Lenze DDS System bus CAN for PLC Manual de usuario Pagina 136
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System bus (CAN) for Lenze PLC devices
CAN−AUX system blocks
9.2 CANaux2_IO (node number: 35)
9−3
L
PLC−Systembus EN 2.0
9.2.4 Assignment of the user data to variables
Several variables of different data types are assigned to the user data to be transmitted and received.
Thus, the data in the PLC program can be optionally interpreted as:
· binary information (1 bit)
· status word/quasi−analog value (16 bit)
· angle information (32 bit)
Variables for user data to be transmitted
User data Assigned variables
Byte Bit Variable (1 bit) Variable (16 bit) Variable (32 bit)
1 0
...
7
CANaux2_bFDO0_b
...
CANaux2_bFDO7_b
CANaux2_nOutW1_a
CANaux2_dnOutD1_p
2 0
...
7
CANaux2_bFDO8_b
...
CANaux2_bFDO15_b
3 0
...
7
CANaux2_bFDO16_b
...
CANaux2_bFDO23_b
CANaux2_nOutW2_a
4 0
...
7
CANaux2_bFDO24_b
...
CANaux2_bFDO31_b
5 0...7
CANaux2_nOutW3_a
6 0...7
7 0...7
CANaux2_nOutW4_a
8 0...7
Note!
Avoid simultaneous overwriting via different variable types to ensure data consistency.
For instance, if you want to write bytes 1 and 2, only use the variable CANaux2_dnOutD1_p,
CANaux2_nOutW1_a, or only the variables CANaux2_bFDO0_b ... CANaux2_bFDO15_b for this
purpose!
Variables for received user data
User data Assigned variables
Byte Bit Variable (1 bit) Variable (16 bit) Variable (32 bit)
1 0
...
7
CANaux2_bInB0_b
...
CANaux2_bInB7_b
CANaux2_nInW1_a
CANaux2_dnInD1_p
2 0
...
7
CANaux2_bInB8_b
...
CANaux2_bInB15_b
3 0
...
7
CANaux2_bInB16_b
...
CANaux2_bInB23_b
CANaux2_nInW2_a
4 0
...
7
CANaux2_bInB24_b
...
CANaux2_bInB31_b
5 0...7
CANaux2_nInW3_a
6 0...7
7 0...7
CANaux2_nInW4_a
8 0...7
- 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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