAN_Synchronization 6-19..............................................................
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System bus (CAN) with Servo PLC & Drive PLC
Contents
iv l
PLC-Systembus EN 1.1
7 FIF CAN system blocks (Drive PLC only) 7-1.....................................
7.1 FIF_CAN1_IO 7-1....................................................................
7.1.1 FIF_Inputs_CAN1 7-1..........................................................
7.1.2 FIF_Outputs_CAN1 7-3........................................................
7.2 FIF_CAN2_IO 7-5....................................................................
7.2.1 FIF_Inputs_CAN2 7-5..........................................................
7.2.2 FIF_Outputs_CAN2 7-7........................................................
7.3 FIF_CAN3_IO 7-9....................................................................
7.3.1 FIF_Inputs_CAN3 7-9..........................................................
7.3.2 FIF_Outputs_CAN3 7-11........................................................
7.4 FIF_CAN_Management 7-13.............................................................
8 Functions 8-1.............................................................
8.1 Initialisation (L_CanInit) 8-1............................................................
8.2 Deactivation L_CanClose) 8-4...........................................................
8.3 Driver state (L_CanGetState) 8-5........................................................
8.4 Polling the COB ID area (L_CanGetRelocCobId) 8-6...........................................
9 Function blocks 9-1........................................................
9.1 Transmit CAN object (L_CanPdoTransmit) 9-1...............................................
9.2 Receive CAN object (L_CanPdoReceive) 9-5................................................
10 Index 10-1................................................................
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System bus (CAN) with Servo PLC & Drive PLC
Preface and general information
1-1
lPLC-Systembus EN 1.1
1 Preface and general information
1.1 About this Manual
This Manual contains information about the system bus interface of
the 9300 Servo PLC and Drive PLC.
Chapte
r
Contents
2General information about the system bus (CAN) ^2-1
Configuration
3Integrated system bus interface ^3-1
4Optional system bus interface via automation interface (AIF)
and an appropriate fieldbus module (e.g. 2175) ^4-1
5Optional system bus interface via function interface (FIF)1
and an appropriate function module (e.g. system bus CAN I/O) ^5-1
System blocks
6
CAN objects (CAN1_IO ... CAN3_IO)
^
6
1
6CAN synchronisation (CAN_Synchronization) ^6-1
CAN management (CAN_Management)
FIF CAN system blocks (Drive PLC only)
7CAN objects (FIF_CAN1_IO ... FIF_CAN3_IO) ^7-1
7
CAN management (FIF_CAN_Management)
^
7
1
LenzeCanDrv.lib function library (free CAN objects)
8Functions ^8-1
9Function blocks ^9-1
1Only with Drive PLC
1.1.1 Conventions used in this Manual
This Manual uses the following conventions to distinguish between different types of information:
Variable identifiers
are written in italics in the explanation:
•“Use wDrvNr ...”
Tip!
Information about the conventions used for the variables of the Lenze system blocks, function blocks
and functions can be found in the appendix of the DDS online documentation “Introduction into
IEC1131-3 programming”. The conventions ensure universal and uniform labelling and make
reading the PLC program easier.
Lenze functions/ function blocks
can be recognized by their names. They always begin with an “L_”:
•“The function L_CanInit...”
•“The FB L_CanPdoTransmit...”
Program listings
are written in “Courier”, keywords are printed in bold:
•“IF(ReturnValue < 0)THEN...”
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System bus (CAN) with Servo PLC & Drive PLC
Preface and general information
1-2 l
PLC-Systembus EN 1.1
1.1.2 Layout of the descriptions
All function/function block and system block descriptions contained in this Manual have the same
structure:
Function Function block (FB)/
System block (SB)
Headline stating the function and the function identifier


Declaration of the function:
•Data type of the return value
•Function identifier
•List of transfer parameters
-
Short description of the most important properties

Function chart including all
associated variables
•Transfer parameters
•Return value
FB/SB chart including all
associated variables
•Input variables
•Output variables

Table giving information about the
transfer parameters:
•Identifier
•Data type
•Possible settings
•Info
Table giving information about the
input and output variables:
•Identifier
•Data type
•Type of variable
•Possible settings
•Info
Table giving information about the
return value:
•Data type of the return value
•Possible return values and their
meaning:
-
Additional information
(Notes, tips, application examples, etc.)
