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2.2 CanDSx driver

Function library LenzeCanDSxDrv.lib

Introduction

2−2

LenzeCanDSxDrv.lib EN 1.2

2.2.1 Operating principle − example

Task

A user has implemented a functionality in his PLC which can be parameterised under user code

C3200/5. Code C3200 is automatically assigned to the index

dec

Index = 24575

dec

− code = 24575

dec

− 3200 = 21375

dec

The communication profile requires, however, that the functionality is parameterised under the index

4101

dec

/subindex 2.

Solution

Use the functions of function library LenzeCanDSxDrv.lib to redirect index 4101

dec

/subindex 2

within the PLC to code C3200/5 so that the communication profile need not be changed.

Operating principle

The operating system (as of V6.0) of Lenze PLCs includes a "mapping table" which allows to map

up to 256 codes on codes other than the automatically assigned codes within the PLC.

If a CAN telegram is received and the index is within the valid range, the system checks whether the

index is listed in the mapping table.

· If the index is listed in the mapping table, the PLC accesses the new code assigned to the

index in the mapping table.



If the index is not listed in the mapping table, the PLC accesses the automatically assigned

code which results from the above formula.



SDO telegram

Index number

valid ?

CAN subindex

4101

yes

Index access: 4101/2

Code access: C3200/5

Mapping table

CAN index Lenze code Lenze subcode

2 3200 5

4101

20000 0

3200

3000

SDO telegram

Index number

valid ?

CAN subindex

4101

yes

Index access: 21475/1

Lenze code = 24575 - Index = 24575 - 21475 = 3100

Code access = C3100/1

Mapping table

CAN index Lenze code Lenze subcode

2 3200 5

4101

20000 0

3200

3000



Fig. 2−1 Redirection of indeces to codes

1 2 ... 5 6 7 8 9 10 11 12 13 14 15 ... 25 26

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