Lenze DDS System bus CAN for PLC - Manual (Page 89)

System bus (CAN) for Lenze PLC devices
CAN system blocks
7.1 CAN1_IO (node number: 31) − 9300 Servo PLC
7−1
L
PLC−Systembus EN 2.0
7 CAN system blocks
7.1 CAN1_IO (node number: 31) − 9300 Servo PLC
This SB serves to transmit cyclic process data via the system bus.
·
For the transmission a sync telegram is required, which has to be generated by a different
node.
( ^ 2−9)
CAN1_nInW1_a
C0866/1
CAN1_dnInD1_p
CAN1_wDctrlCtrl
CAN1_bCtrlB0_b
CAN1_bCtrlB1_b
CAN1_bCtrlB2_b
CAN1_bCtrlQuickstop_b
CAN1_bCtrlB4_b
CAN1_bCtrlB5_b
CAN1_bCtrlB6_b
CAN1_bCtrlB7_b
CAN1_bCtrlDisable_b
CAN1_bCtrlCInhibit_b
CAN1_bCtrlTripSet_b
CAN1_bCtrlTripReset_b
CAN1_bCtrlB12_b
CAN1_bCtrlB13_b
CAN1_bCtrlB14_b
CAN1_bCtrlB15_b
CAN1_nInW2_a
CAN1_bInB _b 0...15
CAN1_nInW3_a
CAN1_bInB _b 16...31
System bus interface
Control
data
input
WORD
Byte
7
8
5
6
3
4
1
2
16 x
BOOL
Byte
7
8
5
6
3
4
1
2
WORD
CAN1_wDctrlStat
CAN1_nOutW1_a
CAN1_nOutW2_a
CAN1_bFDO _b 0...15
CAN1_nOutW3_a
CAN1_bFDO _b 16...31
CAN1_dnOutD1_p
CAN1_IO
State
data
output
3
8
9
10
11
0
1
2
3
5
6
7
12
13
14
15
Bit :
C0866/2
WORD
C0866/3
WORD
16 x BOOL
16 x BOOL
C0867/1
DINT
WORD
C0868/1
WORD
C0868/2
WORD
C0868/3
WORD
16 x BOOL
16 x BOOL
C0151/1
DINT
Output user data
(8 bytes)
Input user data
(8 bytes)
L
H
L
H
C0151/1
C0863/2
C0863/1
C0869/1
Fig. 7−1 CAN1_IO system block