Note: Return values for a function
If a function cannot be executed properly, a negative return value will be returned with an error
number.
•Each error number stands for an error cause which is explained in the column Meaning
•If different error numbers (-1, -2, ...) are possible, each error number is assigned to a certain
priority (1, 2, ...) in the column Priority
–The
is lower than this number the higher the priority of the associated error number.
–If several error causes occur at the same time, the error number with the highest priority
will be displayed.
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System bus (CAN) with Servo PLC & Drive PLC
Preface and general information
1-3
lPLC-Systembus EN 1.1
1.1.3 Pictographs used in this Manual
Use of
pictographs
Signal words
Warning of
damage to material
Stop! Warns of potential damage to material .
Possible consequences if disregarded:
Damage to the controller/drive system or its environment K
Other notes Tip!
Note!
Indicates a tip or note.
1.1.4 Terminology used
Term In the following text used for
DDS Drive PLC Developer Studio
FB Function block
GDC Global Drive Control (parameter setting program from Lenze)
Parameter codes Codes for setting the functionality of a function block
SB System block
System bus System bus (CAN): Lenze standard bus system based on CANopen
1.2 Information about the function library version
Via the global constant C_wLenzeCanDrvVersion of the LenzeCanDrv.lib function library you can
obtain information about the function library version.
•The value of this constant is a hexadecimal code. The value “16#0130”stands, for example,
for “Ver s io n 1 .3 ”.
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System bus (CAN) with Servo PLC & Drive PLC
Preface and general information
1-4 l PLC-Systembus EN 1.1
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System bus (CAN) with Servo PLC & Drive PLC
General information
2-1
lPLC-Systembus EN 1.1
2 General information about the system bus (CAN)
2.1 Introduction
All Lenze drive and automation systems have an integrated system bus interface to network control
components on the fieldbus level.
The system bus interface allows to exchange, for example, process data and parameter data
between the participants and to connect other modules such as decentralised terminals, keypads
and input devices as well as external controls and hosts.
The system bus interface transmits CAN objects on the basis of the CAN open communication
profile (CiA DS301, version 4.01), which was created by the CiA umbrella organisation (CAN in
Automation) in accordance with the CAL (CAN Application Layer).
2.1.1 System bus interfaces of the Lenze PLCs
The below table gives you an overview of the system bus interfaces of the 9300 Servo PLC and Drive
PLC:
CAN objects available Info
Integrated system bus interface PDOs CAN1_IN/CAN1_OUT
CAN2_IN/CAN2_OUT
CAN3_IN/CAN3_OUT
See chapter3,
“Configuration (integrated system bus interface)”.
^3-1
SDOs SDO1 (parameter channel 1)
SDO2 (parameter channel 2)
3
L_ParRead/L_ParWrite
functionality
Reading/writing of codes.
See documentation for the “LenzeDrive.lib” function
library
Sync telegram See chapter 3,
The internal time base is synchronised on
receipt of the Sync telegram
p
,
“Configuration (integrated system bus interface)”.
^3-1
Free CAN objects
Automation interface (AIF)
with an appropriate fieldbus module
(e.g. 2175)
PDOs XCAN1_IN/XCAN1_OUT
XCAN2_IN/XCAN2_OUT
XCAN3_IN/XCAN3_OUT
See chapter4, “Configuration (AIF interface)”.
^4-1
(
g
)
SDOs XSDO1 (parameter channel 1)
XSDO2 (parameter channel 2)
XSync telegram
Function interface (FIF)
with an appropriate fieldbus module
(e.g.systembusCANI/O)
PDOs FIF-CAN1_IN/FIF-CAN1_OUT
FIF-CAN2_IN/FIF-CAN2_OUT
FIF-CAN3_IN/FIF-CAN3_OUT
Only with Drive PLC
See chapter5, “Configuration (FIF interface)”.
