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Process data transfer

8.3

Mapping indices and codes

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06

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8.3.1

Structure of the mapping codes

The mapping codes

...

have the following structure:

Example

In the RPDO channel 1, the index 0xA640.0x03 is transmitted with a length of 4 bytes from an offset

of 20 bytes.

• Entry in the mapping code

C1x231/8

: 0x002000A00003A640

• Correspondent entry in the CoE object

0x1600/8

: 0xA6400320

8.3.2

FSoE mapping indices

The FSoE mapping indices can be used from

SW version 04.00

and show the PDO mapping for the

safety PDOs. On the EtherCAT side, they are mapped onto the CoE objects

0x1700

(Safety RxPDO)

and

0x1B00

(Safety TxPDO).

The FSoE mapping is activated by the configurator via the indices

0x1C12.02 = 0x1700

and

0x1C13.02 = 0x1B00

The FSoE mapping is only possible with the simultaneous use of a valid PDO mapping.

Octet offset

Name

Description

0 / 1

Index

Index of the object to be mapped

Subindex

Subindex of the object to be mapped

Reserved

4 / 5

Offset

Offset regarding the PDO start in bits

6 / 7

Length

Length of the object to be mapped in bits

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Index

Subindex

Reserved

Offset

Length

0x40

0xA6

0x03

0x00

0xA0

0x00

0x20

0x00

Summary of Contents for 9400 Series

Page 1: ...L Ä Tq ä 13518011 EtherCAT Accessories Servo Drives 9400 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Communication Manual EN E94AYCET ...

Page 2: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23 5 1 1 Mounting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23 5 1 2 Disassembly _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23 5 2 Electrical installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24 5 2 1 W...

Page 3: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80 10 Safety over EtherCAT _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 81 11 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82 11 1 Interruption of EtherCAT communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ ...

Page 4: ...for understanding the function of the communication module This documentation does not describe any software provided by other manufacturers No warranty can be given for corresponding data provided in this documentation For information on how to use the software please refer to the control system documents Controller EtherCAT master All brand names mentioned in this documentation are trademarks of...

Page 5: ...h regard to Lenze products can be found in the download area at www lenze com Information regarding the validity The information given in this documentation applies to the following devices Screenshots application examples All screenshots in this documentation are application examples Depending on the firmware version of the communication module and the software version of the engineering tools in...

Page 6: ...ftware version 04 00 Safety over EtherCAT 81 Information if the SM302 safety module is used 9 0 02 2014 TD17 General updates 8 0 01 2013 TD17 Update for C13861 C14861 bus status New layout 7 0 07 2012 TD17 General revision Information about the EtherCAT register AL Status Code 60 supplemented Chapter EtherCAT ADS communication parameters in TwinCAT and Engineer 46 supplemented 6 0 03 2011 TD17 Gen...

Page 7: ...information Blue text colour All information that applies to from a certain software version of the device onwards is marked accordingly in this documentation Example This function extension is available from software version V3 0 Program name The Lenze Engineer PC software Control element Bold The OK button the Copy command the Characteristics tab the Name input field Sequence of menu commands If...

Page 8: ... Lenze PC software which supports you during the Engineering process parameterisation diagnostics and configuration throughout the whole life cycle i e from planning to maintenance of the machine commissioned PLC Designer ESI EtherCAT slave information device description file in XML format EtherCAT Ethernet for Controller and Automation Technology is an Ethernet based fieldbus system which fulfils...

Page 9: ...r and gives information about how to prevent dangerous situations Pictograph Signal word Meaning Danger Danger of personal injury through dangerous electrical voltage Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken Danger Danger of personal injury through a general source of danger Reference to an imminent danger that ...

Page 10: ...umentation This is the precondition for safe and trouble free operation and for obtaining the product features specified Product features 13 The specifications processes and circuitry described in this document are for guidance only and must be adapted to your own specific application Lenze does not take responsibility for the suitability of the process and circuit proposals All work with or on Le...

Page 11: ...ly 29 A safety bus system FSoE can only be operated via the upper module slot MXI1 of the Servo Drive 9400 Only use cables that meet the specifications listed Ethernet cable specification 27 2 3 Residual hazards Protection of persons If Servo Drives 9400 are used on a phase earthed mains with a rated mains voltage 400 V protection against accidental contact is not guaranteed without external measu...

Page 12: ...d inappropriate From SW version 04 00 it is possible to communicate via FSoE in connection with a SM302 safety module 3 2 Identification The type designation and the hardware and software versions of the communication module are indicated on the nameplate 3 1 Identification data Product series Type designation From hardware version From software version upwards Servo Drives 9400 HighLine E94AxHxxx...

Page 13: ...e standard device or externally by a separate voltage source The CANopen device profile CiA402 in connection with Servo Drives 9400 HighLine is available from software version 7 0 Supports the Distributed Clocks DC functionality for synchronisation via the fieldbus Cycle times 1 ms or an integer multiple of 1 ms max 15 ms if Distributed Clocks DC are used Up to 32 process data words 16 bits word p...

Page 14: ...faces 3 2 E94AYCET communication module EtherCAT E94YCET001B X245 External voltage supply of the communication module 2 pin plug connector with spring connection External voltage supply 29 X246 EtherCAT input IN X247 EtherCAT output OUT RJ45 sockets each with 2 LED status displays for diagnostics Network topology 25 EtherCAT connection 26 Status display at the RJ45 sockets X246 X247 89 MS ME RUN E...

Page 15: ...100 m typical Type of device EtherCAT slave Vendor ID hex 0x3B Product ID Depending on the standard device used and the selected technology application see chapter Automatic device identification 32 Revision ID Depending on the main software version of the communication module see chapter Identification 12 Baud rate 100 Mbps full duplex Cycle times 1 ms or an integer multiple of 1 ms max 15 ms if ...

Page 16: ...ins with a rated mains voltage 400 V external measures need to be implemented in order to ensure protection against accidental contact Possible consequences Death or severe injuries Protective measures If protection against accidental contact is required for the control terminals of the inverter and the connections of the plugged device modules a double isolating distance must exist the components...

Page 17: ...cated in differently insulated separate potential areas 4 1 Protective insulation in accordance with EN61800 5 1 E94YCXX007 Reinforced insulation Basic insulation Functional insulation Ext DC I O X4 X6 X6 X5 X7 X7 X8 X8 X3 X2 X1 X105 X105 X106 X100 X107 MXI1 MXI2 Bus Ext DC MSI MMI Terminal strip Terminal Terminal strip Terminal X100 L1 L2 L3 Single Drive only X1 CAN on board 9400 UG UG X2 State b...

