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EDS94AYCCA EN 5.0 - 06/2012

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151

E94AYCCA communication manual (CANopen®)

Parameter reference

Table of attributes

   

C13613

Resp. to CAN heartbeat error

23962

5D9A

A

32

UNSIGNED_8

1

;

;

C13614

Resp. to CAN life guarding error

23961

5D99

E

1

UNSIGNED_8

1

;

;

C13625

CAN behaviour in the case of error

23950

5D8E

E

1

UNSIGNED_8

1

;

;

C14311

CAN TPDO1 mask byte x

24264

5EC8

A

8

BITFIELD_8

1

;

;

C14312

CAN TPDO2 mask byte x

24263

5EC7

A

8

BITFIELD_8

1

;

;

C14313

CAN TPDO3 mask byte x

24262

5EC6

A

8

BITFIELD_8

1

;

;

C14314

CAN TPDO4 mask byte x

24261

5EC5

A

8

BITFIELD_8

1

;

;

C14320

CAN TPDOx identifier

24255

5EBF

A

4

BITFIELD_32

1

;

;

C14321

CAN RPDOx identifier

24254

5EBE

A

4

BITFIELD_32

1

;

;

C14322

CAN TPDOx Tx mode

24253

5EBD

A

4

UNSIGNED_8

1

;

;

C14323

CAN RPDOx Rx mode

24252

5EBC

A

4

UNSIGNED_8

1

;

;

C14324

CAN TPDOx delay time

24251

5EBB

A

4

UNSIGNED_16

1

;

;

C14343

CAN TPDO counter

24232

5EA8

A

4

UNSIGNED_32

1

;

C14344

CAN RPDO counter

24231

5EA7

A

4

UNSIGNED_32

1

;

C14345

CAN error

24230

5EA6

E

1

UNSIGNED_8

1

;

C14346

CAN heartbeat activity

24229

5EA5

E

1

BITFIELD_32

1

;

C14347

CAN heartbeat status

24228

5EA4

A

32

UNSIGNED_8

1

;

C14348

CAN status DIP switch

24227

5EA3

E

1

UNSIGNED_8

1

;

C14349

CAN setting of DIP switch

24226

5EA2

A

2

UNSIGNED_8

1

;

C14350

CAN node address

24225

5EA1

E

1

UNSIGNED_8

1

;

;

C14351

CAN baud rate

24224

5EA0

E

1

UNSIGNED_8

1

;

;

C14352

CAN slave/master

24223

5E9F

E

1

UNSIGNED_8

1

;

;

C14356

CAN TPDOx cycle time

24219

5E9B

A

4

UNSIGNED_16

1

;

;

C14357

CAN RPDOx monitoring time

24218

5E9A

A

4

UNSIGNED_16

1

;

;

C14359

CAN status

24216

5E98

E

1

UNSIGNED_8

1

;

C14360

CAN telegram and error counter

24215

5E97

A

8

UNSIGNED_16

1

;

C14361

CAN bus load

24214

5E96

A

6

UNSIGNED_32

1

;

C14367

CAN SYNC Rx identifier

24208

5E90

E

1

UNSIGNED_32

1

;

;

C14368

CAN SYNC Tx identifier

24207

5E8F

E

1

UNSIGNED_32

1

;

;

C14372

CAN SDO server Rx identifier

24203

5E8B

A

10

BITFIELD_32

1

;

;

C14373

CAN SDO server Tx identifier

24202

5E8A

A

10

BITFIELD_32

1

;

;

C14374

CAN SDO client node address

24201

5E89

A

10

UNSIGNED_8

1

;

;

C14375

CAN SDO client Rx identifier

24200

5E88

A

10

BITFIELD_32

1

;

;

C14376

CAN SDO client Tx identifier

24199

5E87

A

10

BITFIELD_32

1

;

;

C14377

CAN SDO server node address

24198

5E86

A

10

UNSIGNED_8

1

;

;

C14378

CAN delay boot-up - Operational

24197

5E85

E

1

UNSIGNED_16

1

;

;

C14381

CAN heartbeat producer time

24194

5E82

E

1

UNSIGNED_16

1

;

;

C14382

CAN guard time

24193

5E81

E

1

UNSIGNED_16

1

;

;

C14383

CAN

life time factor

24192

5E80

E

1

UNSIGNED_8

1

;

;

C14385

CAN heartbeat consumer time

24190

5E7E

A

32

BITFIELD_32

1

;

;