^5-1
(
g
y
)
SDOs FIF SDO1 (parameter channel 1)
FIF SDO2 (parameter channel 2)
5
L_ParRead/L_ParWrite
functionality
Reading/writing of codes.
See documentation for the
“LenzeDrive.lib” function library.
Sync telegram See chapter5, “Configuration (FIF interface)”.
^5-1
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System bus (CAN) with Servo PLC & Drive PLC
General information
2-2 l
PLC-Systembus EN 1.1
2.2 Device identifiers
A so-called node address in the range from 1 to 63 (also called node ID ) is assigned to each
participant part of the system bus network.
•Each node address may only be assigned once in the network.
2.3 Structure of the CAN telegram
1bit 11bits 1bit 6bits
0 ... 8 bytes
5bits
Start
Identifier
RTR bit
Control field
User data
CRC sequence
CRC delimit.
ACK slot
ACK delimit.
End
Description see chapter 2.3.1
•Network management
•Parameter data
•Process data
Description see chapter 2.3.2
1bit 1bit 1bit 7bits
Fig. 2-1 Basic structure of the CAN telegram
Tip!
The identifier and the user data are important to the user, all other data of the CAN telegram will be
controlled by the system.
2.3.1 Identifier
The CAN communication principle is based on a message-oriented data exchange between a
sender and many receivers. All participants can send and receive messages at the same time.
The
Identifier in the CAN telegram, which is also called COB ID ( Communication Object Identifier ),
controls which participant is to receive the sent message. Apart from the address, the identifier
includes information about the priority of the message and the type of user data used.
The identifier consists of a ”basic identifier”and the node address of the participant to be addressed:
Identifier = Basis-Identifier + Knotenadresse
•With the Lenze devices, the node address is defined in code C0350. (^3-2)
•For network management and the Sync telegram you only need the basic identifier.
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System bus (CAN) with Servo PLC & Drive PLC
General information
2-3
lPLC-Systembus EN 1.1
The below table shows the pre-set basic identifiers of the Lenze devices:
Identifier = Basic identifier + node address of the participant
dec hex
Network management
Tx (transmit) 0 0
Rx (receive) 0 0
Sync telegram
Tx (transmit) 128 80
Rx (receive) 128 80
SDOs Parameter channel 1
Output (transmit) 1536 600 + C0350
+
C
2
3
5
0
(CAN)
(
X
C
A
N
)
Input (receive) 1408 580
+
C
2
3
5
0
+ C2450
(
X
C
A
N
)
(FIF CAN)
Parameter channel 2
Output (transmit) 1600 640 + C0350
+
C
2
3
5
0
(CAN)
(
X
C
A
N
)
Input (receive) 1472 5C0
+
C
2
3
5
0
+ C2450
(
X
C
A
N
)
(FIF CAN)
PDOs CAN1_IO (cyclic process data)
CAN1_IN 512 200 + C0350
+
C
2
3
5
0
(CAN)
(
X
C
A
N
)
CAN1_OUT 384 180
+
C
2
3
5
0
+ C2450
(
X
C
A
N
)
(FIF CAN)
CAN2_IO (event or time-controlled process data)
CAN2_IN 640 280 + C0350
+
C
2
3
5
0
(CAN)
(
X
C
A
N
)
CAN2_OUT 641 281
+
C
2
3
5
0
+ C2450
(
X
C
A
N
)
(FIF CAN)
CAN3_IO (event or time-controlled process data)
CAN3_IN 768 300 + C0350
+
C
2
3
5
0
(CAN)
(
X
C
A
N
)
CAN3_OUT 769 301 +
C
2
3
5
0
+ C2450
(
X
C
A
N
)
(FIF CAN)
Tip!
You can use the below codes to set an individual identifier for the process data objects that is
independent of the node address:
Code Interface Info
C0353 / C0354 integrated system bus interface ^3-2
C2353 / C2354 XCAN (AIF interface) ^4-3
C2453 / C2454 FIF CAN (FIF interface) ^5-3
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System bus (CAN) with Servo PLC & Drive PLC
General information
2-4 l
PLC-Systembus EN 1.1
2.3.2 User data
Three different data types are transferred via the user data area of the CAN telegram:
Data type Info
Network management data Establishing communication via the CAN network. Chapter 2.4 ( ^2-5 )
Process data Process data are used in control technology, e.g. setpoint and actual
values.