Page 18: ...f protective insulation is used between the bus terminal of the device module in slot MXI1 or MXI2 and the mains terminal X100 The separate potential area with the better protective insulation is decisive The separate potential area of the bus terminal of the device module has a functional insulation The separate potential area of the mains terminal has a reinforced insulation Result The insulatio...

Page 19: ...e Servo Drive 9400 Process data PDO The communication time for process data is the time between the reception of a PDO with setpoints and the return of a PDO with the current actual values The communication times for process data depend on processing time in the inverter interval time of the application task process data mode Runtime on the fieldbus frame length number of devices PDO update time i...

Page 20: ... values in the EtherCAT interface Depending on the selected Process data mode 40 C13892 C14892 the resulting processing times are as follows Deterministic mode 2 1 ms interval time of the application task Optimised mode 1 3 ms interval time of the application task No DC use non synchronised operation The processing time starts with the acceptance of the setpoints by the inverter at a time that is ...

Page 21: ...al DMS 10 2 EN 11 2018 TD06 21 4 Technical data 4 5 Dimensions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 4 5 Dimensions 4 2 Dimensions E94YCXX005 a 89 mm b 134 mm b1 87 mm e 23 mm ...

Page 22: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5 Installation Stop Electrostatic discharge Electronic components within the communication module can be damaged or destroyed by electrostatic discharge Possible consequences The communication module is defective Fieldbus communication is not possible or faulty Protective measures Before touching the module be sure that you are free of electrostatic charge ...

Page 23: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5 1 Mechanical installation 5 1 1 Mounting 5 1 Mounting 5 1 2 Disassembly 5 2 Disassembly Note A safety bus system FSoE can only be operated via the upper module slot MXI1 of the Servo Drive 9400 E94YCXX001G E94AYCXX001H ...

Page 24: ... following notes 1 The distance between the additional earthing and the Ethernet plug depends on the module slot and is as follows approx 10 cm for the upper slot MXI1 approx 20 cm for the lower slot MXI2 2 Measure the appropriate distance along the cable and starting from this point remove 2 cm of the cable s plastic sheath 3 Connect the cable shield to the shield sheet of the Servo Drive 9400 5 ...

Page 25: ...g topology irrespective of the topology used Line topology 5 4 Line topology The devices are interconnected successively In order to ensure trouble free operation it is required to assign and wire the EtherCAT inputs IN and EtherCAT outputs OUT correctly The receiving line is plugged into socket X246 IN the forwarding line into socket X247 OUT The direction of data transmission is from the master ...

Page 26: ...communication module to the EtherCAT fieldbus Ethernet cable specification 27 Pin assignment of the RJ45 sockets Tip The EtherCAT interfaces are provided with an auto MDIX function This function adjusts the polarity of the RJ45 interfaces so that a connection can be established irrespective of the polarity of the opposite EtherCAT interface and irrespective of the type of cable used standard patch...

Page 27: ...ication Structure of the Ethernet cable 5 7 Structure of the Ethernet cable S FTP CAT 5e E94YCET017 Note Only use cables that meet the specifications listed Ethernet cable specification Ethernet standard Standard Ethernet in accordance with IEEE 802 3 100Base TX Fast Ethernet Cable type S FTP Screened Foiled Twisted Pair ISO IEC 11801 or EN 50173 CAT 5e Damping 23 2 dB for 100 MHz and 100 m each C...

Page 28: ...et plug in accordance with EIA TIA 568A 568B Note Wiring and colour code are standardised in EIA TIA 568A 568B In accordance with the industrial standard the use of 4 pin Ethernet cables is permissible The cable type only connects the assigned pins 1 2 3 and 6 to one another E94YCEI004A Pair Pin Signal EIA TIA 568A EIA TIA 568B 3 1 Tx White Green White Orange 2 Tx Green orange 2 3 Rx White Orange ...

Page 29: ...s of a standard device disconnected from the mains is not possible Assignment of the X245 plug connector Terminal data Note With external voltage supply always use a separate power supply unit safely separated to EN 61800 5 1 in every control cabinet SELV PELV Name Description U 24 V DC 20 4 V 0 28 8 V 0 I 130 mA Reference potential for the external voltage supply Range Values Electrical connectio...

Page 30: ...e in a non volatile data set In addition there are codes for diagnosing and monitoring the stations 6 1 Before initial switch on Note When parameterising the communication module please note that the code number depends on the slot of the Servo Drive 9400 into which the communication module is plugged The first two digits of the code number indicate the slot C13nnn for slot MXI1 Parameters of the ...

Page 31: ... device identification For device detection fieldbus scan the corresponding device descriptions of the Lenze device family are used 6 2 1 Installing device description files The current XML device description files required for configuring the EtherCAT device can be found in the download area at www lenze com The following device description file can be installed via the EtherCAT configuration sof...

Page 32: ...g to the technology application selected in the inverter code C00218 and is updated after the voltage supply is switched off on or after every application download During initialisation the product code is transferred to the EtherCAT master On the basis of this identification the master can accept the corresponding settings from the device description Product codes for Servo Drives 9400 The produc...

Page 33: ...ata 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 ...

Page 34: ...6 3 Settings in Engineer Settings display Code Selection of the sync source for DC synchronisation See also DC configuration in the Servo Drive 9400 slave 38 C01120 Display of the status of synchronism of the Servo Drive 9400 Only if Synchronisation with Distributed clocks DC 36 is used C13884 C14884 Display of the active station address See also Address allocation 35 C13864 C14864 Entry of the st...

Page 35: ...ay field C13864 C14864 Defining Explicit Device Identification There are two ways to assign the slave to an identifier station alias A Via the EtherCAT master with the assignment of the Configured Station Alias from SW version 04 00 of the communication module B Via the Station alias address input field Valid address range 0 32767 Address 0 means that no station alias is assigned If the value is 0...

Page 36: ...in the EtherCAT bus system with Lenze Controller 3231 C The DC synchronisation is set with the EtherCAT configuration software e g PLC Designer TwinCAT Note DC synchronisation is absolutely required for Motion applications DC synchronisation can also be used for Logic applications Not all slaves support the DC functionality On order to be able to use the DC functionality the first slave connected ...

Page 37: ..._ _ _ _ _ _ _ _ _ _ _ 6 5 1 DC configuration in the master By default the use of the DC synchronisation is deactivated in the device description 31 Parameterise the DC synchronisation in the EtherCAT configuration software e g PLC Designer TwinCAT Set the synchronisation cycle time in the master It is mainly defined by the processing time of the master and the slaves Note The synchronisation cycle...

