Lenze DDS System bus CAN for PLC Manual de usuario Pagina 112
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7.7 CAN_Synchronization (node number: 102)
System bus (CAN) for Lenze PLC devices
CAN system blocks
7−24
L
PLC−Systembus EN 2.0
Axis synchronisation via terminal
The transmission paths for the sync signal and the process signals are separated.
· The process signals are applied via a freely selectable input channel (e. g. AIF interface, DF
input).
· The sync signal is injected via terminal:
PLC Terminal for sync signal
9300 Servo PLC X5/E5
Drive PLC X3/I1
ECSxA X6/DI1
Note!
For the synchronisation via terminal, in addition to the SB CAN_Synchronization the SB
DIGITAL_IO has to be included in the control configuration of the Drive PLC Developer Studio.
Examples for applications:
· Specification of cyclic, synchronised position setpoint information for multi−axis applications
via other bus systems (e. g. INTERBUS).
· Synchronisation of the internal process cycles to higher−level process controls.
Synchronisation time
After mains power−up and the initialisation time of the PLC, an additional period is required for
synchronisation.
The synchronisation time depends on
· the baud rate of the system bus
· the starting time (arrival of the first sync telegram/signal)
· the interval of the sync telegrams/signals
· the sync correction factor (C0363)
· the operating mode (C1120)
- Global Drive 1
- System bus (CAN) 1
- Contents 4
- 1.1 About this Manual 9
- · "Via wDrvNr..." 10
- 1.1.4 Terminology used 12
- 2.1 Introduction 13
- General information 14
- 2.4.1 Identifier 15
- 2.4.2 User data 17
- 2.5 Network management (NMT) 18
- 2.6.1 Process data channels 19
- 2.6.3 Process data telegram 22
- 2.7.1 Parameter data telegram 23
- 2.7.1.1 Identifier 23
- 2.7.1.2 Command code 24
- 2.8 Free CAN objects 31
- 2.10 Monitoring mechanisms 33
- NMT Master NMT Slave 34
- 3.1 CAN baud rate 35
- 3.2 CAN boot−up 36
- 3.3 Node address (node ID) 37
- 3.7 Synchronisation 41
- 3.8 Reset node 42
- 3.9 System bus management 42
- 3.10 Mapping indexes to codes 42
- 3.12 Monitoring processes 45
- 3.13 Diagnostics 47
- 3.13.2 Telegram counter 48
- 3.13.3 Bus load by the PLC 49
- 4.1 CAN baud rate 51
- 4.2 CAN boot−up 52
- 4.3 Node address (node ID) 53
- Configuration (AIF interface) 54
- 4.6 Synchronisation 57
- 4.7 Reset node 58
- 4.8 Monitoring processes 58
- 4.8.2 Bus off 59
- 4.9 Diagnostics 60
- 5.1 CAN baud rate 61
- 5.2 CAN boot−up 62
- 5.3 Node address (node ID) 63
- Configuration (FIF interface) 64
- 5.7 Synchronisation 67
- 5.8 Reset node 68
- 5.9 System bus management 68
- 5.10 Monitoring processes 69
- 5.11 Diagnostics 71
- 5.11.2 Telegram counter 72
- 5.11.3 Bus load by FIF−CAN 73
- 6.1 CAN baud rate 75
- 6.2 CAN boot−up 76
- 6.3 Node address (Node ID) 77
- 6.7 Synchronisation 81
- 6.8 Reset node 82
- 6.9 System bus management 82
- 6.10 Monitoring processes 83
- 6.11 Diagnostics 85
- 6.11.2 Telegram counter 86
- 6.11.3 Bus load by CAN−AUX 87
- 7 CAN system blocks 89
- 7.1.1 Inputs_CAN1 90
- 7.1.2 Outputs_CAN1 90
- 7.1.3 Process data telegram 91
- 7.2.1 Inputs_CAN1 95
- 7.2.2 Outputs_CAN1 95
- 7.2.3 Process data telegram 96
- 7.3.1 Inputs_CAN1 99
- 7.3.2 Outputs_CAN1 99
- CAN system blocks 100
- 7.3.3 Process data telegram 100
- 7.4 CAN2_IO (node number: 32) 102
- 7.4.1 Inputs_CAN2 103
- 7.4.2 Outputs_CAN2 103
- 7.4.3 Process data telegram 103
- 7.5 CAN3_IO (node number: 33) 105
- 7.5.1 Inputs_CAN3 106
- 7.5.2 Outputs_CAN3 106
- 7.5.3 Process data telegram 106
- 7.6.1 Inputs_CAN_Management 108
- PLC−Systembus EN 2.0 109
- 7.6.5 Status messages 110
- FIF−CAN system blocks 117
- 8.1.1 FIF_Inputs_CAN1 118
- 8.1.2 FIF_Outputs_CAN1 118
- 8.1.3 Process data telegram 119
- 8.2.1 FIF_Inputs_CAN2 122
- 8.2.2 FIF_Outputs_CAN2 122
- 8.2.3 Process data telegram 122
- 8.3.1 FIF_Inputs_CAN3 125
- 8.3.2 FIF_Outputs_CAN3 125
- 8.3.3 Process data telegram 125
- 8.4.5 Status messages 129
- CAN−AUX system blocks 130
- 9.1.1 Inputs_CANaux1 131
- 9.1.2 Outputs_CANaux1 131
- 9.1.3 Process data telegram 132
- 9.2.1 Inputs_CANaux2 135
- 9.2.2 Outputs_CANaux2 135
- 9.2.3 Process data telegram 135
- 9.3.1 Inputs_CANaux3 138
- 9.3.2 Outputs_CANaux3 138
- 9.3.3 Process data telegram 138
- 9.4.5 Status messages 142
- 10.1 Overview 143
- L_CanInit 144
- · Not for Drive PLC! 146
- Transmit status (nState) 151
- · See the following table 154
- 11.1 Overview 157
- · Invalid for bit 0 = 1 161
- L_CanDSxHeartBeat 164
- L_CanDSxNodeGuarding 168
- NodeLifeTimeFactor (C0383) 170
- Guarding" 171
- L PLC−Systembus EN 2.0 173
- 12 Index 173
- XCAN sync identifier, 4−7 178
- XCAN sync response, 4−7 178
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