Lenze 9300 Servo PLC Manual
  1. Manuals
  2. Brands
  3. Lenze Manuals
  4. Recording Equipment
  5. 9300 Servo PLC
  6. Manual

Lenze 9300 Servo PLC Manual

Global drive system bus (can)
Hide thumbs Also See for 9300 Servo PLC:
Table of Contents

Advertisement

Quick Links

Show/Hide Bookmarks
L
Manual
Global Drive
System bus (CAN)
with 9300 Servo PLC & Drive PLC

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the 9300 Servo PLC and is the answer not in the manual?

Questions and answers

Related Manuals for Lenze 9300 Servo PLC

Summary of Contents for Lenze 9300 Servo PLC

  • Page 1 Show/Hide Bookmarks Manual Global Drive System bus (CAN) with 9300 Servo PLC & Drive PLC...
  • Page 2 E 2001 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.

  • Page 3: Table Of Contents

    2.1.1 System bus interfaces of the Lenze PLCs ........
  • Page 4 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC Contents 3 Configuration (integrated system bus interface) ......CAN baud rate .
  • Page 5 ............CAN1_IO (9300 Servo PLC) .
  • Page 6 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC Contents 7 FIF CAN system blocks (Drive PLC only) ........FIF_CAN1_IO .

  • Page 7: Preface And General Information

    “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.

  • Page 8: Layout Of The Descriptions

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC Preface and general information 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) ...

  • Page 9: Pictographs Used In This Manual

    Codes for setting the functionality of a function block System block System bus System bus (CAN): Lenze standard bus system based on CANopen 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.
  • Page 10 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC Preface and general information PLC-Systembus EN 1.1...

  • Page 11: Introduction

    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...

  • Page 12: Device Identifiers

    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.
  • Page 13 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC General information The below table shows the pre-set basic identifiers of the Lenze devices: Identifier = Basic identifier + node address of the participant Network management Tx (transmit) Rx (receive)

  • Page 14: User Data

    Chapter 9 ( ^ 9-1 ) “free CAN objects” to the permanently integrated CAN objects. Parameter data With Lenze devices ”codes” are parameter data. Chapter 2.6 ( ^ 2-9 ) • Parameter data are, for instance, set when the plant settings are made during commissioning or when the material for the production machine is changed.

  • Page 15: Network Management (Nmt)

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC General information Network management (NMT) Structure of the CAN telegram used for network management: 11 Bit 2-byte user data Command Command Identifier Identifier Device address Device address 00000000000 • The master can use this telegram to make status changes for the entire CAN network.
  • Page 16 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC General information 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.
  • Page 17 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: Chapter 6.1 ( ^ 6-1 ) Chapter 6.2 ( ^ 6-6 ) Drive PLC: CAN2_IO for event or time-controlled process data Chapter 6.3 ( ^ 6-10 )

  • Page 18: Sync Telegram For Cyclic Process Data

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC General information 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...

  • Page 19: Transmitting Parameter Data

    System bus (CAN) with Servo PLC & Drive PLC General information 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.
  • Page 20 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC General information 2.6.1.2 Command code Index Command Command Identifier Identifier Subindex Subindex Data 1 Data 1 Data 2 Data 2 Data 3 Data 3 Data 4 Data 4 code Low-byte High-byte The command code contains the command to be executed and information about the parameter...
  • Page 21 Low-byte High-byte The index of the telegram is used to address the parameter or the Lenze code to be read or written: Index = 24575 − Lenze Codestellennummer • The index value is entered in flush left Intel format divided in a low and a high byte (see example).
  • Page 22 Data 4 Data 4 code Low-byte High-byte (LSB) (MSB) Tip! The parameters of the Lenze controllers are stored in different formats. For detailed information please read the chapter “Appendix - Attribute table” in the corresponding PLC Manual. 2-12 PLC-Systembus EN 1.1...
  • Page 23 Node address of the controller = 1 = 1537 • Command code = 23 Command “Write Request” (send parameters to controller) • Index = 24575 - Lenze code number Code = C0012 (acceleration time) = 24575 - 12 = 24563 = 5F F3 • Subindex Subcode = 0 (no subcode) •...
  • Page 24 • Command code = 40 Command “Read Request” (Request to read a parameter from the controller) • Index = 24575 - Lenze code number Code = C0061 (heat sink temperature) = 24575 - 61 = 24514 = 5F C2 •...