•Process data are high-priority data that are transmitted as so-called
PDOs
(Process Data Objects) via the CAN network.
•The PLC processes process data quicker than parameter data.
•Special system blocks or free CAN objects are used to transmit and
receive process data:
Chapter 2.5 ( ^2-6 )
CAN
(integrated
system bus interface)
SB CAN1_IO for cyclic process data (Sync-controlled)
9300 Servo PLC:
Drive PLC:
Chapter 6.1 ( ^6-1 )
Chapter 6.2 ( ^6-6 )
SB CAN2_IO for event or time-controlled process data Chapter 6.3 ( ^6-10 )
SB CAN3_IO for event or time-controlled process data Chapter 6.4 ( ^6-14 )
XCAN
(automation interface)
SB AIF1_IO_AutomationInterface
for cyclic process data (Sync-controlled)
See 9300 Servo PLC or
Drive PLC Manual
SB AIF2_IO_AutomationInterface
for event or time-controlled process data
SB AIF3_IO_AutomationInterface
for event or time-controlled process data
FIF CAN
(
f
n
c
t
i
o
n
i
n
t
e
r
f
a
c
e
SB FIF_CAN1_IO for cyclic process data (Sync-controlled) Chapter 7.1 ( ^7-1 )
(function interface,
Drive PLC onl
y
)
SB FIF_CAN2_IO for event or time-controlled process data Chapter 7.2 ( ^7-5 )
D
r
i
v
e
P
L
C
o
n
l
y
)
SB FIF_CAN3_IO for event or time-controlled process data Chapter 7.3 ( ^7-9 )
Free CAN objects The functions/function blocks of the
LenzeCanDrv.lib function library can be used to add so-called
“free CAN objects” to the permanently integrated CAN objects.
Chapter 8 ( ^8-1 )
Chapter 9 ( ^9-1 )
Parameter data With Lenze devices ”codes” are parameter data.
•Parameter data are, for instance, set when the plant settings are made
during commissioning or when the material for the production machine
is changed.
•Parameter data are transmitted as so-called SDOs (Service Data
Objects) via the CAN network and acknowledged by the recipient, i.e.
the transmitter receives a message whether the transmission was
successful.
Chapter 2.6 ( ^2-9 )
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System bus (CAN) with Servo PLC & Drive PLC
General information
2-5
lPLC-Systembus EN 1.1
2.4 Network management (NMT)
Structure of the CAN telegram used for network management:
11 Bit 2-byte user data
I
d
e
n
t
i
f
i
e
r
C
o
m
m
a
n
d
D
e
v
i
c
e
a
d
d
r
e
s
s
I
d
ent
i
f
i
er
C
omman
d
D
ev
i
ce a
d
d
ress
00000000000
•The master can use this telegram to make status changes for the entire CAN network.
Byte 1: Command
Command
(hex)
Network status
after status
change
Info
01 operational The PLC can receive parameter and process data.
02 Stopped The PLC can receive network management telegrams; parameter and process data cannot be received.
80 Pre-operational The PLC can receive parameter data; process data are ignored.
8
1
R
e
s
e
t
n
o
d
e
:
C
h
a
n
g
e
s
t
o
s
y
s
t
e
m
b
u
s
p
a
r
a
m
e
t
e
r
s
r
e
l
e
v
a
n
t
t
o
c
o
m
m
u
n
i
c
a
t
i
o
n
(
e
g
C
A
N
a
d
d
r
e
s
s
C
A
N
b
a
u
d
8
1
I
n
i
t
i
a
l
i
s
a
t
i
o
n
R
ese
t
no
d
e:
C
h
anges
t
osys
t
em
b
us parame
t
ers re
l
evan
t
t
o commun
i
ca
t
i
on
(
e.g.
C
A
N
a
d
d
ress,
C
A
N
b
au
d
r
a
t
e
e
t
c
)
a
r
e
o
n
l
y
a
c
c
e
p
t
e
d
a
f
t
e
r
a
r
e
s
e
t
n
o
d
e
8
2
I
n
i
t
i
a
l
i
sa
t
i
on rate, etc.) are only accepted after a reset node.
