Lenze Global Drive 9300 Servo PLC Series User Manual

9300 Servo PLC
Appendix
3-2
L
ServoPLC EN 2.0
System bus (CAN)
Interface Available CAN objects
Integrated system bus interface 
PDOs CAN1_IN/CAN1_OUT
CAN2_IN/CAN2_OUT
CAN3_IN/CAN3_OUT
SDOs
SDO1 (parameter channel 1)
SDO2 (parameter channel 2)
L_ParRead/L_ParWrite functionality
Sync telegram
Synchronisation of the internal time basis by receiving sync telegrams
Free CAN objects
Automation interface (AIF) 
with corresponding fieldbus module
(e. g. 2175)
PDOs XCAN1_IN/XCAN1_OUT
XCAN2_IN/XCAN2_OUT
XCAN3_IN/XCAN3_OUT
(
g
)
SDOs XSDO1 (parameter channel 1)
XSDO2 (parameter channel 2)
XSync telegram
More detailed information about the system bus (CAN) can be found in the Manual “System bus (CAN) for Servo PLC & Drive PLC”
3.2 System POUs
System POUs are POUs of the “program” type which accept the features of a certain name, i.e. they
are started by an event registered by the PLC.
• The program can include max. 1000 instructions.
• Unlike tasks or PLC_PRG system POUs are not run-time monitored by a “watchdog”.
• See the following table for special POU names and the related events for starting the POU:
POU name Event for starting POU The POU start if
PLC_TaskOverrun Task overflow
...the t a sk monitoring time is exceeded.
PLC_RealError FloatingPoint-Fehler ...a floating-point erro r occurs.
PLC_FailTripping TRIP ...a trip is set.
PLC_WarningT ripping Warning ...a warning is indicated.
PLC_MessageTripping Message ...a message is indicated.
1)
PLC_FailQspTripping FAIL-QSP ...a FAIL-QSP is activated.
1)
PLC_CANError CAN bus error ...a CAN bus error occurs (e.g. BUS-OFF).
PLC_AIFError AIF bus error ...an AIF bus error occurs.
PLC_Restart Start ...a START command is set af ter STOP.
PLC_ColdStart Cold start ...a START command is set af t er a RESET/program download.
2)
1)
2)
not available for Drive PLC.
The CAN/AIF bus is ready after this POU has been executed
Tip!
If you need a system POU for an event-controlled start, simply create a “program” POU and use the
name of this POU as POU name related to the corresponding event.
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Lenze Global Drive 9300 Servo PLC Series Specifications

General

Brand	Lenze
Model	Global Drive 9300 Servo PLC Series
Category	DC Drives
Language	English