Lenze Controller-based Automation - Manual (Page 42)

4 System components
4.5 Bus systems
42
Lenze · Controller-based Automation · System Manual · DMS 1.4 EN · 04/2014 · TD17
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CANopen: Devices with Logic/Motion functions on separate CAN bus lines
"CANopen (Logic)" is used to control inverters which ...
• do not support a Motion functionality;
• execute simple motion sequences.
"CANopen (Motion)" is used to actuate inverters which, for instance, execute complex movements
to be synchronised in several dimensions.
The "Motion" runtime software contains the PLCopen libraries and supports the soft motion control
for the Servo Drives 9400 device series.
Physical structure
Because of the bus system's real time requirements and the limited transmission capacity, for
CANopen it is advisable to design a separate bus line for Motion functions and a further bus line for
devices with Logic functions for controlling PLC functionalities.
• Depending on the number of Motion nodes required and on the bus cycle time it is required to
establish several Motion bus lines.
• The Controllers 3200 C and p500 support up to two CAN interfaces for "CANopen (Logic)" and
"CANopen (Motion)" with an installed (optional) MC-CAN2 communication card.
• As the Controllers c300 and p300 are only provided with a CANopen communication interface
(on board), only a logic phase can be arranged. For Motion applications, use the EtherCAT
interface.
The "Controller-based Automation" system supports Lenze field
devices with a CANopen interface. This serves to, for instance, control
Lenze devices which are provided with a "CAN on board" interface.
• To extend the limits of the CAN bus, several CAN lines that are
synchronised with regard to each other can be used. The number
of the available CAN lines depends on the equipment of the
respective controller.
• Theoretically, max. 127 nodes per CAN line are possible. In the
practical application, the number of nodes depends on the baud
rate and the cycle time set.

Note!
CANopen (Logic) / CANopen (Motion)
The CANopen bus system requires the separation of "Logic" and "Motion" nodes on
different bus lines.
Set up separate Logic and Motion lines which operate independently of each other.
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Communication manual "Controller-based Automation CANopen®"
Here, further information on the bus system and configuration can be found.