8
2
,
)
y
p
Byte 2: Device address
Device address Info
0All bus participants are addressed. In this way, a status change can be implemented for all devices at the same time.
1 ... 63 Node address of the participant the status of which is to be changed.
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System bus (CAN) with Servo PLC & Drive PLC
General information
2-6 l
PLC-Systembus EN 1.1
2.5 Process data transmission
Process data are used in control technology, e.g. setpoint and actual values.
•Process data are transmitted with a high priority as so-called PDOs ( Process Data Objects )
via the system bus.
•Special system blocks are used to transmit and receive process data:
CAN
(integrated)
XCAN
(AIF interface)
FIF CAN
(FIF interface) Info
CAN1_IO
CAN2_IO
CAN3_IO
AIF1_IO_AutomationInterface
AIF2_IO_AutomationInterface
AIF3_IO_AutomationInterface
FIF_CAN1_IO
FIF_CAN2_IO
FIF_CAN3_IO
Cyclic process data (Sync-controlled)
event or time-controlled process data
event or time-controlled process data
Tip!
In the following sub-sections, you can find additional information about the CAN1_IO ... CAN3_IO
process data objects of the integrated system bus interface. This information applies to both the
process data objects of the AIF and FIF interface!
2.5.1 Process data channels
Process data channel 1: CAN1_IO
The CAN1_IO SB can be used to exchange cyclic process data (e.g. setpoint and actual values)with
a higher-level control system.
Cyclic process data (Sync-controlled)
Process data channel 1
CAN1_IN
CAN1_OUT
Control system
Fig. 2-2 Process data channel 1 (CAN1_IO) for cyclic data exchange
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System bus (CAN) with Servo PLC & Drive PLC
General information
2-7
lPLC-Systembus EN 1.1
Process data channel 2/3: CAN2_IO/CAN3_IO
The CAN2_IO and CAN3_IO SBs are used to exchange event or time-controlled process data
between the devices. These SBs can also be used for data exchange with decentralised
input/output terminals and higher-level control systems.
Event-controlled process data
Process data channel 2
CAN2_OUT
CAN2_IN
Event-controlled process data
Process data channel 3
CAN2_IN
CAN2_OUT
CAN3_OUT
CAN3_IN
CAN3_IN
CAN3_OUT
e.g. decentralised terminals
Fig. 2-3 Process data channels 2 and 3 (CAN2_IO/CAN3_IO) for event or time-controlled data exchange
Tip!
Detailed information about the CAN1_IO ... CAN3_IO CAN objects can be found in chapter 6,
“System blocks”:
CAN1_IO for cyclic process data (Sync-controlled)
9300 Servo PLC:
Drive PLC:
Chapter 6.1 ( ^6-1 )
Chapter 6.2 ( ^6-6 )
CAN2_IO for event or time-controlled process data Chapter 6.3 ( ^6-10 )
CAN3_IO for event or time-controlled process data Chapter 6.4 ( ^6-14 )
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System bus (CAN) with Servo PLC & Drive PLC
General information
2-8 l
PLC-Systembus EN 1.1
2.5.2 Sync telegram for cyclic process data
A special telegram, the Sync telegram, is required for synchronisation when cyclic process data are
transmitted.
The Sync telegram must be generated by another bus participant. It initiates the transmission of
cyclic process data from the PLC and at the same time triggers data acceptance of cyclic process
data received in the PLC:
Sync telegram Sync telegram
CAN1_OUT CAN1_IN
1. 2. 3. 4.
Fig. 2-4 A Sync telegram is used for the synchronisation of cyclic process data (asynchronous data is not considered)
1. On receipt of a Sync telegram, the PLC transmits the cyclic process output data
(CAN1_OUT), if “Response to Sync”has been activated.
2. Once the transmission has been finished, the PLC receives the cyclic process input data
CAN1_IN).
3. With the next Sync telegram data is accepted in the PLC.
4. All other telegrams (e.g. for parameter or event-controlled process data) are asynchronously
accepted by the PLC once they have been transmitted.
