9300 Servo PLC
Connection
3-41
9300ServoPLC EN 1.4
3.4.4 The communication phases of the CAN network
11-bit Identifier 2-byte user data
Abb. 3-15 Telegram for changing over the communication phase
To be able to change over between the various communication phases, telegrams are used with an
Identifier 0 and 2 bytes of user data.
For communication purposes, the drive recognizes three states:
State Explanation
a State ”Initialisation”
The drive is not participating in the data traffic on the bus. This state is achieved after the drive controller is switched on. It is still
possible to repeat the whole or a part of the initialisation, by transmitting various telegrams. In this case, all the parameters that
have already been set will be overwritten by the default/standard values. After initialisation is completed, the drive goes automati-
cally into the ”Pre-Operational” state.
b State ”Pre-Operational”
The drive can receive parameterization data. The process data are ignored.
c State ”Operational”
The drive can receive parameterization and process data.
The changeover between the communication phases is controlled by one bus participant (the
network master)for the entire network.
This can also be carried out by a 93XX drive controller. To do this, set up this drive controller as the
master (C0352 = 1).
A telegram is transmitted once after switching on the power, after a delay. This sets the entire drive
group to the ”Operational” state.
The delay time can be set under C0356/1.
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