9300 Servo PLC
Connection
3-40
9300ServoPLC EN 1.4
3.4.3.2 Addressing the drives
The CANbus system is oriented around messages, not participants. Each message has a unique
label, the identifier. With CANopen, participant orientation is achieved by having only one sender for
each message. The identifiers are derived from the addresses that areentered in the drive controller.
However, this does not apply for the identifier for the network management.
The identifiers are derived with this formula:
Identifier = base-identifier + adjustable address
Identifier Base-identifier Adjustable address
Network management
Sync-telegram
0
128
Parameter channel 1 to drive
Parameter channel 2 to drive
1536
1600
Address in C0350
Address in C0350
Parameter channel 1 from drive
Parameter channel 2 from drive
1408
1472
Address in C0350
Address in C0350
cyclical process-data channel to drive (CAN1_IN)
cyclical process-data channel from drive (CAN1_OUT)
512
384
Address in C0350
Address in C0350
event-controlled process-data channel to drive (CAN2_IN)
event-controlled process-data channel from drive (CAN2_OUT)
640
641
Address in C0350
Address in C0350
event-controlled process-data channel to drive (CAN3_IN)
event-controlled process-data channel from drive (CAN3_OUT)
768
769
Address in C0350
Address in C0350
Tab. 3-2 Identifier definition for addressing the drives
Selective identifier definition for process-data objects
You can give each process-data object (SB CAN1_IO, CAN2_IO, CAN3_IO) its own address.
To do this, C0353 is used to select whether the identifiers for the process data are derived from
C0350, or whether C0354 determines the individual identifier.
The following relationships apply:
C0353/x Meaning
C0353/1 = 0 (C0350)
C0353/1 = 1 (C0354)
Addresses of CAN1_IN and CAN1_OUT are determined by C0350
Address of CAN1_IN1 is determined by C0354/1
Address of CAN1_OUT is determined by C0354/2
C0353/2 = 0 (C0350)
C0353/2 = 1 (C0354)
Addresses ofn CAN2_IN and CAN2_OUT are determined by C0350
Address of CAN2_IN is determined by C0354/3
Address of CAN2_OUT is determined by C0354/4
C0353/3 = 0 (C0350)
C0353/3 = 1 (C0354)
Addresses of CAN3_IN and CAN3_OUT are determined by C0350
Address of CAN3_IN is determined by C0354/5
Address of CAN3_OUT is determined by C0354/6
Tab. 3-3 Selective identifier definition for process-data objects
Valid for all process-data input and output objects:
Identifier = 384 + value under C0354/x
x = subcode 1 ... 6, for assignment see Tab. 3-3
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