  • Page 25: Free Can Objects

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC General information Free CAN objects If many participants are connected to the system bus (CAN), the CAN objects (CAN1_IO ... CAN3_IO) permanently integrated in the PLC might not be sufficient for the planned communication and additional CAN objects might be required.

  • Page 26: Recommended Applications For The Individual Can Objects

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC General information Recommended applications for the individual CAN objects The individual CAN objects and their properties are listed in the below table: CAN object Process data Depending on Sync telegram Recommended application transmission the process...

  • Page 27: Configuration (Fif Interface)

    All participants must use the same baud rate for data transmission to enable communication via the system bus. • The baud rate is configured via code C0351: Code Possible settings Info Lenze Choice C0351 CAN baud rate 500 kbit/s System bus baud rate • 250 kbit/s Save changes with C0003 = 1 •...

  • Page 28: Node Address (Node Id)

    Assigning the node address for data exchange between Lenze controllers If the node addresses are assigned in continuous, ascending order to the Lenze controllers, the default setting of the event-controlled data object identifiers (CAN2_IO/CAN3_IO) allows...
  • Page 29 1. Set C0353/x to “1” (x = subcode of the corresponding process data object): Code Possible settings Info Lenze Choice C0353 CAN addr sel Identifier assignment via C0350 + basic Source for the identifiers of the identifier process data objects •...
  • Page 30 Event-controlled transmission C0356/x = 0 • The output data is always transmitted when a value has changed in the 8-byte user data (Lenze default setting). Time-controlled transmission C0356/x = 1 ... 65000 • The output data is transmitted in the cycle time set in C0356/x (referred to the task cycle time).
  • Page 31 3.7.1 CAN sync reaction Via C0366 you can configure the reaction to the receipt of a Sync telegram. Possible settings Code IMPORTANT Lenze Choice CAN Sync response C0366 Sync response no response No reaction response to Sync The PLC reacts to a Sync telegram and transmits the CAN1_OUT object.
  • Page 32 SB CAN_Management (^ 6-18) • a reset node via C0358 Code Possible settings Info Lenze Choice C0358 Reset node no function Reset node CAN reset node System bus management With the CAN_Management SB you can •...
  • Page 33 Time monitoring for CAN1_IN ... CAN3_IN Via C0357 you can configure a time monitoring for the inputs of process data objects CAN1_IN ... CAN3_IN: Possible settings Code Info Lenze Choice C0357 {1 msec} 65000 Monitoring time for process data input objects CE1monit time...
  • Page 34 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC Configuration 3.10.3 Reaction to system bus error messages Overview of the system bus error sources detected by the PLC and the possible settings for the individual reactions: Error message Possible settings / Reaction Display Error...
  • Page 35 Settings cannot be made via these codes. 3.11.1 Operating state of the system bus Via C0359 you can display the operating state of the system bus: Possible settings Code Info Lenze Choice C0359 CAN state operational System bus status Pre-operational Warning Bus Off...
  • Page 36 • The max. count is 65535 (16 bits), if this value is exceeded, the count begins again with 0 Possible settings Code Info Lenze Choice C0360 CAN message 65535 System bus telegram counter (number of telegrams) • If counts> 65535, counting...
  • Page 37 • You can ascertain these limits when exchanging data in a DC bus connection which includes only Lenze drive controllers/PLCs by adding code C0361/1 of all participating devices. • Example: Three drive controllers are interconnected via the system bus: Value of C0361/1 at drive controller 1: 23.5% bus load...
  • Page 38 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC Configuration 3-12 PLC-Systembus EN 1.1...
