Inovance H3U Series - Canlink Network

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9 Communication 9.6.2 CANlink Network
On a CANlink3.0 network, one or more slave stations must exist, which can be H2U IO/AI/AO/AM/PT/TC
remote extension modules, MD AC drives with CANlink3.0 interface cards, IS servo drivers with CANlink3.0
interface cards, H3U/H2U-XP/H1U-XP PLCs, or devices developed based on the CANlink3.0 protocol.
Master and slave stations on a CANlink3.0 network communicate with each other by automatically sending
and writing data rather than in query-response mode.
Example:
● To send data to slave stations, the master station "writes" register data in slave registers based on
CANlink communication congurations when trigger conditions are met.
● Slave stations automatically send data to the master station and "write" the data in the receiving unit of
the master station based on CANlink communication congurations.
● Slave stations automatically send data to each other and "write" the data in receiving units of slave
stations based on CANlink communication congurations.
● To send data to multiple stations, a station automatically sends "Write operation" data to itself (equivalent
to broadcasts), while the other stations selectively receive the data and automatically store it in their
receiving units.
● For efcient data exchange during network communication, master and slave stations save "heard"
broadcast data sent by other stations. You need to click
Receiving Conguration
to set receiving
slave station numbers and addresses. In this way, the stations congured as receiving stations will
ignore the broadcast data from stations not congured as sending stations.
You do not need to congure CANlink3.0 slave stations because CANlink congurations can be transmitted
to slave stations through an H3U, H2U-XP, or H1U-XP master PLC. Therefore, CANlink3.0 communication
conguration items for slave stations are forwarded by the CANlink master station through conguration
frames.
Upon startup, the master station sends conguration frames to CANlink slave stations and assigns the list
of communication tasks. Slave stations automatically send data based on the list.
CANlink3.0 conguration items include address of the sent register, address of the target receiving slave
station, number of data entries, address of the received register, interval for sending, and trigger condition,
which are required by common communication instructions. Different from common communication
operations, "communicate-write" operations do not need responses.
In communication scenarios where multiple slaves must synchronously act and respond (for example,
servo-driven synchronous multi-axes control and position-controlled high-speed movement), you need to
set
Synchronous Write
for the master station. The master station writes data from slave stations and then
sends broadcast command frames to make slave stations run simultaneously.
9.6.2 CANlink Network
1) Hardware interface
An
H3U
host has a CAN hardware interface with the following pins.
+24V
CANH
CANL
CGND
1
2
3
4
5