Mode 'Free CAN message configuration'

In 'Free CAN message configuration' mode, the data exchange between inverter and CAN control can be freely configured by the user.

When configuring, note that the maximum data length of 8 bytes is maintained and the transmission rate is sufficient for the selected transmission cycles.

Characteristics:

CAN 2.0 A bus supports the 11-bit identifier format ('base frame format')
Any CAN identifier
Transmission in Intel format
Up to 10 send messages which can contain up to 10 signals
Up to 10 receive messages each containing up to 10 signals
Transmission of SONDER signals: Siehe 'Special Signals'.
Transmission of SERCOS parameters: Siehe 'SERCOS parameter'.
Limitation data range of a signal
Cyclic transmission, variable output rates in 1 ms steps
Event-controlled transmission, variable delay time in 1 ms steps
Variable transfer rate
Inverted control signal for the plausibility check of setpoints and actual values
Telegram failure monitoring
Message counter
Checksum

The message configuration is configured with ID34091 'User list 3' application specific.

Structure ID34091 'User list 3':

Detailed structure ID34091 'User list 3'

The configuration values must be entered ascending in the list elements of ID34091 'User list 3'. No values may be omitted.

The default length of a list item is 2 bytes. For 1 byte values, the length must be adjusted manually.

Configuration	Data value	Meaning
Selection mode	UNS08 (1 byte)	The 'Free CAN message configuration' is activated with the value 0x01.

Configuration

Data value

Meaning

Selection mode

UNS08

(1 byte)

The 'Free CAN message configuration' is activated with the value 0x01.

Send messages

Data value

Meaning

UNS08

(1 byte)

Total of send messages

(max. 10 send messages)

Head send
message 1

UNS16

(2 byte)

CAN Identifier send messages 1

UNS16

(2 byte)

Cycle

Cyclic transmission
Cycle time of the message in ms

Event-controlled transmission
Delay time for event-driven messages in ms

See 'Send message attribute'

UNS08

(1 byte)

Data length

The data length is the sum of the configured signals.

Possible data length 1 .. 8 bytes.

Example:

Signal 1: 1 byte

Signal 2: 1 byte

Signal 3: 2 byte

Data length message 1 = 4 byte

Specifying the exact data length reduces the bus load.

UNS08

(1 byte)

Attribute send message

Setting of message properties

Bit

Value

Meaning

Message is sent cyclically

Enter the cycle time, see 'Cycle'

Event driven

Message is sent when one of its signals is changed, but at the earliest after the delay set in 'Cycle'.

UNS08

(1 byte)

Total of signals

Up to 10 signals with a total data length of 8 bytes in a send message.

A send message is limited to 8 bytes.

Example:

Signal 1: 2 byte

Signal 2: 2 byte

Signal 3: 2 byte

Signal 4: 1 byte

Signal 5: 1 byte

Data length Send message = 8 byte

Total of signals = 5

Configuration

signal 1 of the send message 1

UNS08

(1 byte)

Signal type

The signal type determines if the following signal ('Index') is a 'SERCOS parameter' or 'Special signal'.

SERCOS parameter

Siehe 'SERCOS parameter'.

Requirement: 'Signal typ' = 0 (SERCOS)

Special Signal

Siehe 'Special Signals'.

Requirement:'Signal typ' = 2 (Special)

UNS08

(1 byte)

Reserved:

Only value 0 is allowed.

UNS16

(2 byte)

Index

Signal number 1 of the send message 1

SERCOS parameter

Siehe 'SERCOS parameter'.

Requirement: 'Signal typ' = 0 (SERCOS)

Special signal

Siehe 'Special Signals'.

Requirement:'Signal typ' = 2 (Special)

UNS08

(1 byte)

Length in bits

The data length of a signal can be limited by specifying 'Length in bits'.

Example:

Signal data length bbbb aaaa (1 byte).

User data bit 0..3

'Length in bits' = 4

Transmitted value: aaaa

With 'Attribute send signal bit 2' , you can set if the higher-order bits are omitted or the signal is limited to the maximum displayable value.

UNS08

(1 byte)

Shift in bits ²⁾

The entered value is used to specify the start bit of the signal in the message. (0..63 bit)

Example:

3 Signals in a send message

Signal 1; size 1 byte: shift in bit = 0

Signal 2; size 2 byte: shift in bit = 8

Signal 3; size 1 byte: shift in bit = 24

UNS08

(1 byte)

Attribute send signal

Setting of the signal characteristics

Bit

Value

Meaning

0 ¹⁾

Do not send inverted control signal

The signal is followed by an inverted control signal of the same bit length.

The receiver can thus additionally check the signal. For example, you can do a plausibility check of the set and actual values.

A maximum of 1 inverted control signal can be transmitted per send message.

This length must be taken into account at the start bits 'Shift in bits' and the 'Data length'.

The signal is unsigned.

(For example, status word)

The signal is signed.