Page 38: ...the DC synchronisation in the Servo Drive 9400 go to the Settings tab in the Sync source selection field and select the sync source C01120 Selection 4 Module in slot MXI1 of the Servo Drive 9400 Selection 5 Module in slot MXI2 of the Servo Drive 9400 Note The settings of the parameters sync cycle time C01121 sync phase position C01122 sync tolerance C01123 and sync PLL increment C01124 common for ...

Page 39: ... the DC signal This process may take several seconds The cycle time in μs set by the master on the fieldbus is displayed with code C13870 C14870 The state of the standard device synchronicity is displayed in code C13884 C14884 Note If the communication module does not change to the Operational state there might be an error in the configuration or in the EtherCAT wiring The communication module com...

Page 40: ... next Sync0 event Optimised mode C13892 C14892 0 In the optimised mode the actual values are not copied to the EtherCAT interface with the next Sync0 event but already 320 μs after the last Sync0 event Thus the actual values are provided one cycle earlier in the EtherCAT interface Conditions for the optimised mode The EtherCAT telegram generated by the master has a low jitter and is sent within a ...

Page 41: ...eld device or diagnose the field device The functions for establishing cancelling an online connection in the Engineer can be executed via the Online menu Stop If parameters in the Engineer are changed while the Engineer is connected online to the field device the changes are directly accepted to the device Note To go online the EtherCAT bus at least has to be in the Pre Operational state Menu com...

Page 42: ...D06 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6 6 1 Gateway Controller configure EtherCAT The Lenze Controller provides a gateway function to establish an online connection to a field device via EtherCAT 6 2 Example EtherCAT bus system with a Lenze Controller 3231 C as gateway ...

Page 43: ...CAT 1 Go to the Communication path dialog box and select the entry Gateway controller EtherCAT from the Bus connection list field 2 Click Search Enter The Gateway Controller Set up EtherCAT bus dialog box is shown 3 Enter the IP address of the controller By clicking the Ping button you can carry out a simple test which verifies whether a device can actually be reached via the IP address set 4 Clic...

Page 44: ... a Beckhoff Controller via EtherCAT gateway function 6 3 Example EtherCAT bus system with a Beckhoff Controller as Gateway How to configure an online connection to a field device which is connected to a Beckhoff controller via EtherCAT 1 Highlight the project root in the project Alternatively Create a new project or carry out a fieldbus scan 2 Execute the menu command Insert Insert device detected...

Page 45: ...address and the AMS Net ID of the EtherCAT interface of the Controller 5 In area specify the EtherCAT address of the field device to which the online connection is to be established Alternatively you can click the Search Enter button which calls the Select Device Access Path dialog box By this the Engineer initiates the controller to display the devices detected on the EtherCAT segment Tip If you ...

Page 46: ...uctures are used to describe where you can find the EtherCAT ADS communication parameters in the Beckhoff TwinCAT and in the Lenze Engineer EtherCAT 6 7 1 Example Structure without a Beckhoff Controller 6 4 Example EtherCAT bus system without Beckhoff Controller The Beckhoff Soft PLC runs on the Microsoft Windows XP PC on which the Beckhoff TwinCAT and the Lenze Engineer are installed as well Disp...

Page 47: ...mmissioning 6 7 EtherCAT ADS communication parameters in TwinCAT and Engineer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The EtherCAT Slave address here 1001 can be found under the EtherCAT tab of the EtherCAT slave ...

Page 48: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Online device identification in the Engineer start up wizard In the Engineer start up wizard under the Gateway Controller EtherCAT ADS bus connection a field device was detected online IP address 172 31 200 200 EtherCAT Net ID 172 31 200 200 2 1 EtherCAT slave address 1001 ...

Page 49: ...parameters in TwinCAT and Engineer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Display of the identification of the field device detected in the Engineer start up wizard IP address 172 31 200 200 EtherCAT Net ID 172 31 200 200 2 1 EtherCAT slave address 1001 ...

Page 50: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6 7 2 Example Structure with a Beckhoff DIN rail IPC CX1020 6 5 Example EtherCAT bus system with Beckhoff Controller A Beckhoff DIN rail IPC with the Microsoft Windows CE operating system is used The Beckhoff TwinCAT and the Lenze Engineer are installed on a Windows XP PC Note If several PCs access a target device under a Beckhoff control superpositions c...

Page 51: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Display of the communication parameters in TwinCAT The communication parameters IP address here 172 31 200 10 and EtherCAT Master Net ID here 5 3 66 236 4 1 can be found under the target system selection The EtherCAT Master Net ID here 5 3 66 236 4 1 can also be found under the EtherCAT tab of the Ether...

Page 52: ...T communication module EtherCAT Communication Manual DMS 10 2 EN 11 2018 TD06 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The EtherCAT slave address here 1003 can be found under the EtherCAT tab of the EtherCAT slave ...

Page 53: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Online device identification in the Engineer start up wizard In the Engineer start up wizard under the Gateway Controller EtherCAT ADS bus connection a field device was detected online IP address 172 31 200 10 EtherCAT Net ID 5 3 66 236 4 1 EtherCAT slave address 1003 ...

Page 54: ...ation Manual DMS 10 2 EN 11 2018 TD06 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Display of the identification of the field device detected in the Engineer start up wizard IP address 172 31 200 10 EtherCAT Net ID 5 3 66 236 4 1 EtherCAT slave address 1003 ...

Page 55: ...ating changed settings To activate changed settings execute the device command 11 Save start parameter via the standard device code C00002 and then reset the bus device or switch off and on again the voltage supply of the communication module Protection against uncontrolled restart After a fault e g short term mains failure it is sometimes undesirable or even impermissible for the drive to restart...

Page 56: ...tly sent to the master without being processed in the slaves EtherCAT transmits data in standard Ethernet frames The EtherCAT devices only extract the data intended for them while the frame passes through the device At the same time output data are inserted into the frame while it passes through the device Read and write accesses are only executed on a small section of the entire frame the datagra...

Page 57: ... Ethernet header contains the following information Target address of the EtherCAT telelgram destination Source address of the EtherCAT telegram source Type of the EtherCAT telegram Ether type 0x88A4 Ethernet data The Ethernet data contain the following information Length of the datagram within the EtherCAT telegram length One reserved bit Reserved Type of the datagrams within the EtherCAT frame t...