  • Page 39 System bus (CAN) with Servo PLC & Drive PLC Configuration (AIF interface) Configuration (AIF interface) With an appropriate fieldbus module (e.g. 2175), you can use the AIF interface of the 9300 Servo PLC or Drive PLC as an additional system bus interface. Note!
  • Page 40 Assigning the node address for data exchange between Lenze controllers If the node addresses are assigned in continuous, ascending order to the Lenze controllers, the default setting of the event-controlled data object identifiers (XCAN2_IO/XCAN3_IO) allows...
  • Page 41 1. Set C2353/x to “1” (x = subcode of the corresponding process data object): Code Possible settings Info Lenze Choice C2353 XCAN addr sel Identifier assignment via C2350 + basic Source for the identifiers of the identifier process data objects •...
  • Page 42 Event-controlled transmission C2356/x = 0 • The output data is always transmitted when a value has changed in the 8-byte user data (Lenze default setting). Time-controlled transmission C2356/x = 1 ... 65535 • The output data is transmitted in the cycle time set in C2356/x.
  • Page 43 XCAN Sync reaction Via C2375 you can configure the reaction to the receipt of a Sync telegram. Code Possible settings IMPORTANT Lenze Choice C2375 XCAN Tx mode AIF CAN Sync response • Selection cycle time via C2356 Sync with response...
  • Page 44 SB CAN_Management (^ 6-18) • a reset node via C0358 Code Possible settings Info Lenze Choice C0358 Reset node no function Reset node CAN reset node Monitoring 4.8.1 Time monitoring for XCAN1_IN ... XCAN3_IN Via C2357 you can configure a time monitoring for the inputs of process data objects XCAN1_IN ...
  • Page 45 If the PLC has decoupled itself from the system bus because too many of the received telegrams were faulty, the signal “BusOffState” (CE14) is set. The reaction to this can be configured via code C2382/4: Code Possible settings Info Lenze Choice C2382 XCAN Conf. CE Configuration monitoring “BusOffState” Controller inhibit •...
  • Page 46 Settings cannot be made via these codes. 4.9.1 Operating state of the automation interface Via C2121 you can display the operating state of the automation interface: Possible settings Code Info Lenze Choice C2121 AIF state Bit 0 XCAN1_IN monitoring time AIF state, bit-coded • Bit 1...
  • Page 47 All participants must use the same baud rate for data transmission to enable communication via the system bus. • The baud rate is configured via code C2451: Possible settings Code Info Lenze Choice C2451 CAN1 baud rate 500 kbit/s System bus baud rate • 250 kbit/s Save changes with C0003 = 1 •...
  • Page 48 Assigning the node address for data exchange between Lenze controllers If the node addresses are assigned in continuous, ascending order to the Lenze controllers, the default setting of the event-controlled data object identifiers (FIF_CAN2_IO/FIF_CAN3_IO) allows...
  • Page 49 1. Set C2453/x to “1” (x = subcode of the corresponding process data object): Code Possible settings Info Lenze Choice C2453 CAN addr sel Identifier assignment via C2450 + basic Source for the identifiers of the identifier process data objects •...

  • Page 50: Displaying The Set Identifier

    Via C2455 you can display the identifier set for the process data objects. • C2455 is a display code, you cannot make any settings via C2455. Code Possible settings Info Lenze Choice C2455 CAN Id 896 System bus identifiers for the process data objects CAN1_IN Id...

  • Page 51: Cycle Time (Fif-Can2_Out/Fif-Can3_Out)

    Event-controlled transmission C2456/x = 0 • The output data is always transmitted when a value has changed in the 8-byte user data (Lenze default setting). Time-controlled transmission C2456/x = 1 ... 65000 • The output data is transmitted in the cycle time set in C2456/x (referred to the task cycle time).

  • Page 52: Synchronisation

    5.7.1 FIF CAN Sync reaction Via C2466 you can configure the reaction to the receipt of a Sync telegram. Code Possible settings IMPORTANT Lenze Choice C2466 Sync response FIF CAN Sync response no response No reaction response to Sync The PLC reacts to a Sync telegram and transmits the FIF-CAN1_OUT object.