C14386

CAN node guarding

24189

5E7D

A

32

BITFIELD_32

1

;

;

C14387

CAN node guarding activity

24188

5E7C

E

1

BITFIELD_32

1

;

C14388

CAN node guarding status

24187

5E7B

A

32

UNSIGNED_8

1

;

C14390

CAN Error Register (DS301V402)

24185

5E79

E

1

BITFIELD_8

1

;

C14391

CAN emergency object

24184

5E78

E

1

BITFIELD_32

1

;

;

C14392

CAN emergency delay time

24183

5E77

E

1

UNSIGNED_16

1

;

;

C14393

CAN bus scan result

24182

5E76

A

128 UNSIGNED_8

1

;

C14394

CAN predefined error field 

(DS301V402)

24181

5E75

A

10

UNSIGNED_32

1

;

C14591

Resp. CAN RPDOx error

23984

5DB0

A

4

UNSIGNED_8

1

;

;

C14595

Resp. to CAN bus OFF

23980

5DAC

E

1

UNSIGNED_8

1

;

;

Code

Name

Index

Data

Access

dec

hex

DS

DA

DT

Factor

R

W

CINH

Summary of Contents for E94AYCCA

Page 1: ...L EDS94AYCCA 13411721 Ä J26ä Communication Manual E94AYCCA CANopen communication module 9400 L force Communication ...

Page 2: ...2 L EDS94AYCCA EN 5 0 06 2012 ...

Page 3: ...zards 13 3 Product description 14 3 1 Application as directed 14 3 2 Identification 14 3 3 Features 15 3 4 Terminals and interfaces 16 4 Technical data 17 4 1 General data and operating conditions 17 4 2 Supported protocols 18 4 3 Communication time 19 4 4 Protective insulation 20 4 5 Dimensions 23 5 Installation 24 5 1 Mechanical installation 25 5 1 1 Mounting 25 5 1 2 Dismounting 25 5 2 Electric...

Page 4: ...am NMT 43 7 2 3 Parameterising the controller as a CAN master 44 8 Process data transfer 45 8 1 Identifiers of the process data objects 46 8 2 Transmission type 47 8 3 Masking of the TPDOs for event control 49 8 4 Synchronisation of PDOs via sync telegram 50 8 4 1 Parameter setting 51 8 4 2 Effect of C01130 on the sync phase position 54 8 5 PDO mapping 56 9 Parameter data transfer 61 9 1 Identifie...

Page 5: ...s in the Engineer 85 11 Diagnostics 86 11 1 LED status displays 86 11 2 Diagnostics with the Engineer 88 12 Error messages 89 12 1 Short overview of the CANopen error messages 89 12 2 Possible causes and remedies 91 13 Parameter reference 101 13 1 Communication relevant parameters of the standard device 101 13 2 Parameters of the communication module for slot MXI1 107 13 3 Parameters of the commun...

Page 6: ...ware provided by other manufacturers No warranty can be given for corresponding data provided in this documentation For information about how to use the software please refer to the host PLC master documents All product names mentioned in this documentation are trademarks of their corresponding owners Tip Detailed information about the CAN CANopen bus system can be found on the website of the CAN ...

Page 7: ...nd maintaining the networking and remote maintenance of a machine Tip Current documentation and software updates for Lenze products can be found in the Download area at www Lenze com Validity information The information in this documentation applies to the following devices Extension module Type designation From hardware version From software version CANopen communication manual E94AYCCA VA 01 00 ...

Page 8: ...the best possible support for handling our product If you have suggestions for improvement please e mail us to feedback docu Lenze de Thank you for your support Your Lenze documentation team Version Description 1 0 08 2006 TD17 First edition 2 0 04 2008 TD17 General revision 3 0 02 2011 TD17 General revision 4 0 11 2011 TD17 Assignment of the 9 pin Sub D plug connector corrected System bus CANopen...

Page 9: ... point is generally used For example 1234 56 Text Program name PC software Example Lenze Engineer Control element Bold The OK button the copy command the Properties tab the Name input field Sequence of menu commands If the execution of a command requires several commands in succession the individual commands are separated by an arrow Select the File Open command to Hyperlink Underlined Optically h...

Page 10: ... 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 Code Parameter by means of which you can parameterise or monitor the controller In everyday language the term is also referred to as index Subcode If a code contains several parameters they are stored i...

Page 11: ...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 may result in death or serious personal injury if the corresponding measures are not...

