9300 Servo PLC
Connection
3-39
9300ServoPLC EN 1.4
3.4.3 Communication profile of the system bus
Description of the CAL-based communication profile DS 301 (CANopen) for the 93XX series of
controllers.
Simplified repesentation of the structure of a CAN-telegram:
11-bit identifier
8-byte user data
Abb. 3-14 Structure of a CAN-telegram (simplified representation)
3.4.3.1 Data description
Identifier
The identifier fixes the priority for the message. Also coded here in CANopen are:
• Thedeviceaddress(
^
3-40)
• The definition of which user data are to be transmitted
User data
There are 3 distinctions made for the application of user data:
• Initialisation
– User data for establishing communication across the CAN-bus.
• Parameterization
– User data for the parameterization of the drive controller. For Lenze drive controllers, the
parameters are stored under the code positions or the variables.
• Process data
– User data intended for rapid, often cyclical, procedures (e.g. speed setpoint and actual
value)
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