Page 58: ...in one small section of the complete EtherCAT frame the datagrams EtherCAT datagrams have the following structure EtherCAT Command header The EtherCAT command header contains the following information Command to be executed Addressing information Length of the data area Data Interrupt field Data The data area contains the data of the command to be executed WKC Working Counter The working counter i...

Page 59: ...dicated via the RUN LED E94AYCET009 Operational Pre Operational Init Safe Operational Status Description Init Initialisation phase No SDO PDO communication with the slaves Device can be detected by fieldbus scan Pre Operational The fieldbus is active SDO communication mailbox communication is possible No PDO communication Safe operational SDO communication mailbox communication is possible PDO com...

Page 60: ...mation about how the AL Status Code EtherCAT register address 0x0134 0x0135 can be accessed can be found in the documentation of the EtherCAT master These error messages can be entered in the AL Status Code register AL Status Code hex Description 0x0000 No error 0x0011 Invalid status change requested 0x0012 Unknown status requested 0x0013 Bootstrap status is not supported 0x0016 Invalid mailbox co...

Page 61: ...ss data serve to control the Servo Drive 9400 The transmission of process data is time critical Process data are transferred cyclically between the Controller EtherCAT master and the inverters slaves continuous exchange of current input and output data The master can directly access the process data In the PLC for instance the data are directly stored in the I O area Up to 32 process data words 16...

Page 62: ... FB Editor Setting PDO mapping with the Engineer 63 Setting of the PDO mapping exclusively via the EtherCAT configuration software In order that the predefined PDO mapping from the device description file can be used a standard technology application must be configured in the standard device Moreover the standard ports of the configured standard technology application must be used Stop No applicat...

Page 63: ... the individual mapping of process data For this purpose the Engineer is provided with a port configurator How to set the PDO mapping with the Engineer 1 The process data mapping to the port variables is executed in the Engineer under the Process data objects tab of the corresponding fieldbus communication module 2 Select the receive object PDO_RX0 Note The port mapping is not a configuration whic...

Page 64: ...r the individual ports from the Port Selection list to the PDO_RX0 receive PDO by clicking the button The Up and Down buttons serve to shift the sequence of the ports within the PDO 4 Confirm the selection with OK 5 Repeat the steps 2 to 4 for the transmit object PDO_TX0 6 Now link the ports to the application signals in the selected technology application Activate the FB Editor via the multiplexe...

Page 65: ...inverter in order that it can be written back to the controller when the network is started This ensure that the mapping indices in the EtherCAT master and slave are identical The mapping codes must not be modified by the user Slot in the Servo Drive 9400 Code Correspondent CoE object Description MXI1 C13231 C13240 0x1600 01 0x20 0x1609 01 0x20 Mapping entries RPDO 1 10 C13531 C13540 0xA100 01 0x2...

Page 66: ...400320 8 3 2 FSoE mapping indices The FSoE mapping indices can be used from SW version 04 00 and show the PDO mapping for the safety PDOs On the EtherCAT side they are mapped onto the CoE objects 0x1700 Safety RxPDO and 0x1B00 Safety TxPDO The FSoE mapping is activated by the configurator via the indices 0x1C12 02 0x1700 and 0x1C13 02 0x1B00 The FSoE mapping is only possible with the simultaneous ...

Page 67: ... to Communication objects object directory 78 and Lenze codes with the CoE protocol If the CiA402 technology application is used in the inverter all CANopen CiA402 objects implemented can be accessed See documentation on the CiA402 technology application in the reference manual online help for the Servo Drive 9400 The transmission of parameter data is usually not time critical Parameter data are f...

Page 68: ...Nopen device profile CiA402 as device profile objects Indexing of the Lenze codes If they are accessed via a communication module the codes of the inverter are addressed by the index The index for Lenze code numbers is in the manufacturer specific area of the object directory between 8192 0x2000 and 24575 0x5FFF Structure of a mailbox datagram In a datagram mailbox data are transferred within an E...

Page 69: ...O frame area Data field Data type length Value description Mailbox header Length WORD 2 bytes 0x0A Length of the mailbox service data Address WORD 2 bytes Station address of the source if an EtherCAT master is the initiator Station address of the target if an EtherCAT slave is the initiator Channel WORD 6 bits 0 5 0x00 Reserved Priority 2 bits 6 7 0x00 Lowest priority 0x03 Highest priority Type 4 ...

Page 70: ...Station address of the target if an EtherCAT slave is the initiator Channel WORD 6 bits 0 5 0x00 Reserved Priority 2 bits 6 7 0x00 Lowest priority 0x03 Highest priority Type 4 bits 8 11 0x03 CANopen over EtherCAT CoE Reserved 4 bits 12 15 0x00 CANopen header Number WORD 9 bits 0 8 0x00 Reserved 3 bits 9 11 0x00 Service 4 bits 12 15 0x03 SDO response SDO Size indicator BYTE 1 bit 0 0x01 Size of the...

Page 71: ...ster is the initiator Station address of the target if an EtherCAT slave is the initiator Channel WORD 6 bits 0 5 0x00 Reserved Priority 2 bits 6 7 0x00 Lowest priority 0x03 Highest priority Type 4 bits 8 11 0x03 CANopen over EtherCAT CoE Reserved 4 bits 12 15 0x00 CANopen header Number WORD 9 bits 0 8 0x00 Reserved 3 bits 9 11 0x00 Service 4 bits 12 15 0x03 SDO response SDO Size indicator BYTE 1 ...

Page 72: ... Length of the mailbox service data Address WORD 2 bytes 0x00 Channel WORD 6 bits 0 5 0x00 Reserved Priority 2 bits 6 7 0x00 Lowest priority Type 4 bits 8 11 0x03 CANopen over EtherCAT CoE Reserved 4 bits 12 15 0x00 CANopen header Number WORD 9 bits 0 8 0x00 Reserved 3 bits 9 11 0x00 Service 4 bits 12 15 0x03 SDO response SDO Size indicator BYTE 1 bit 0 0x01 Length of the data in Data set size Tra...

Page 73: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 9 2 2 Writing parameters SDO download 1 The master sends Initiate Domain Download Request 2 The slave acknowledges the request with a positive response Initiate Domain Download Response In the event of an error the slave responds with Abort Domain Transfer Note In the case of jobs for the inverter please make sure that you convert the code into an i...

