Lenze EPL10200 - Page 98

System bus (CAN) with Ser vo PLC & Drive PLC
LenzeCanDrv.lib – Functions
8.1 Initialisation (L_CanInit)
8-2
L
PLC-Systembus EN 1.1
Receive identifier area
Fig. 8-2shows the identifier area available for data receipt.
• Basically, the whole identifier area from 0 to 2047 is available.
• The areas shown in Fig. 8-2 with a grey background are pre-assigned for certain applications,
e.g. for network management commands and process data.
• Areas that have not been pre-assigned are marked with free area 1 ... 4.
Note for the 9300 Servo PLC!
Due to its limited storage capacity, the 9300 Servo PLC can - unlike the Drive PLC - only receive the
below data at the same time:
• Data with identifiers within the area shown in Fig. 8-2with a grey background.
• Data with identifiers within the 64-object identifier area COB ID area.
NMT comma nds
0
127
Tx Sync
128
Alarm objects
129
191
free area 1
192
383
Process data objects (PDO)
384
831
COB ID area
(relocatable identifier area - default setting)
832
895
COB ID area
(Only important to 9300 Servo PLC)
In addition to the pre-assigned areas, the COB ID area
free area 2
1407
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makes available another 64 identifiers for simultaneous
data receipt with the 9300 Ser vo PLC.
• As a default setting these are identifie rs 832...895.
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Servicedataobjects(SDO)
1408
1663
• If you need other identifiers, you can use the
dwRelocCobIdArea variable to relocate the COB ID
area within the free areas 1 ... 4 during initialisation.
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free area 3
1664
1791
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area in a way that it overlaps a pre-defined area, the
return value of the function will signal an error .
(Bit0=1/bit1=1)
Node monitoring
1792
1855
(
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free area 4
1856
2047
Fig. 8-2 Pre-assigned and free identifier areas and relocatable COB ID areas for the 9300 Servo PLC
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