Lenze Drive PLC - Table of Contents

System bus (CAN) with Ser vo PLC & Drive PLC
Contents
i
l PLC-Systembus EN 1.1
1 Preface and general information 1-1...........................................
1.1 About this Manual 1-1................................................................
1.1.1 Conventions used in this Manual 1-1..............................................
1.1.2 Layout of the descriptions 1-2...................................................
1.1.3 Pictographs used in this Manual 1-3...............................................
1.1.4 Terminology used 1-3.........................................................
1.2 Information about the function library version 1-3............................................
2 General information about the system bus (CAN) 2-1..............................
2.1 Introduction 2-1.....................................................................
2.1.1 System bus interfaces of the Lenze PLCs 2-1........................................
2.2 Device identifiers 2-2.................................................................
2.3 Structure of the CAN telegram 2-2.......................................................
2.3.1 Identifier 2-2................................................................
2.3.2 User data 2-4...............................................................
2.4 Network management (NMT) 2-5........................................................
2.5 Process data transmission 2-6..........................................................
2.5.1 Process data channels 2-6......................................................
2.5.2 Sync telegram for cyclic process data 2-8..........................................
2.5.3 Process data telegram 2-8......................................................
2.6 Transmitting parameter data 2-9.........................................................
2.6.1 Teleg ram structure 2-9........................................................
2.6.2 Writing a parameter (example) 2-13................................................
2.6.3 Reading a parameter (example) 2-14...............................................
2.7 Free CAN objects 2-15.................................................................
2.8 Recommended applications for the individual CAN objects 2-16...................................
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