Page 74: ...Station address of the target if an EtherCAT slave is the initiator Channel WORD 6 bits 0 5 0x00 Reserved Priority 2 bits 6 7 0x00 Lowest priority 0x03 Highest priority Type 4 bits 8 11 0x03 CANopen over EtherCAT CoE Reserved 4 bits 12 15 0x00 CANopen header Number WORD 9 bits 0 8 0x00 Reserved 3 bits 9 11 0x00 Service 4 bits 12 15 0x02 SDO request SDO Size indicator BYTE 1 bit 0 0x01 Size of the ...

Page 75: ...ster is the initiator Station address of the target if an EtherCAT slave is the initiator Channel WORD 6 bits 0 5 0x00 Reserved Priority 2 bits 6 7 0x00 Lowest priority 0x03 Highest priority Type 4 bits 8 11 0x03 CANopen over EtherCAT CoE Reserved 4 bits 12 15 0x00 CANopen header Number WORD 9 bits 0 8 0x00 Reserved 3 bits 9 11 0x00 Service 4 bits 12 15 0x02 SDO request SDO Size indicator BYTE 1 b...

Page 76: ...tor Station address of the target if an EtherCAT slave is the initiator Channel WORD 6 bits 0 5 0x00 Reserved Priority 2 bits 6 7 0x00 Lowest priority 0x03 Highest priority Type 4 bits 8 11 0x03 CANopen over EtherCAT CoE Reserved 4 bits 12 15 0x00 CANopen header Number WORD 9 bits 0 8 0x00 Reserved 3 bits 9 11 0x00 Service 4 bits 12 15 0x03 SDO response SDO Size indicator BYTE 1 bit 0 0x0 Transfer...

Page 77: ...data Address WORD 2 bytes 0x00 Channel WORD 6 bits 0 5 0x00 Reserved Priority 2 bits 6 7 0x00 Lowest priority Type 4 bits 8 11 0x03 CANopen over EtherCAT CoE Reserved 4 bits 12 15 0x00 CANopen header Number WORD 9 bits 0 8 0x00 Reserved 3 bits 9 11 0x00 Service 4 bits 12 15 0x02 SDO request SDO Size indicator BYTE 1 bit 0 0x01 Size of the data in Data set size Transfer type 1 bit 1 0x01 Expedited ...

Page 78: ...ments USINT 8 RW 1 32 Output object 1 32 UDINT 32 RW 0x1700 Safety RxPDO 0 Number of elements USINT 8 R 1 36 Safety Output Objects UDINT 32 R 0x1A00 0x1A09 TxPDO 1 10 0 Number of elements USINT 8 RW 1 32 Input object 1 32 UDINT 32 RW 0x1B00 Safety TxPDO 0 Number of elements USINT 8 R 1 76 Safety Input Objects UDINT 32 R 0x1C00 Sync Man Communication type 0 Number of elements USINT 8 R 1 4 Elements...

Page 79: ... UDINT 32 R 12 Cycle time too small UINT 16 R 0xE600 FSoE Slave Frame Elements 0 Number of elements UINT 8 R 1 FSOE Slave Command UINT 16 R 2 FSOE Slave Connection ID UINT 16 R 3 FSOE Slave CRC_0 UINT 16 R 9 FSOE Slave CRC_6 0xE700 FSoE Master Frame Elements 0 Number of elements UINT 8 R 1 FSOE Master Command UINT 8 R 2 FSOE Master Connection ID UINT 16 R 3 FSOE Master CRC_0 UINT 16 R 4 FSOE Maste...

Page 80: ...PDO 0x06040042 The number and or length of the objects entered mapped would exceed the PDO length 0x06040043 General parameter incompatibility 0x06040047 General internal device incompatibility 0x06060000 Access has failed due to a fault in the hardware 0x06070010 The data type or the parameter length does not correspond 0x06070012 Incorrect data type The parameter length is too large 0x06070013 I...

Page 81: ... safety PDO and sent in the same Sync unit as the standard PDOs One bit of the FSoE data is always used to control specific safety functions The structure of the FSoE data is specified and cannot be changed by the user If the SM302 safety module E94AYAF is used the length of the safety outputs is permanently 11 bytes safety inputs is permanently 19 bytes The Servo Drive 9400 forwards the FSoE data...

Page 82: ...4882 is transmitted to the slave If the slave does not receive any valid process data in the Operational state the setting in C13885 C14885 is taken as a basis for the process data Value 0 The data sent last by the master are used Value 1 PDOs are set to the value 0 After the watchdog monitoring time has elapsed the slave changes to the Safe Operational state see C13861 C14861 and the green RUN LE...

Page 83: ...erCAT telegram failure error counter The telegram failure error counter is incremented by the value 3 in case of a telegram failure For each PDO received correctly the counter is decremented by 1 If the telegram failure error counter reaches a threshold adjustable via the EtherCAT master in the CoE object 0x10F1 2 the state changes to Safe Operational and the Sync telegram failure 0x01bc8700 error...

Page 84: ...inverter application with the application of the EtherCAT master This synchronisation is monitored by the inverter in a permanent time slot If impermissible deviations of the synchronisation cycle time are detected within four successive cycles the inverter generates the error message EtherCAT Sync loss detected with standard device 0x00c88132 95 The permissible jitter of the synchronisation cycle...

Page 85: ...es of fault diagnostics the communication module is provided with the LEDs on the front Furthermore you can carry out the Diagnostics with the Engineer 90 12 1 LED status displays The following status displays can be differentiated Module status displays 86 EtherCAT status displays 87 Status display at the RJ45 sockets X246 X247 89 Note During normal operation only the LEDs MS 86 and BS 87 should ...

Page 86: ...us displays E94AYCET001E Pos Colour Status Description MS Green On The communication module is supplied with voltage and is connected to the standard device Blinking The communication module is supplied with voltage but is not connected to the standard device Standard device is switched off in the initialisation phase or not available ME Red On An error has occurred in the communication module EN ...

Page 87: ...current state of the EtherCAT state machine 59 The ERR LED shows the current EtherCAT error 12 2 EtherCAT status displays E94AYCET001E LED Colour Status Description RUN Green Off The communication module is not active on the fieldbus or is in the Init state Blinking Pre operational status is active Access to parameters and objects is possible No process data exchange blinking once single flash Saf...

Page 88: ...e configuration is invalid faulty blinking once single flash A non requested state change has occurred The slave application has autonomously changed the EtherCAT status Synchronisation error The EtherCAT device automatically changes to the Safe operational state blinking twice double flash An Application Watchdog Timeout or a Sync Manager Watchdog Timeout has occurred LED Colour Status Descriptio...