Page 12: ...use genuine spare parts supplied by the manufacturer of the product Observe all the specifications contained in the enclosed and corresponding documentation This is a precondition for ensuring safe trouble free operation and for making use of the stated product features Features 15 The specifications processes and circuitry described in this document are for guidance only and must be adapted to yo...

Page 13: ...ed to the standard device With external voltage supply always use a separate power supply unit safely separated in accordance with EN 61800 5 1 in every control cabinet SELV PELV Only use cables that meet the given specifications Specification of the bus cable 27 2 3 Residual hazards Protection of persons If Servo Drives 9400 are used on a corner grounded system with a rated mains voltage 400V ext...

Page 14: ...etworks Any other use shall be deemed inappropriate 3 2 Identification The type designation and the hardware and software version of the communication module are specified on the nameplate 3 1 Identification data Product series Type designation From hardware version From software version Servo Drives 9400 HighLine E94AxHExxx VA 01 30 Servo Drives 9400 PLC E94AxPExxxx VA 01 00 Servo Drives 9400 reg...

Page 15: ...vo Drives 9400 Internal voltage supply of the communication module via the Servo Drive 9400 Full compatibility according to CANopen DS301 V4 02 Support of the NMT master slave function node guarding DS301 V4 02 Support of the NMT slave function heartbeat DS301 V4 02 No restrictions regarding the selection of node addresses Number of parameterisable server and client SDO channels max 10 channels wi...

Page 16: ...ont LEDs for diagnosing the voltage supply of the communication module connection to the standard device CANopen state machine and error states physical CAN connection 3 2 E94AYCCA communication module CANopen E94YCCA001B X220 9 pin Sub D plug connector for the System bus CANopen connection 26 S220 DIP switches for setting the CAN node address setting the baud rate Possible settings via DIP switch...

Page 17: ...e C13350 C14350 Max number of nodes 127 Baud rates kbps 10 20 50 125 250 500 800 1000 Adjustable via DIP switches or code C13351 C14351 Process data max 4 TPDOs with 1 8 bytes max 4 RPDOs with 1 8 bytes Parameter data Max 10 client and server SDO channels with 1 8 bytes Transfer mode for TPDOs With change of data Time controlled 1 to x ms After the reception of 1 to 240 sync telegrams Voltage supp...

Page 18: ... upload SDO upload initiate SDO upload segment SDO abort transfer SDO block download SDO block download initiate SDO block download end SDO block upload SDO block upload initiate SDO block upload end NMT protocols Start remote node master and slave Stop remote node slave Enter pre operational slave Reset node slave and local device Reset communication slave Monitoring protocols Node guarding maste...

Page 19: ...the CAN network depend on the processing time in the device telegram runtime baud rate telegram length bus load especially if the bus is loaded with PDOs and SDOs at a low baud rate Servo Drives 9400 processing time There are no interdependencies between parameter data and process data Parameter data For controller internal parameters approx 30 ms 20 ms tolerance typically For some codes the proce...

Page 20: ...to provide reliable protection against accidental contact Possible consequences Death or serious injury Protective measures If protection against accidental contact is required for the control terminals of the controller and the connections of the plugged device modules there must be a double isolating distance the components to be connected must be provided with a second isolating distance Note T...

Page 21: ...on according to 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 Connection Terminal strip Connection X100 L1 L2 L3 only Single Drive X1 CAN on board 9400 UG UG X2 State bus X105 U V W 24 V ext Rb1 Rb2 Single Drive only X3 Analog inputs outputs X106 Mo...

Page 22: ...n 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 basic insulation The separate potential area of the mains terminal has a reinforced insulation Result The insulation between the X100 mains terminal and the bus terminal is of the reinforced insulati...

Page 23: ...EDS94AYCCA EN 5 0 06 2012 L 23 E94AYCCA communication manual CANopen Technical data Dimensions 4 5 Dimensions 4 2 Dimensions E94YCXX005 a 89 mm b 134 mm b1 87 mm e 23 mm ...

Page 24: ...scharge Electronic components in the communication module can be damaged or destroyed by electrostatic discharge Possible consequences The communication module is defective Fieldbus communication is faulty or not possible Protective measures Before touching the module make sure that you are free of electrostatic charge ...

Page 25: ...ion Mechanical installation 5 1 Mechanical installation 5 1 1 Mounting 5 1 Mounting 5 1 2 Dismounting 5 2 Dismounting Note Only one communication module E94AYCCA CANopen may be inserted per Servo Drive 9400 The slot used MX1 or MX2 can be selected freely E94YCXX001G E94AYCXX001H ...