  • Page 53: Reset Node

    SB FIF_CAN_Management (^ 7-13) • a reset node via C2458: Code Possible settings Info Lenze Choice C2458 Reset node no function Reset node FIF CAN FIF CAN reset node System bus management With the FIF_CAN_Management SB you can •...

  • Page 54: Time Monitoring For Fif-Can1_In

    Time monitoring for FIF-CAN1_IN ... FIF-CAN3_IN Via C2457 you can configure a time monitoring for the inputs of process data objects FIF-CAN1_IN ... FIF-CAN3_IN: Possible settings Code Info Lenze Choice C2457 {1 msec} 65000 Monitoring time for process data input objects CE11monit time...
  • Page 55 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC Configuration (FIF interface) 5.10.3 Reaction to system bus error messages Overview of the system bus error sources detected by the PLC and the possible settings for the individual reactions: Error message Possible settings / Reaction Display...

  • Page 56: Diagnostics

    Settings cannot be made via these codes. 5.11.1 FIF CAN operating state Via C2459 you can display the operating state of the system bus: Possible settings Code Info Lenze Choice C2459 CAN1 state operational System bus state (FIF CAN) Pre-operational Warning Bus off...
  • Page 57 • The max. count is 65535 (16 bits), if this value is exceeded, the count begins again with 0 Possible settings Code Info Lenze Choice C2460 CAN message 65535 System bus telegram counter (number of telegrams) • If counts > 65535, counting...
  • Page 58 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC Configuration (FIF interface) 5-12 PLC-Systembus EN 1.1...

  • Page 59: System Blocks

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN1_IO (9300 Servo PLC) System blocks CAN1_IO (9300 Servo PLC) 6.1.1 Inputs_CAN1 System bus inputs “CAN1_IN” (module number: 31) This SB is used to transmit cyclic process data via the system bus.
  • Page 60 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN1_IO (9300 Servo PLC) VariableName DataType SignalType Address DIS format Note CAN1_wDctrlCtrl Word %IW31.0 C0136/2 CAN1_bCtrlB0_b %IX31.0.0 CAN1_bCtrlB1_b %IX31.0.1 CAN1_bCtrlB2_b %IX31.0.2 CAN1_bCtrlQuickstop_b %IX31.0.3 CAN1_bCtrlB4_b %IX31.0.4 CAN1_bCtrlB5_b %IX31.0.5 CAN1_bCtrlB6_b %IX31.0.6...
  • Page 61 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN1_IO (9300 Servo PLC) Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11-bit 8-byte user data Identifier Byte 1...
  • Page 62 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN1_IO (9300 Servo PLC) 6.1.2 Outputs_CAN1 System bus outputs “CAN1_OUT” (module number: 31) This SB is used to transmit cyclic process data via the system bus. •...
  • Page 63 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN1_IO (9300 Servo PLC) Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11-bit 8-byte user data Identifier Byte 1...

  • Page 64: Inputs_Can1

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN1_IO (Drive PLC) CAN1_IO (Drive PLC) 6.2.1 Inputs_CAN1 System bus inputs “CAN1_IN” (module number: 31) This SB is used to transmit cyclic process data via the system bus. •...
  • Page 65 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN1_IO (Drive PLC) VariableName DataType SignalType Address DIS format Note CAN1_nInW0_a Integer analog %IW31.0 C0136/2 dec [%] CAN1_bInB 0 _b %IX31.0. 0 Bool binary C0863/1 CAN1_bInB 15 _b %IX31.0.

  • Page 66: Outputs_Can1

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN1_IO (Drive PLC) 6.2.2 Outputs_CAN1 System bus outputs “CAN1_OUT” (module number: 31) This SB is used to transmit cyclic process data via the system bus. • Before data is transmitted, a Sync telegram must have been received. This telegram must be generated by another bus participant.
  • Page 67 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN1_IO (Drive PLC) Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11-bit 8-byte user data Identifier Byte 1 Byte 2 Byte 3 Byte 4...