Page 89: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ 12 1 3 Status display at the RJ45 sockets X246 X247 The physical status of the EtherCAT connection with the corresponding communication partner is displayed by the L A Link Activity LED 12 3 Status of the EtherCAT connection E94AYCET001E LED Colour Status Description L A Green On A physical EtherCAT connection is available Flickers Data are being exchanged via EtherCAT ...

Page 90: ...mmunication Manual DMS 10 2 EN 11 2018 TD06 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12 2 Diagnostics with the Engineer In the Engineer the Diagnostics tab displays various pieces of EtherCAT diagnostic information ...

Page 91: ...Nopen Header and the actual Emergency Message The emergency message last sent by the Servo Drive 9400 is displayed in code C13867 C14867 Structure of the Emergency message Example Emergency message of the EtherCAT error Quit Operational state 0x00c88131 Bytes 1 and 2 display that an error is pending Byte 3 display the contents of the error register I 1001 Bytes 5 8 contain the error code Mailbox h...

Page 92: ...number Name Response Lenze setting Adjustable in hex dec 0x00c83100 13119744 EtherCAT Connection to 9400 lost No response 0x00c85114 13127956 EtherCAT Internal supply voltage too low Information 0x00c85531 13129009 EtherCAT Memory No access Information 0x00c85532 13129010 EtherCAT Memory Error while reading Information 0x00c85533 13129011 EtherCAT Memory Error while writing Information 0x00c86010 ...

Page 93: ...slot of the Servo Drive 9400 Switch on Servo Drive 9400 Plug in the communication module correctly at the MXI slot of the Servo Drive 9400 Send communication module and Servo Drive 9400 with error description to Lenze Response Lenze setting printed in bold Setting not possible None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Voltage loss of the ...

Page 94: ...d communication module together with a description of the fault to Lenze Response Lenze setting printed in bold Setting not possible None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Internal error If the error occurs permanently please contact Lenze Response Lenze setting printed in bold Setting not possible None System fault Fault Trouble Quick...

Page 95: ...enze Response Lenze setting printed in bold Setting not possible None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy The communication to the SM30x safety module could not be initialised correctly Check if the SM30x safety module is plugged in and supplied with voltage Response Lenze setting printed in bold Setting C13880 1 C14880 1 Configurable re...

Page 96: ...ze setting printed in bold Setting C13880 2 C14880 2 Configurable response None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy EtherCAT Sync0 signal has failed PDO sent or received too late as the instant of transmission of the EtherCAT frame by the master jitters too much Check EtherCAT master configuration if the DC mode has been set Restart Ethe...

Page 97: ...erence manual Engineer online help for the Servo Drive 9400 Here you will find general information on parameters Parameter Name C00615 Resp to imp device conf Data type UNSIGNED_32 Index 23960 0x5D98 Response to impermissible device configuration Selection list 1 Fault 3 Quick stop by trouble 4 Warning Locked 6 Information 0 No response Subcodes Lenze setting Info C00615 1 0 No Response Reserved C...

Page 98: ...C01120 Sync source Data type UNSIGNED_8 Index 23455 0x5B9F Selection of the source for DC synchronisation signals Depending on the slot in the standard device set the selection 4 Module in MXI1 or 5 Module in MXI2 for the communication module The drive can only be synchronised by one source Synchronisation with Distributed clocks DC 36 Selection list Lenze setting printed in bold 0 Off 1 CAN on bo...

Page 99: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ C01502 Parameter Name C01502 Resp to comm error with MXI2 Data type UNSIGNED_32 Index 23074 0x5A22 Response to a communication error between an intelligent module in slot 2 and the standard device Selection list Lenze setting printed in bold 0 No response 1 Fault 3 Quick stop by trouble 4 Warning Locked 5 Warning Read ac...

Page 100: ...compatible data length The master must have the same mapping entries as the slave Structure of the mapping codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C13231 1 0 1 Mapping entry RPDO 1 I 1600 01 0 C13231 32 0 32 Mapping entry RPDO 1 I 1600 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13232 Mapping ent...

Page 101: ... codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C13233 1 0 1 Mapping entry RPDO 3 I 1602 01 C13233 32 0 32 Mapping entry RPDO 3 I 1602 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13234 Mapping entries RPDO 4 Data type UNSIGNED_64 Index 11341 0x2C4D This code is for device internal use only and must not ...

Page 102: ...g codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C13235 1 0 1 Mapping entry RPDO 5 I 1604 01 C13235 32 0 32 Mapping entry RPDO 5 I 1604 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13236 Mapping entries RPDO 6 Data type UNSIGNED_64 Index 11339 0x2C4B This code is for device internal use only and must not...

Page 103: ...g codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C13237 1 0 1 Mapping entry RPDO 7 I 1606 01 C13237 32 0 32 Mapping entry RPDO 7 I 1606 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13238 Mapping entries RPDO 8 Data type UNSIGNED_64 Index 11337 0x2C49 This code is for device internal use only and must not...

Page 104: ...odes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C13239 1 0 1 Mapping entry RPDO 9 I 1608 01 C13239 32 0 32 Mapping entry RPDO 9 I 1608 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13240 Mapping entries RPDO 10 Data type UNSIGNED_64 Index 11335 0x2C47 This code is for device internal use only and must not b...

Page 105: ...codes 1 10 specify the number of valid mapping entries of the RPDO channels 1 10 valid subcodes in C13231 C13240 Setting range min value unit max value 0 32 Subcodes Lenze setting Info C13489 1 0 No of mapping entries for RPDO 1 C13489 10 0 No of mapping entries for RPDO 10 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13531 Mapping entries TPDO 1...

Page 106: ...g codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C13532 1 0 1 Mapping entry TPDO 2 I 1A01 01 C13532 32 0 32 Mapping entry TPDO 2 I 1A01 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13533 Mapping entries TPDO 3 Data type UNSIGNED_64 Index 11042 0x2B22 This code is for device internal use only and must not...

Page 107: ...g codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C13534 1 0 1 Mapping entry TPDO 4 I 1A03 01 C13534 32 0 32 Mapping entry TPDO 4 I 1A03 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13535 Mapping entries TPDO 5 Data type UNSIGNED_64 Index 11040 0x2B20 This code is for device internal use only and must not...

Page 108: ... codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C13536 1 0 1 Mapping entry TPDO 6 I 1A05 01 C13536 32 0 32 Mapping entry TPDO 6 I 1A05 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13537 Mapping entries TPDO 7 Data type UNSIGNED_64 Index 11038 0x2B1E This code is for device internal use only and must not ...