Page 26: ... system connector EWZ0046 with integrated terminating resistor complies with the DS102 1 recommendation of the CAN user organisation CiA The system connector is not contained in the scope of supply of the communication module Documentation of the standard device control system and plant machine Observe the notes and wiring instructions stated E94YCCA002A 2181FEW004 L EW Z0046 OFF ON OFF ON ON OFF ...

Page 27: ...e We recommend the use of CAN cables according to ISO 11898 2 View Pin Assignment 1 2 CAN LOW 3 CAN GND 4 5 6 7 CAN HIGH 8 9 1 6 5 9 CAN cable according to ISO 11898 2 Cable type Twisted in pairs with shield Impedance 120 Ω 95 140 Ω Cable resistance cross section Cable length 300 m Cable length 301 1000 m 70 mΩ m 0 25 0 34 mm2 AWG22 40 mΩ m 0 5 mm2 AWG20 Signal propagation delay 5 ns m ...

Page 28: ... absolutely necessary to comply with the permissible cable lengths If the total cable lengths of the CAN nodes differ for the same baud rate the smaller value must be used to determine the max cable length Observe the reduction of the total cable length due to the signal delay of the repeater Checking the use of repeaters 30 Baud rate kbps Max bus length m 10 8075 20 4012 50 1575 125 600 250 275 5...

Page 29: ...able cross section can be interpolated 0 25 mm2 AWG 24 0 50 mm2 AWG 21 0 75 mm2 AWG 19 1 00 mm2 AWG 18 2 240 m 430 m 650 m 940 m 5 230 m 420 m 640 m 920 m 10 230 m 410 m 620 m 900 m 20 210 m 390 m 580 m 850 m 32 200 m 360 m 550 m 800 m 63 170 m 310 m 470 m 690 m 100 150 m 270 m 410 m 600 m Given Total cable length to be implemented 200 m Number of nodes 63 Results Max possible baud rate 250 kbps d...

Page 30: ...face Advantage the calibration programming unit remains electrically isolated Example Given Total cable length to be implemented 450 m Number of nodes 32 Cable cross section 0 50 mm2 AWG 20 Baud rate 125 kbps Repeater used Lenze repeater EMF2176IB Reduction of the max total cable length per repeater EMF2176IB 30 m Results Max possible total cable length 600 m see table Total cable length 28 Max se...

Page 31: ...Nopen Installation Electrical installation 5 2 4 Voltage supply The communication module is only internally supplied with voltage via the standard device If the standard device fails data transfer between the communication module and other CAN nodes is interrupted ...

Page 32: ...l switch on Note When parameterising the communication module please note that the code number depends on the slot of the Servo Drive 9400 which the communication module is plugged into The first two digits of the code number indicate the slot C13nnn for slot MXI1 Parameters of the communication module for slot MXI1 107 C14nnn for slot MXI2 Parameters of the communication module for slot MXI2 128 ...

Page 33: ... the DIP switch setting applied at last mains power up is indicated under C13349 1 C14349 1 9400CAN003 The front DIP switches can be used to set address switches 1 64 baud rate switches a d Lenze setting all switches OFF Baud CAN Address O N c d b a 64 32 16 8 4 2 1 Baud CAN Address O N c d b a 64 32 16 8 4 2 1 Baud CAN Address O N c d b a 64 32 16 8 4 2 1 Node address determined by DIP switch C13...

Page 34: ...t be identical Tip The baud rate resulting from the DIP switch setting applied at last mains power up is indicated under C13349 2 C14349 2 Switch positions Baud rate d c b a OFF ON ON OFF 10 kbps OFF ON OFF ON 20 kbps OFF OFF ON ON 50 kbps OFF OFF ON OFF 125 kbps OFF OFF OFF ON 250 kbps OFF OFF OFF OFF 500 kbps ON ON ON OFF 800 kbps OFF ON OFF OFF 1000 kbps OFF ON ON ON Automatic detection Note Sw...

Page 35: ...o set the node address C13350 C14350 Setting the node address 33 select the procedure for automatic allocation of the COB IDs in the Engineer configure the CAN node as a master or slave C13352 C14352 display the time that must elapse after mains power up before the CAN NMT master transmits the Start remote node telegram via the system bus CANopen C13378 C14378 ...