  • Page 68: Can2_Io

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN2_IO CAN2_IO 6.3.1 Inputs_CAN2 System bus inputs “CAN2_IN” (module number: 32) This SB is used to receive event or time-controlled process data via the system bus. • A Sync telegram is not required.
  • Page 69 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN2_IO Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11-bit 8-byte user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...

  • Page 70: Outputs_Can2

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN2_IO 6.3.2 Outputs_CAN2 System bus outputs “CAN2_OUT” (module number: 32) This SB is used to transmit event or time-controlled process data via the system bus. • The transmission method (event or time-controlled) is set via C0356. (^ 3-4) •...
  • Page 71 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN2_IO Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11-bit 8-byte user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...

  • Page 72: Can3_Io

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN3_IO CAN3_IO 6.4.1 Inputs_CAN3 System bus inputs “CAN3_IN” (module number: 33) This SB is used to receive event or time-controlled process data via the system bus. • A Sync telegram is not required.
  • Page 73 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN3_IO Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11-bit 8-byte user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...

  • Page 74: Outputs_Can3

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN3_IO 6.4.2 Outputs_CAN3 System bus outputs “CAN3_OUT” (module number: 33) This SB is used to transmit event or time-controlled process data via the system bus. • The transmission method (event or time-controlled) is set via C0356. (^ 3-4) •...
  • Page 75 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN3_IO Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11-bit 8-byte user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...

  • Page 76: Can_Management

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN_Management CAN_Management System bus management (module number: 101) • The process image for this SB is created in a fixed system task (interval: 1 ms). With this SB •...

  • Page 77: Can_Synchronization

    • Synchronisation via system bus (CAN) by Sync telegram • Synchronisation via terminal by Sync signal: Terminal for Sync signal 9300 Servo PLC X5/E5 Drive PLC X3/I1 Tip! For synchronisation via terminal the control configuration of the Drive PLC Developer Studio must include both the CAN_Synchronization SB and the DIGITAL_IO SB.
  • Page 78 (CAN) by Sync telegram Synchronisation via terminal Synchronisation via terminal by Sync signal: • 9300 Servo PLC: X5/E5 • Drive PLC: X3/I1 Synchronisation time After power-on and the initialisation time of the PLC, additional time is needed for synchronisation. The synchronisation time depends on •...
  • Page 79 The controllers/PLCs receive the Sync telegram/signal and compare the time between two LOW- HIGH edges of the signal to the set cycle time (C1121). Code Possible settings IMPORTANT Lenze Choice [C1121] Sync cycle {1 msec} 13 Synchronisation cycle Definition of the cycle time of the Sync telegram/signal.
  • Page 80 Phase controller correction value Code Possible settings IMPORTANT Lenze Choice C0363 Sync corr 9300 Servo PLC: Drive PLC: CAN Sync correction step width 0.2 µ s/ms 0.4 µ s/ms Change correction value until CAN_nSyncDeviation has been re- 0.4 µ...
  • Page 81 Slaves Connect CAN_bSyncInsideWindow_b with digital output. C1120 = 1 Synchronisation via system bus by Sync telegram active. C0366 = 1 (Lenze default setting) Sync response: Slaves respond to Sync telegram. Master Define telegram sequence (identifier) 1. Send new setpoint to all slaves, 2.
  • Page 82 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks CAN_Synchronization 6-24 PLC-Systembus EN 1.1...

  • Page 83: Fif Can System Blocks (Drive Plc Only)

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN1_IO FIF CAN system blocks (Drive PLC only) FIF_CAN1_IO 7.1.1 FIF_Inputs_CAN1 System bus inputs “FIF-CAN1_IN” (module number: 34) This SB is used to transmit cyclic process data via the function interface of the Drive PLC. •...
  • Page 84 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN1_IO VariableName DataType SignalType Address DIS format Note FIF_CAN1_nInW2_a Integer analog %IW34.2 C2492/2 dec [%] FIF_CAN1_bInB 32 _b %IX34.2. 0 Bool binary FIF_CAN1_bInB 47 _b %IX34.2. 15 FIF_CAN1_nInW3_a Integer analog...