Page 109: ...g codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C13538 1 0 1 Mapping entry TPDO 8 I 1A07 01 C13538 32 0 32 Mapping entry TPDO 8 I 1A07 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13539 Mapping entries TPDO 9 Data type UNSIGNED_64 Index 11036 0x2B1C This code is for device internal use only and must not...

Page 110: ... C13540 1 0 1 Mapping entry TPDO 10 I 1A09 01 C13540 32 0 32 Mapping entry TPDO 10 I 1A09 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13784 Active TPDO channel Data type UNSIGNED_8 Index 10791 0x2A27 This code is for device internal use only and must not be written to by the user Selection of the active TPDO channel Selection list Info 0 No T...

Page 111: ...ccess Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13851 All words from master Data type UNSIGNED_16 Index 10724 0x29E4 Display of the process data words subcodes 1 32 which are transferred from the master to the communication module Only those which are configured are valid Display range min value unit max value 0 65535 Subcodes Info C13851 1 C13851 32 Read...

Page 112: ... 10717 0x29DD Available from SW version 04 00 Display of the activity of Safety over EtherCAT 81 Selection list read only Info 0 Not active 1 Enable Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13859 Length of the configured input data Data type UNSIGNED_8 Index 10716 0x29DC Available from SW version 04 00 Display of the length of the configured ...

Page 113: ...UNSIGNED_16 Index 10711 0x29D7 Display of the station address allocated by the master Display range min value unit max value 0 65535 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13867 Display Most recent emergency data Data type OCTET_STRING Index 10708 0x29D4 Display of the emergency data last sent by the inverter string with a length of 8 bytes...

Page 114: ...et response will be executed if a sync telegram failure has been detected or the device detects that is no longer in the Operational state and the monitoring time C13881 has elapsed Selection list 0 No response 1 Fault 3 Quick stop by trouble 4 Warning Locked 6 Information Subcodes Lenze setting Info C13880 1 0 No Response Resp to Interruption of EtherCAT communication 82 C13880 2 0 No Response Re...

Page 115: ... synchronisation has been activated for the communication module Synchronisation with Distributed clocks DC 36 Selection list read only Info 0 DC unused 1 DC for synchronisation Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13884 Base device synchronisation status Data type UNSIGNED_8 Index 10691 0x29C3 Available from software version 03 00 The co...

Page 116: ...nsfer This code is only evaluated if Distributed clocks are used Synchronisation with Distributed clocks DC 36 Process data mode 40 Selection list Lenze setting printed in bold Info 0 Optimised mode This mode leads to a reduction of the dead time by one EtherCAT cycle Preconditions The EtherCAT telegram generated by the master has a low jitter and is sent within a window of 320 μs after the Sync0 ...

Page 117: ...tput E94AFCET Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13901 Firmware compilation date Data type VISIBLE_STRING Index 10674 0x29B2 The code contains a string with a length of 20 bytes The creation date MM DD YYYY and the time hh mm ss of the software are output here Example Mar 21 2005 12 31 21 Read access Write access CINH PLC STOP No transf...

Page 118: ...a compatible data length The master must have the same mapping entries as the slave Structure of the mapping codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C14231 1 0 1 Mapping entry RPDO 1 I 1600 01 C14231 32 0 32 Mapping entry RPDO 1 I 1600 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14232 Mapping ent...

Page 119: ...g codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C14233 1 0 1 Mapping entry RPDO 3 I 1602 01 C14233 32 0 32 Mapping entry RPDO 3 I 1602 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14234 Mapping entries RPDO 4 Data type UNSIGNED_64 Index 10341 0x2865 This code is for device internal use only and must not...

Page 120: ...g codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C14235 1 0 1 Mapping entry RPDO 5 I 1604 01 C14235 32 0 32 Mapping entry RPDO 5 I 1604 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14236 Mapping entries RPDO 6 Data type UNSIGNED_64 Index 10339 0x2863 This code is for device internal use only and must not...

Page 121: ...g codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C14237 1 0 1 Mapping entry RPDO 7 I 1606 01 C14237 32 0 32 Mapping entry RPDO 7 I 1606 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14238 Mapping entries RPDO 8 Data type UNSIGNED_64 Index 10337 0x2861 This code is for device internal use only and must not...

Page 122: ...codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C14239 1 0 1 Mapping entry RPDO 9 I 1608 01 C14239 32 0 32 Mapping entry RPDO 9 I 1608 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14240 Mapping entries RPDO 10 Data type UNSIGNED_64 Index 10335 0x285F This code is for device internal use only and must not ...

Page 123: ...bcodes 1 10 specify the number of valid mapping entries of RPDO channels 1 10 valid subcodes in C14231 C14240 Setting range min value unit max value 0 32 Subcodes Lenze setting Info C14489 1 0 No of mapping entries for RPDO 1 0 C14489 10 0 No of mapping entries for RPDO 10 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14531 Mapping entries TPDO 1 ...

Page 124: ...g codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C14532 1 0 1 Mapping entry TPDO 2 I 1A01 01 C14532 32 0 32 Mapping entry TPDO 2 I 1A01 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14533 Mapping entries TPDO 3 Data type UNSIGNED_64 Index 10042 0x273A This code is for device internal use only and must not...

Page 125: ...g codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C14534 1 0 1 Mapping entry TPDO 4 I 1A03 01 C14534 32 0 32 Mapping entry TPDO 4 I 1A03 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14535 Mapping entries TPDO 5 Data type UNSIGNED_64 Index 10040 0x2738 This code is for device internal use only and must not...

Page 126: ...g codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C14536 1 0 1 Mapping entry TPDO 6 I 1A05 01 C14536 32 0 32 Mapping entry TPDO 6 I 1A05 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14537 Mapping entries TPDO 7 Data type UNSIGNED_64 Index 10038 0x2736 This code is for device internal use only and must not...

Page 127: ...g codes 66 Value is bit coded Info Bit 0 Bit 0 Bit 63 Bit 63 Subcodes Lenze setting Info C14538 1 0 1 Mapping entry TPDO 8 I 1A07 01 C14538 32 0 32 Mapping entry TPDO 8 I 1A07 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14539 Mapping entries TPDO 9 Data type UNSIGNED_64 Index 10036 0x2734 This code is for device internal use only and must not...

Page 128: ...nfo C14540 1 0 1 Mapping entry TPDO 10 I 1A09 01 C14540 32 0 32 Mapping entry TPDO 10 I 1A09 20 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14784 Active TPDO channel Data type UNSIGNED_8 Index 9791 0x263F This code is for device internal use only and must not be written to by the user Selection of the active TPDO channel Selection list Info 0 No...

