Lenze DDS System bus CAN for PLC - Manual (Page 145)

System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10.3 L_CanInit − initialising the CAN driver
10−3
L
PLC−Systembus EN 2.0
Reception identifier area
Fig. 10−1 shows the identifier area provided for data reception.
·
Basically the entire identifier area of 0 ... 2047 is provided.
·
The grayed out fields in Fig. 10−1 are pre−assigned for specific applications, e. g. for network
management commands and process data.
·
Fields which are not pre−assigned are designated as free area 1 ... 4.
Note on the 9300 Servo PLC (firmware version 2.6 or lower)!
In contrast to the Drive PLC, in the case of the 9300 Servo PLC due to memory limitations only the
following data can be received at the same time:
·
Data with identifiers within the grayed out fields in Fig. 10−1.
·
Data with identifiers within the identifier field COB−ID field featuring 64 objects.
NMT commands
0
127
Tx−sync 128
Alarm objects
129
191
Free range 1
192
383
Process data objects (PDO)
384
831
COB−ID field
(shiftable identifier field − Lenze setting)
832
895
COB−ID area
(only relevant for 9300 Servo PLC)
For the simultaneous data reception concerning the 9300
Servo PLC in addition to the pre−assigned areas, 64
further identifiers are provided to you via the COB−ID area.
·
In the Lenze setting these are the identifiers
832 ... 895.
·
If you require other identifiers you can shift the COB−ID
area within the free areas 1...4 during initialisation
using the variable dwRelocCobIdArea.
·
If the COB−ID area by means of dwRelocCobIdArea is
shifted in a way that causes an overlapping with a
fixedly predefined area, an error in the return value of
the function is reported.
(Bit 0 = 1 / Bit 1 = 1)
Free range 2
1407
Service data objects (SDO)
1408
1663
Free range 3
1664
1791
Node monitoring
1792
1855
Free range 4
1856
2047
Fig. 10−1 Pre−assigned and free identifier fields as well as relocatable COB−ID area for 9300 Servo PLC