  • Page 85: Fif_Outputs_Can1

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN1_IO 7.1.2 FIF_Outputs_CAN1 System bus outputs “FIF-CAN1_OUT” (module number: 34) This SB is used to transmit cyclic process data via the function interface of the Drive PLC. •...
  • Page 86 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN1_IO Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11 Bit 8-byte user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...

  • Page 87: Fif_Can2_Io

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN2_IO FIF_CAN2_IO 7.2.1 FIF_Inputs_CAN2 System bus inputs “FIF-CAN2_IN” (module number: 35) This SB is used to receive event or time-controlled process data via the function interface of the Drive PLC.
  • Page 88 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN2_IO Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11-bit 8-byte user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...

  • Page 89: Fif_Outputs_Can2

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN2_IO 7.2.2 FIF_Outputs_CAN2 System bus outputs “FIF-CAN2_OUT” (module number: 35) This SB is used to transmit event or time-controlled process data via the function interface of the Drive PLC.
  • Page 90 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN2_IO Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11-bit 8-byte user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...

  • Page 91: Fif_Can3_Io

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN3_IO FIF_CAN3_IO 7.3.1 FIF_Inputs_CAN3 System bus inputs “FIF-CAN3_IN” (module number: 36) This SB is used to receive event or time-controlled process data via the function interface of the Drive PLC.
  • Page 92 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN3_IO Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11-bit 8-byte user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...

  • Page 93: Fif_Outputs_Can3

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN3_IO 7.3.2 FIF_Outputs_CAN3 System bus outputs “FIF-CAN3_OUT” (module number: 36) This SB is used to transmit event or time-controlled process data via the function interface of the Drive PLC.
  • Page 94 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN3_IO Process data telegram The process data telegram consists of an identifier and 8 bytes of user data. 11-bit 8-byte user data Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...

  • Page 95: Fif_Can_Management

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN_Management FIF_CAN_Management System bus management FIF CAN (module number: 111) • The process image for this SB is created in a fixed system task (interval: 1 ms). With this SB •...
  • Page 96 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC System blocks FIF_CAN_Management 7-14 PLC-Systembus EN 1.1...

  • Page 97: Functions

    Word System bus FIF CAN (in preparation) dwRelocCobIdArea Double word Identifier area - Only important to 9300 Servo PLC! dwRelocCobIdArea = 832 (default setting) 192 ... 319 free area 1 832 ... 1344 free area 2 1664 ... 1728 free area 3 1856 ...
  • Page 98 Areas that have not been pre-assigned are marked with free area 1 ... 4. Note for the 9300 Servo PLC! Due to its limited storage capacity, the 9300 Servo PLC can - unlike the Drive PLC - only receive the below data at the same time: •...
  • Page 99 Code Info Lenze Choice C0608 over Tx queue Trip Configuration monitoring Message Tx buffer Warning Fail QSP (9300 Servo PLC only) C0609 over Rx-lsr Trip Configuration monitoring Fail QSP Rx buffer • 9300 Servo PLC only Example Calling the function in ST and decoding of the return value: (* open CAN driver - returns g_dwReturnValue *) g_dwReturnValue:= L_CanInit(10, 0);...
  • Page 100 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC LenzeCanDrv.lib – Functions Deactivation L_CanClose) Deactivation L_CanClose) BOOL L_CanClose (wDrvNr) This function deactivates the CAN driver. • All transmit and receive requests not carried out yet are cancelled when this function is activated.

  • Page 101: Driver State (L_Cangetstate)

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC LenzeCanDrv.lib – Functions Driver state (L_CanGetState) Driver state (L_CanGetState) DWORD L_CanGetState (wDrvNr) This function is used to ascertain the status of the CAN driver. L_CanGetState wDrvNr Fig. 8-4 Driver state (L_CanGetState) Transfer parameters Identifier Data type...