Page 36: ...art parameters via standard device code C00002 and then execute a CAN reset node on the node using C00002 92 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 not wanted or even impermissible that the drive restarts In the Lenze setting of the Servo Drives 9400 the restart pro...

Page 37: ...1 V4 02 developed by the umbrella organisation of CiA CAN in Automation in conformity with the CAL CAN Application Layer 7 1 Structure of the CAN data telegram 7 1 Basic structure of the CAN telegram The identifier and the user data are described in detail in the following subchapters The other signals refer to the transfer characteristics of the CAN telegram that are not described in this documen...

Page 38: ...entifier consists of a basic identifier and the node address of the node to be addressed Identifier COB ID basic identifier node address node ID Exception For process data heartbeat and emergency objects as well as network management and sync telegrams the identifier can be assigned freely by the user either manually or automatically by a network configurator or is firmly allocated Node address no...

Page 39: ... the Lenze setting the basic identifiers of the PDOs are preset according to the Predefined Connection Set of DS301 V4 02 They can be changed via parameters indexes if required Identifiers of the process data objects 46 Object Direction Basic identifier from the device to the device dec hex Network management NMT 0 0 Sync 128 80 Emergency z 128 80 PDO1 Process data channel 1 TPDO1 z 384 180 RPDO1 ...

Page 40: ...tinuous exchange of current input and output data Process data usually are unscaled scalable raw data Process data are for instance setpoints and actual values Parameter data SDOs Service Data Objects Parameter data are the CANopen indexes or in the case of Lenze devices the codes The parameters are for instance set for the initial system set up during commissioning or when material is changed on ...

Page 41: ...is executed During this phase the controller does not take part in the data transfer on the system bus CANopen All CAN relevant parameters are written with their standard values again After initialisation has been completed the controlleris automatically set to the pre operational status Pre operational before being ready for operation Parameter data can be received process data is ignored Operati...

Page 42: ...es to operational after a waiting time C13378 C14378 has expired and the NMT command 0x0100 Start remote node is sent to all nodes Data can only be exchanged via process data objects if the state is Operational 3 6 0x01 xx Start Remote Node Operational Network management sync and emergency telegrams as well as process data PDO and parameter data SDO are active Optional When the state is changed ev...

Page 43: ... CAN master can also assumed by the drive controller Parameterising the controller as a CAN master 44 Example Data can only be exchanged via the process data objects in the Operational state To change all nodes on the bus from Pre Operational to Operational via the CAN master the following identifiers and user data must be set as follows in the transmit telegram Identifier 0x00 network management ...

Page 44: ...ate enables a data exchange via the process data objects In C13378 C14378 a delay time can be set This delay time must elapse after mains switching before the controllertransmits the Start remote node NMTtelegram on the system bus CANopen Tip The master functionality is only required for the initialisation phase of the drive system Parameter Information Lenze setting Value Unit C13352 C14352 CAN s...

Page 45: ...data telegrams between the host and the devices are distinguished as follows Process data telegrams to the device RPDO Process data telegrams from the device TPDO The CANopen process data objects are designated as seen from the node s view Receive PDO RPDOx process data object received by a node Transmit PDO TPDOx process data object transmitted by a node Note Data can only be exchanged via the pr...

Page 46: ...d Connection Set can be re established anytime using the following device commands of C00002 93 CAN on board Pred Connect Set for CAN on board 94 CAN module Pred Connect Set for communication module E94AYCCA Process data object Basic identifier Individual setting dec hex Lenze code CANopen index PDO1 RPDO1 512 0x200 C13321 1 C14321 1 I 1400 1 TPDO1 384 0x180 C13320 1 C14320 1 I 1800 1 PDO2 RPDO2 7...

Page 47: ...ns of logic operations AND OR are also possible between the different transmission modes Transmission type PDO transmission Logic operation cyclic synchronous event controlled 0 z z AND 1 240 z 254 255 z z OR Transmission type Description 0 The PDO is transmitted at every sync in an event controlled manner e g by means of a bit change within the PDO 1 240 SYNC with response Selection n 1 The PDO i...

Page 48: ... settings of other PDOs Tip The setting can also be made via the following CANopen objects I 1400 I 1403 Communication parameters for RPDO1 RPDO4 I 1800 I 1803 Communication parameters for TPDO1 TPDO4 Parameter Information Lenze setting Value Unit C13322 1 4 C14322 1 4 CAN TPDOx Tx mode 254 C13323 1 4 C14323 1 4 CAN RPDOx Rx mode 254 C13324 1 4 C14324 1 4 CAN TPDOx delay time 0 1 10 ms C13356 1 4 ...

