Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06
33
6
Commissioning
6.2
Configuring the Controller (EtherCAT master)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
6.2.3
Configuring process data
Servo Drives 9400 support the configuration of max. 32 process data words (max. 64 bytes) per
direction.
The process data configuration is determined during the initialisation phase of the master (PDO
mapping).
The process data configuration is specifically predefined in the device description file for each
application.
The process data length can be adapted by the user, if required.
6.2.4
Configuring safety process data
From
SW version 04.00
and with the use of an
SM302
safety module (E94AYAF), safety process data
can be configured optionally in addition to the process data. The structure of the safety process data
is predefined in the device description files and cannot be changed.
The safety process data are transmitted with the same cycle time as the process data (PDOs).
6.2.5
Determining the cycle time
The process data objects (PDO) and the optional safety process data are transmitted cyclically
between the EtherCAT master and the slaves (inverters).
The cycle time is set by means of the EtherCAT configuration software.
Note!
A safety bus system (FSoE) can only be operated via the upper module slot (MXI1) of the
Servo Drive 9400.