Tip!
The response to a Sync telegram is configured
•via C0366 for CAN1_OUT. (^3-5)
•via C2375 for XCAN1_OUT ... XCAN3_OUT. (^4-5)
•via C2466 for FIF-CAN1_OUT. (^5-6)
The telegrams from CAN2_OUT and CAN3_OUT can also be transmitted after a Sync telegram.
Parameters for this functionality are set via the CAN_Management SB. (^6-18)
2.5.3 Process data telegram
Structure of the process data telegram:
11 Bit 8-byte user data
Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Identifier
Information about the identifier can be found in chapter 2.3.1. (^2-2)
User data
The 8-byte user data received or transmitted can be read or written by several variables of different
data types at the same time.
Detailed information about the user data can be found in the system block description in chapter
6, “System blocks”.(^6-1ff)
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System bus (CAN) with Servo PLC & Drive PLC
General information
2-9
lPLC-Systembus EN 1.1
2.6 Transmitting parameter data
With Lenze devices ”codes”are parameter data.
•Parameter data are, for instance, set when the plant settings are made during commissioning
or when the material for the production machine is changed.
•Parameter data are transmitted as so-called SDOs ( Service Data Objects ) via the system bus
and acknowledged by the recipient, i.e. the transmitter receives a message whether the
transmission was successful.
2.6.1 Telegram structure
Structure of the telegram for parameter data:
11 Bit 8-byte user data
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•In the below sub-sections, the individual telegram components are explained in detail.
•In chapter 2.6.2 you can find an example of writing a parameter. (^2-13)
•In chapter 2.6.3 you can find an example of reading a parameter. (^2-14)
2.6.1.1 Identifier
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Two parameter channels are available for parameter data transmission. They are addressed via the
identifier.
Identifier = Basic identifier + node address of the participant
dec hex
SDOs Parameter channel 1
Output (transmit) 1536 600 + C0350
+
C
2
3
5
0
(CAN)
(
X
C
A
N
)
Input (receive) 1408 580
+
C
2
3
5
0
+ C2450
(
X
C
A
N
)
(FIF CAN)
Parameter channel 2
Output (transmit) 1600 640 + C0350
+
C
2
3
5
0
(CAN)
(
X
C
A
N
)
Input (receive) 1472 5C0 +
C
2
3
5
0
+ C2450
(
X
C
A
N
)
(FIF CAN)
Tip!
There is an offset of 64 between the identifiers for parameter channels 1 and 2:
•Output parameter channel 1 = 1536
•Output parameter channel 2 = 1536 + 64 = 1600
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System bus (CAN) with Servo PLC & Drive PLC
General information
2-10 l
PLC-Systembus EN 1.1
2.6.1.2 Command code
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The command code contains the command to be executed and information about the parameter
data length. It 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
0
0
=
4
-
b
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1 1
Write Response 0 1 1 0
0
0
=
4
-
b
yte
01 = 3-byte 0 0
Read Request 0 1 0 0
0
1
3
b
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10 = 2-byte
1
1
=
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0 0
Read Response 0 1 0 0 11 = 1-byte 1 1
Error Response 1 0 0 0 0 0 0 0
Command code for parameters with 1, 2 or 4-byte data
4-byte data
(32 bits)
2-byte data
(16 bits)
1-byte data
(8 bits)
Command hex dec hex dec hex dec Info
Write Request 23 35 2B 43 2F 47 Send parameters to a participant
Write Response 60 96 60 64 60 96 Participant’s response to the Write Request (acknowledgement)
Read Request 40 64 40 64 40 64 Request to read a parameter from a participant
Read Response 43 67 4B 75 4F 79 Response to the read request with the actual value
Error Response 80 128 80 128 80 128 Participant reports a communication error
“Error Response” command
If an error occurs, the addressed participant generates an “Error Response”.
•In Data 4, this telegram always contains the value “6”,inData3itcontainsanerrorcode:
Command code Error Response Data 3 Data 4 Error message
3Access denied
80hex 5Wrong subindex
h
e
x
66Wrong index
C0hex 8Command was not processed
(with 8200 vector + FIF module)
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