Lenze 9300 Servo PLC Manual 

Automation system Type as from hardware version as from software version 9300 Servo PLC EVS93XX-xI 2K 2.0 9300 Servo PLC EVS93XX-xT 2K 2.0 Drive PLC EPL10200 Px 2.0 Important note : The software is supplied to the user as described in this document. Any risks resulting from its quality or use remain the responsibility of the user. The user must provide all safety measures protecting agai ...

Contents i l PLC-Systembus EN 1.1 1 Preface and general information 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 About this Manual 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.1 Conventions used in this Manual 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

Contents ii l PLC-Systembus EN 1.1 3 Configuration (integrated system bus interface) 3-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 CAN baud rate 3-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 CAN boot-up 3-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

Contents iii l PLC-Systembus EN 1.1 5 Configuration (FIF interface) 5-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 CAN baud rate 5-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2 CAN boot-up 5-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

Contents iv l PLC-Systembus EN 1.1 7 FIF CAN system blocks (Drive PLC only) 7-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1 FIF_CAN1_IO 7-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.1 FIF_Inputs_CAN1 7-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

Preface and general information 1-1 l PLC-Systembus EN 1.1 1 Preface and general information 1.1 About this Manual This Manual contains information about the system bus interface of the 9300 Servo PLC and Drive PLC. Chapte r Contents 2 General information about the system bus (CAN)
2-1 Configuration 3 Integrated system bus interface
3-1 4 Optional system bus interface via automation interface (AIF) and an app ...

Preface and general information 1-2 l PLC-Systembus EN 1.1 1.1.2 Layout of the descriptions All function/function block and system block descriptions contained in this Manual have the same structure: Function Function block (FB)/ System block (SB)
Headline stating the function and the function identifier
   Declaration of the function: • Data type of the return value • Function identifier • List of t ...

Preface and general information 1-3 l PLC-Systembus EN 1.1 1.1.3 Pictographs used in this Manual Use of pictographs Signal words Warning of damage to material Stop! Warns of potential damage to material . Possible consequences if disregarded: Damage to the controller/drive system or its environment K Other notes Tip! Note! Indicates a tip or note. 1.1.4 Terminology used Term In the following text used for DDS Dri ...

Preface and general information 1-4 l PLC-Systembus EN 1.1 ...

General information 2-1 l PLC-Systembus EN 1.1 2 General information about the system bus (CAN) 2.1 Introduction All Lenze drive and automation systems have an integrated system bus interface to network control components on the fieldbus level. The system bus interface allows to exchange, for example, process data and parameter data between the participants and to connect other modules such as decentralised termi ...

General information 2-2 l PLC-Systembus EN 1.1 2.2 Device identifiers A so-called node address in the range from 1 to 63 (also called node ID) is assigned to each participant part of the system bus network. • Each node address may only be assigned once in the network. 2.3 Structure of the CAN telegram 1 bit 11 bits 1 bit 6 bits 0 ... 8 bytes 5 bits Start Identifier RTR bit Control field User data CRC sequence C ...

General information 2-3 l PLC-Systembus EN 1.1 The below table shows the pre-set basic identifiers of the Lenze devices: Identifier = Basic identifier + node address of the participant dec hex Network management Tx (transmit) 0 0 Rx (receive) 0 0 Sync telegram Tx (transmit) 128 80 Rx (receive) 128 80 SDOs Parameter channel 1 Output (transmit) 1536 600 + C0350 + C2350 (CAN) (XCAN) Input (receive) 1408 580 + C2350 ...

General information 2-4 l PLC-Systembus EN 1.1 2.3.2 User data Three different data types are transferred via the user data area of the CAN telegram: Data type Info Network management data Establishing communication via the CAN network. Chapter 2.4 (
2-5 ) Process data Process data are used in control technology, e.g. setpoint and actual values. • Process data are high-priority data that are transmitted as so ...

General information 2-5 l PLC-Systembus EN 1.1 2.4 Network management (NMT) Structure of the CAN telegram used for network management: 11 Bit 2-byte user data Identifier Command Device address Identifier Command Device address 00000000000 • The master can use this telegram to make status changes for the entire CAN network. Byte 1: Command Command (hex) Network status after status change Info 01 operational The ...

General information 2-6 l PLC-Systembus EN 1.1 2.5 Process data transmission Process data are used in control technology, e.g. setpoint and actual values. • Process data are transmitted with a high priority as so-called PDOs (Process Data Objects) via the system bus. • Special system blocks are used to transmit and receive process data: CAN (integrated) XCAN (AIF interface) FIF CAN (FIF interface) Info CAN1_I ...

General information 2-7 l PLC-Systembus EN 1.1 Process data channel 2/3: CAN2_IO/CAN3_IO The CAN2_IO and CAN3_IO SBs are used to exchange event or time-controlled process data between the devices. These SBs can also be used for data exchange with decentralised input/output terminals and higher-level control systems. Event-controlled process data Process data channel 2 CAN2_OUT CAN2_IN Event-controlled process dat ...

General information 2-8 l PLC-Systembus EN 1.1 2.5.2 Sync telegram for cyclic process data A special telegram, the Sync telegram, is required for synchronisation when cyclic process data are transmitted. The Sync telegram must be generated by another bus participant. It initiates the transmission of cyclic process data from the PLC and at the same time triggers data acceptance of cyclic process data received in t ...

General information 2-9 l PLC-Systembus EN 1.1 2.6 Transmitting parameter data With Lenze devices ”codes” are parameter data. • Parameter data are, for instance, set when the plant settings are made during commissioning or when the material for the production machine is changed. • Parameter data are transmitted as so-called SDOs (Service Data Objects) via the system bus and acknowledged by the recipient, ...

General information 2-10 l PLC-Systembus EN 1.1 2.6.1.2 Command code Identifier Command Index Subindex Data 1 Data 2 Data 3 Data 4 Identifier Command code Low-byte High-byte Subindex Data 1 Data 2 Data 3 Data 4 The command code contains the command to be executed and information about the parameter data length. It is structured as follows: Bit 7 (MSB) Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Command Command spec ...