Lenze Drive PLC - Page 5

System bus (CAN) with Ser vo PLC & Drive PLC
Contents
iii
l PLC-Systembus EN 1.1
5 Configuration (FIF interface) 5-1..............................................
5.1 CAN baud rate 5-1...................................................................
5.2 CAN boot-up 5-1....................................................................
5.3 Node address (node ID) 5-2............................................................
5.4 Process data object identifiers 5-3.......................................................
5.4.1 Assignment of individual identifiers 5-3............................................
5.4.2 Displaying the set identifier 5-4..................................................
5.5 Cycle time (FIF-CAN2_OUT/FIF-CAN3_OUT) 5-5..............................................
5.6 Delay time (FIF-CAN2_OUT/FIF-CAN3_OUT) 5-5.............................................
5.7 Synchronisation 5-6..................................................................
5.7.1 FIF CAN Sync reaction 5-6......................................................
5.7.2 FIF CAN Sync identifier 5-6.....................................................
5.7.3 FIF CAN Sync Tx transmission cycle 5-6............................................
5.8 Reset node 5-7.....................................................................
5.9 System bus management 5-7...........................................................
5.10 Monitoring 5-8......................................................................
5.10.1 Time monitoring for FIF-CAN1_IN ... FIF-CAN3_IN 5-8..................................
5.10.2 Bus off 5-8.................................................................
5.10.3 Reaction to system bus error messages 5-9.........................................
5.11 Diag nostics 5-10.....................................................................
5.11.1 FIF CAN operating state 5-10.....................................................
5.11.2 Telegram counter 5-11.........................................................
5.11.3 Bus load through FIF CAN 5-11...................................................
6 System blocks 6-1.........................................................
6.1 CAN1_IO (9300 Servo PLC) 6-1..........................................................
6.1.1 Inputs_CAN1 6-1.............................................................
6.1.2 Outputs_CAN1 6-4............................................................
6.2 CAN1_IO (Drive PLC) 6-6..............................................................
6.2.1 Inputs_CAN1 6-6.............................................................
6.2.2 Outputs_CAN1 6-8............................................................
6.3 CAN2_IO 6-10.......................................................................
6.3.1 Inputs_CAN2 6-10.............................................................
6.3.2 Outputs_CAN2 6-12............................................................
6.4 CAN3_IO 6-14.......................................................................
6.4.1 Inputs_CAN3 6-14.............................................................
6.4.2 Outputs_CAN3 6-16............................................................
6.5 CAN_Management 6-18................................................................
6.6 CAN_Synchronization 6-19..............................................................
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