(For example, torque current actual value)

The signal contains the low-order bits of the variable entered in 'Length in bits'. Higher-value bits are lost.

Example:

1 byte signal; 'Length in bits' = 4; signal value: 0001 0011; transmission: 0011

The signal is limited to the maximum value who is possible with the entered 'Length in bits'.

Example:

1 byte signal; 'Length in bits' = 4; signal value: 0001 0011; transmission: 1111

Configuration

signal 2 of the send message 1

The configuration signal 2 of the transmission message 1 'and the following signals corresponds to that of the signal 1.

Receive message

Data value

Meaning

UNS08

(1 byte)

Total of receive messages

(max. 10 receive messages)

Head receive message 1

UNS16

(2 byte)

CAN Identifier receive message 1

UNS16

(2 byte)

Telegram failure monitoring ³⁾

Error message in case of failure of the message, after the specified time in ms; 0 = no monitoring

UNS08

(1 byte)

Data length

The data length is the sum of the configured signals.

Possible data length 1 .. 8 bytes.

Example:

Signal 1: 1 byte

Signal 2: 1 byte

Signal 3: 2 byte

Data length message 1 = 4 byte

Specifying the exact data length reduces the bus load.

UNS08

(1 byte)

Attribute receive message

Only value 0 is allowed.

UNS08

(1 byte)

Total of signals

Up to 10 signals with a total data length of 8 bytes in a receive message.

A receive message is limited to 8 bytes.

Example:

Signal 1: 2 byte

Signal 2: 2 byte

Signal 3: 2 byte

Signal 4: 1 byte

Signal 5: 1 byte

'Data length' receive message = 8 byte

'Total of signals' = 5

Configuration

signal 1 of the receive message

UNS08

(1 byte)

Signal type

The signal type determines if the following signal ('Index') is a 'SERCOS parameter' or 'Special signal'.

SERCOS parameter

Siehe 'SERCOS parameter'.

Requirement: 'Signal typ' = 0 (SERCOS)

Special Signal

Siehe 'Special Signals'.

Requirement:'Signal typ' = 2 (Special)

UNS08

(1 byte)

Reserved:

Only value 0 is allowed.

UNS16

(2 byte)

Index

Signal number 1 of the send message 1

SERCOS parameter

Siehe 'SERCOS parameter'.

Requirement: 'Signal typ' = 0 (SERCOS)

Special signal

Siehe 'Special Signals'.

Requirement:'Signal typ' = 2 (Special)

UNS08

(1 byte)

Length in bits

The data length of a signal can be limited by specifying 'Length in bits'.

Example:

Signal data length bbbb aaaa (1 byte).

User data bit 0..3

'Length in bits' = 4

Transmitted value: aaaa

With 'Attribute send signal bit 2' , you can set if the higher-order bits are omitted or the signal is limited to the maximum displayable value.

UNS08

(1 byte)

Shift in bits ²⁾

The entered value is used to specify the start bit of the signal in the message. (0..63 bit)

Example:

3 Signals in a send message

Signal 1; size 1 byte: shift in bit = 0

Signal 2; size 2 byte: shift in bit = 8

Signal 3; size 1 byte: shift in bit = 24

UNS08

(1 byte)

Attribute receive signal

Setting of the signal characteristics

Bit

Value

Meaning

0 ¹⁾

No inverted control signal included

The inverter checks the received signal. In the case of a plausibility error, the entire message is rejected.

A maximum of 1 inverted control signal can be transmitted per receive message.

Configuration	Data value	Meaning
Transmission rate	UNS16 (2 byte)	Transmission rate After the last signal of the last message, the transmission rate is entered in kBaud.

Configuration

Data value

Meaning

Transmission rate

UNS16

(2 byte)

Transmission rate

After the last signal of the last message, the transmission rate is entered in kBaud.

The end	Data value	Meaning
	UNS08 (1 byte)	The end At the end of the 'Free CAN message configuration', an element with the content 0 bytes must be available

The end

Data value

Meaning

UNS08

(1 byte)

The end

At the end of the 'Free CAN message configuration', an element with the content 0 bytes must be available

Inverted signal

One signal per message can be inverted for checking the plausibility of the setpoint and actual values.

If a signal is selected for inverting, the following number of bits according to the data length of the signal are automatically reserved.

If a message is received with a difference between non-inverted and inverted signal, it will be ignored. The drive will generate

an error message if two successive errors of the inverted signal are detected.

Example:

Send message with 8 byte (4 signals with 2 byte)

Bit 0-7	Bit 16-23	Bit 32-39	Bit 48-55
Signal 1 (2 byte) 'Shift in bits': 0
	Signal 2 (2 byte) 'Shift in bits': 16
		Signal 3 (2 byte) 'Shift in bits': 32
			Signal 4 (2 byte) 'Shift in bits': 48

Activate the telegram failure monitoring so that the motor coasts down (setpoint 0 %M_N) during bus failures or bus interruptions.