Lenze ECSCAxxx - Manual (Page 440)

Appendix
General information about the system bus (CAN)
Structure of the CAN data telegram
14
l
440 EDBCSXA064 EN 3.2
14.7 General information about the system bus (CAN)
All Lenze drive and automation systems are provided with an integrated system bus
interface for networking control components on the field level.
The system bus interface serves to exchange, for instance, process data and parameter
values between the nodes. Moreover, the interface allows for the connection of further
devices as e.g. decentralised terminals, operator and input devices and external control
and host systems.
The system bus interface transfers CAN objects to the CANopen communication profile
(CiA DS301, version 4.01) which has been created under the umbrella association of the
der CiA (CAN in Automation) to conform with the CAL (CAN Application Layer).
I
Tip!
For further information visit the homepage of the CAN user organisation CiA
(CAN in Automation): www.can−cia.org.
)
Note!
System bus (CAN)
The ECSxA... axis module can communicate with a higher−level host system
(PLC) or further controllers via both CAN interfaces (X4 or X14).
MotionBus (CAN)
The "MotionBus (CAN)" term expresses the functionality of the CAN interface
X4 in case of ECSxS/P/M... axis modules, where communication takes place
using a higher−level host system (PLC) or further controllers exclusively via the
X4 interface. Interface X14 (CAN−AUX) is exclusively used for parameter setting
and diagnostics.
14.7.1 Structure of the CAN data telegram
Control field CRC delimit. ACK delimit.
Start RTR bit CRC sequence ACK slot End
Identifier User data (0 ... 8 bytes)
l Network management
l Process data
l Parameter data 1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits
Fig. 14−4 Basic structure of the CAN telegram