Lenze EPM-T110 User Manual

Via CANopen
Structure of the CAN data telegram
10
Network via CANopen
10.2
10.2.1
l
10.2-1
EDSPM-TXXX-3.0-04/2004
10.2 Via CANopen
The I/O system IP20 supports the communication module CANopen.
The CANopen protocol is a standardised layer-7 protocol for the CAN bus. This
layer is based on the CAN Application Layer (CAL) which was developed as a
universal protocol.
However, as the practice shows, applications with CAL were too complex for the
users. CANopen provides a uniform and simple structure for connecting the CAN
devices of the various manufacturers.


 Note!
z The communication profile CANopen can be selected with
setting the node address (Node-ID).
– Information on how to proceed with the modular system is
included in the description of the module CAN Gateway in the
chapter ”The modular system”.
– Information on how to proceed with the compact system is
included in the description of the corresponding module in the
chapter ”The compact system”.
– Lenze setting: System bus (CAN)
z Additional information on CANopen can be found in the Lenze
Communication Manual CAN.
10.2.1 Structure of the CAN data telegram
Control field CRC delimit. ACK delimit.
Start RTR bit CRC sequence ACK slot End
I
d
e
n
t
i
f
i
e
r
Identifie
r
User data (0 ... 8 bytes)
U
s
e
r
d
a
t
a
(
0
.
.
.
8
b
y
t
e
s
)
• Network management
1bit 11 bits 1bit 6
bits
g
• Process data
• Parameter data
15
bits
1bit 1bit 1bit 7bits
Fig. 10.2-1 Basic structure of the CAN telegram


 Note!
Only the identifier and the user data are relevant to the user. All
other data of the CAN telegram are automatically processed by
the system
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Lenze EPM-T110 Specifications

General

Brand	Lenze
Model	EPM-T110
Category	I/O Systems
Language	English