  • Page 102: Polling The Cob Id Area (L_Cangetreloccobid)

    * If errors are due to more than one error cause, the error cause with the highest priority sends back the appropriate return value. Return value for use in the Drive PLC, since this function is only relevant to 9300 Servo PLC! 192 ... 319 First identifier of free area 1 832 ...

  • Page 103: Function Blocks

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC LenzeCanDrv.lib - Function blocks Transmit CAN object (L_CanPdoTransmit) Function blocks Transmit CAN object (L_CanPdoTransmit) This function block is used to transmit data via the system bus interface according to CANopen. •...
  • Page 104 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC LenzeCanDrv.lib - Function blocks Transmit CAN object (L_CanPdoTransmit) Identifier Data type Type of variable Possible settings Info nState Integer VAR_OUTPUT Indicates the current transmission state. • See below table “Transmission state (nState)” wNrOfCallsToSend Word VAR_OUTPUT...
  • Page 105 With an overrun error, the nState variable receives the value -119. • In addition, the operating system displays an error message. (See chapter “Error messages” in the Manual for the respective target system. e.g. 9300 Servo PLC or Drive PLC) PLC-Systembus EN 1.1...
  • Page 106 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC LenzeCanDrv.lib - Function blocks Transmit CAN object (L_CanPdoTransmit) Forced transmission In some cases, a transmission request must be saved in the transmission request memory without consideration of a data change (event-controlled) or a cycle time (time-controlled). To do this, the L_CanPdoTransmit FB supports the command SendData in transmission mode “Forced transmission”...

  • Page 107: Receive Can Object (L_Canpdoreceive)

    • An appropriate error message is displayed (see chapter “Error messages” in the relevant PLC Manual, e.g. 9300 Servo PLC or Drive PLC). • In addition, the CAN driver for the free CAN objects is deactivated and must be re-initialised by means of the L_CanInit function.
  • Page 108 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC LenzeCanDrv.lib - Function blocks Receive CAN object (L_CanPdoReceive) Receive state (nState) Data type Value Meaning Priority Integer -150 CAN bus is not in operating state operational. 1 (high) -121 Wrong driver number (wDrvNr) -120 Driver has not been initialised...

  • Page 109: Index

    Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC Index Index C1120, 6-20 C1121, 6-21 Axis synchronisation via terminal, 6-20 C1122, 6-21 C1123, 6-21 C2121, 4-8 Baud rate, 3-1 C2350, 4-2 baud rate, 4-1, 5-1 C2351, 4-1 Boot-Up, 3-1 C2352, 4-1 Boot-up, 4-1, 4-2, 5-1, 5-2 C2353, 4-3...
  • Page 110 CAN_bResetNode_b, 6-18 CAN_bTxCan2Syncronized_b, 6-18 CAN_bTxCan3Syncronized_b, 6-18 Identifier, 2-2, 2-9, 3-2, 4-3, 5-3 CAN_Management, 6-18 Index, 2-11 CAN_Synchronization, 6-19 CAN1_IO (9300 Servo PLC), 6-1 CAN1_IO (Drive PLC), 6-6 L_CanClose, 8-4 CAN2_IO, 6-10 L_CanGetRelocCobId, 8-6 CAN3_IO, 6-14 L_CanGetState, 8-5 COB ID, 2-2...
  • Page 111 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC Index Parameter data, 2-4, 2-9, 2-12 Telegram counter, 3-10, 5-11 PDOs, 2-4 Phase controller correction value, 6-22 Time monitoring, 3-7, 4-6, 5-8 Phase shift, 6-21 Process data, 2-4 Time window, 6-21 Process data channels, 2-6 Time-controlled transmission, 3-4, 4-4, 5-5 Process Data Objects, 2-4...
  • Page 112 Show/Hide Bookmarks System bus (CAN) with Servo PLC & Drive PLC Index 10-4 PLC-Systembus EN 1.1...

This manual is also suitable for:

Drive plcEpl10200

Table of Contents