Page 129: ...ccess Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14851 All words from master Data type UNSIGNED_16 Index 9724 0x25FC Display of the process data words subcodes 1 32 which are transferred from the master to the communication module Only those which are configured are valid Display range min value unit max value 0 65535 Subcodes Info C14851 1 C14851 32 Read ...

Page 130: ...x 9717 0x25F5 Available from SW version 04 00 Display of the activity of Safety over EtherCAT 81 Selection list read only Info 0 Not active 1 Enable Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14859 Length of the configured input data Data type UNSIGNED_8 Index 9716 0x25F4 Available from SW version 04 00 Display of the length of the configured i...

Page 131: ... UNSIGNED_16 Index 9711 0x25EF Display of the station address allocated by the master Display range min value unit max value 0 65535 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14867 Display Most recent emergency data Data type OCTET_STRING Index 9708 0x25EC Display of the emergency data last sent by the inverter string with a length of 8 bytes ...

Page 132: ...et response will be executed if a sync telegram failure has been detected or the device detects that is no longer in the Operational state and the monitoring time C13881 has elapsed Selection list 0 No response 1 Fault 3 Quick stop by trouble 4 Warning Locked 6 Information Subcodes Lenze setting Info C13880 1 0 No Response Resp to Interruption of EtherCAT communication 82 C14880 2 0 No Response Re...

Page 133: ... synchronisation has been activated for the communication module Synchronisation with Distributed clocks DC 36 Selection list read only Info 0 DC unused 1 DC for synchronisation Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14884 Base device synchronisation status Data type UNSIGNED_8 Index 9691 0x25DB Available from software version 03 00 The cod...

Page 134: ...ked Bit 4 Warning Bit 5 Information Bit 6 Reserved Bit 7 Reserved Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14892 Process data mode Data type UNSIGNED_8 Index 9683 0x25D3 Mode selection for a time optimisation of the process data transfer This code is only evaluated if Distributed clocks are used Synchronisation with Distributed clocks DC 36 P...

Page 135: ... 35 Setting range min value unit max value Lenze setting 0 32767 0 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C14900 Firmware Product type Data type VISIBLE_STRING Index 9675 0x25CB The code contains a string with a length of 8 bytes The following identification code is output E94AFCET Read access Write access CINH PLC STOP No transfer PDO_MAP_R...

Page 136: ...for access via a bus system hex 0x5FFF Lenze code number Data DS Data structure E Single variable only one parameter element A Array variable several parameter elements DA Number of array elements subcodes Number DT Data type BITFIELD_8 1 byte bit coded BITFIELD_16 2 bytes bit coded BITFIELD_32 4 bytes bit coded INTEGER_8 1 byte with sign INTEGER_16 2 bytes with sign INTEGER_32 4 bytes with sign U...

Page 137: ...Mapping entries TPDO 9 11036 0x2B1C A 32 UNSIGNED_64 C13540 Mapping entries TPDO 10 11035 0x2B1B A 32 UNSIGNED_64 C13784 Active TPDO channel 10791 0x2A27 A 1 UNSIGNED_8 1 C13789 Number of TPDO mapping entries 10786 0x2A22 A 10 UNSIGNED_8 1 C13850 All words from drive to master 10725 0x29E5 A 32 UNSIGNED_16 1 C13851 All words from master to drive 10724 0x29E4 A 32 UNSIGNED_16 1 C13852 All words to ...

Page 138: ...0 Mapping entries TPDO 10 10035 0x2733 A 32 UNSIGNED_64 C14784 Active TPDO channel 9791 0x263F A 1 UNSIGNED_8 1 C14789 Number of TPDO mapping entries 9786 0x263A A 10 UNSIGNED_8 1 C14850 All words from drive to master 9725 0x25FD A 32 UNSIGNED_16 1 C14851 All words from master to drive 9724 0x25FC A 32 UNSIGNED_16 1 C14852 All words to the basic device 9723 0x25FB A 32 UNSIGNED_16 1 C14853 All wor...

Page 139: ...ries RPDO 6 102 C13237 Mapping entries RPDO 7 103 C13238 Mapping entries RPDO 8 103 C13239 Mapping entries RPDO 9 104 C13240 Mapping entries RPDO 10 104 C13484 Active RPDO channel 105 C13489 No of RPDO mapping entries 105 C13531 Mapping entries TPDO 1 105 C13532 Mapping entries TPDO 2 106 C13533 Mapping entries TPDO 3 106 C13534 Mapping entries TPDO 4 107 C13535 Mapping entries TPDO 5 107 C13536 M...

Page 140: ...on alias 135 C14900 Firmware Product type 135 C14901 Firmware Compilation date 135 C14902 Firmware Version 135 Clear process data C14885 133 Codes 97 Colour code of the Ethernet cable 28 Commissioning 30 Communication medium 15 Communication objects object directory 78 Communication parameters in TwinCAT and Engineer 46 Communication profile 15 Communication time 19 Configuration of the master 31 ...

Page 141: ...3 Short overview 92 EtherCAT state machine 59 EtherCAT status displays 87 EtherCAT synchronisation loss 84 EtherCAT telegrams 57 Ethernet cable 27 Ethernet cable specification 27 Ethernet cable colour code 28 Ethernet cable structure 27 External voltage supply 29 F Feedback to Lenze 144 Firmware Compilation date C13901 117 Compilation date C14901 135 product type C13900 117 Product type C14900 135...

Page 142: ...s 15 Number of TPDO mapping entries C13789 110 Number of TPDO mapping entries C14789 128 O Object directory communication objects 78 Operating conditions 15 P Parameter data transfer 67 Parameter reference 97 Parameters of the communication module for slot MXI1 100 Parameters of the communication module for slot MXI2 118 Parameters of the standard device that are relevant to communication 97 PDO m...

Page 143: ...e in case of C14887 134 Switch topology 25 Sync source C01120 98 Sync telegram failure detection 83 Synchronisation loss 84 Synchronisation with Distributed clocks DC 36 System error messages 92 T Table of attributes 136 Target group 5 Technical data 15 Telegram failure detection Sync 83 Terminal data 29 Terminology used 8 Terms 8 Type of device 15 U Upload 69 Using the communication module 12 V V...

Page 144: ...and belief to give you the best possible support for handling our product Perhaps we have not succeeded in achieving this objective in every respect If you have suggestions for improvement please e mail us to feedback docu lenze com Thank you very much for your support Your Lenze documentation team ...

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