System bus (CAN) with Ser vo PLC & Drive PLC
LenzeCanDrv.lib – Functions
8.1 Initialisation (L_CanInit)
8-1
L PLC-Systembus EN 1.1
8 Functions
8.1 Initialisation (L_CanInit)
DWORD L_CanInit (wDrvNr, dwRelocCobIdArea)
Before working with the free CAN objects, the CAN driver must be initialised.
• If you call this function again, the CAN driver can be changed over to other parameters after
initialisation.
– The new parameters will be directly accepted and may therefore take effect on transmit and
receive requests waiting to be executed. For this reason, the function must not be cyclically
called.
L_CanInit
wDrvNr
dwRelocCobId
Fig. 8-1 Initialisation (L_CanInit)
Transfer parameters
Identifier Data type Possible settings Info
wDrvNr Word 10
11
System bus
FIF CAN (in preparation)
dwRelocCobIdArea Double word
0
192 ... 319
832 ... 1344
1664 ... 1728
1856 ... 1984
Identifier area - Only important to 9300 Serv o PLC!
dwRelocCobIdArea = 832 (default setting)
free area 1
free area 2
free area 3
free area 4
Return value
Data typ e Bit Value Meaning Priority
Double word 0 0 Driver is initialised. -
1 Error during initialisation.
• In this case, bits 1 ... 31 are all set to 1 and therefore invalid.
1 0 Setting dwRelocCobIdArea ok.
1 Setting dwRelocCobIdArea not ok.
• The 64-object identifier area overlaps another area o r is beyond the limits 0 ... 2047
2 0 Free object found.
1 No free object found.
Remedy:
• Do not use one of the CAN objects CAN1_IN ... CAN3_IN or CAN1_OUT ... CAN3_OUT.
• Se t C2118 to “0” (Paramete rs write over SDO2).
IMPORTANT: If C2118 = “0”, the SDO2 channel is no longer available!
• Deactivate the Sync object generation (C0369 = “0”).
3-15 Reserved for future extensions (bits are set to 0).
16-31 LenzeCanDrv.lib function library version
Format: main version/subversion (e. g. 0103hex = version 1.03)
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