Page 49: ...he masked bits are used for the event control Mask 0x0 means that no bit of the corresponding byte triggers the transmission Mask 0xff means that each bit of the corresponding byte can trigger the transmission Short overview Parameters for masking the TPDOs Parameter Information Lenze setting C13311 1 8 C14311 1 8 CAN TPDO1 mask byte x 0x00 C13312 1 8 C14312 1 8 CAN TPDO2 mask byte x 0x00 C13313 1...

Page 50: ...m is determined by the transmission type selected Transmission type 47 General procedure 8 2 Sync telegram A After the sync telegram has been received the slaves send the synchronous process data to the master TPDOs The master reads them as process input data B When the sending process has been completed the slaves RPDOs receive the process output data from the master All other telegrams e g param...

Page 51: ...d in C01120 Example For the system bus CANopen the interval between two synchronisation signals has been set to 2 ms If the system bus CANopen is to be used as synchronisation source a sync cycle time of 2000 μs must be set in C01121 Parameter Information Lenze setting Assignment Value Unit Sync Master Sync Slave C13367 C14367 CAN SYNC Rx identifier 128 z C13368 C14368 CAN SYNC Tx identifier 128 z...

Page 52: ...s 400 μs before the synchronisation signal arrives Sync tolerance Time slot for monitoring the synchronisation signal via the LS_SyncInput system block If the last synchronisation signal has been within this time slot around the expected value the SYNC_bSyncInsideWindow output of the LS_SyncInput system block is set to TRUE This setting does not affect the synchronisation process Sync PLL incremen...

Page 53: ... into consideration an internal processing time of 150 s PDO delay sync cycle time sync phase position 150 μs modulo 1000 From Servo Drive 9400 software version V3 0 the following applies The sync application cycle can be set in C01130 The value set is automatically rounded down to full 1000 μs The resulting PDO delay can be calculated with the following formula taking an internal processing time ...

Page 54: ...00 μs 2 Sync phase position C01122 400 μs Sync application cycle C01130 1000 μs 3 PDO delay C01121 C01122 150 μs modulo C01130 750 μs A Instant of acceptance transmission of synchronous PDOs B Inactive instant of acceptance n Device cycle Example 3 1 Sync cycle time C01121 2000 μs 2 Sync phase position C01122 400 μs Sync application cycle C01130 2000 μs 3 PDO delay C01121 C01122 150 μs modulo C011...

Page 55: ... telegram Example 4 1 Sync cycle time C01121 2000 μs 2 Sync phase position C01122 1400 μs Sync application cycle C01130 1000 μs 3 PDO delay C01121 C01122 150 μs modulo C01130 750 μs A Instant of acceptance transmission of synchronous PDOs B Inactive instant of acceptance n Device cycle 0 1 0 1 n 0 n 4 n 1 n 2 n 3 SYNC SYNC ...

Page 56: ...ion that can be carried out online for the Servo Drive 9400 For this purpose an update of the Engineer project and a subsequent download of the application is always required The Engineer screenshots illustrated in the following are only examples of the setting sequence and the resulting screens displayed Depending on the software version of the controller and the version of the Engineer software ...

Page 57: ... drive is described 1 On the Process data objects tab the parameters for the receive objects RPDO1 RPDO4 and transmit objects TPDO1 TPDO4 can be set Settings for receive objects RPDO1 RPDO4 Transfer mode of RPDOx C13323 1 4 C14323 1 4 Monitoring time for RPDOx C13357 1 4 C14357 1 4 If a different value than 0 is entered the RPDO is expected after the time set has elapsed If the RPDO is not receive...

Page 58: ...4 C14322 1 4 Transfer time of TPDOx C13356 1 4 C14356 1 4 If a different value than 0 is entered the TPDO is transmitted without further consideration of the transport type after the time set has elapsed Inhibit time delay time for TPDOx C13324 1 4 C14324 1 4 Minimum time between the transmission of two identical TPDOs Display setting of the TPDOx COB ID C13320 1 4 C14320 1 4 ...

Page 59: ...nput and New Output buttons In the example two output ports and one input port have been created for the master drive master A port exactly corresponds to a PDO object For each port element variables have been defined The following element variables are transmitted via TPDO1 Master_Tx_Port1 u32_SetSpeed type DWORD 32 bits s16_Analog2 type INTEGER 16 bits u8_Status type BYTE 8 bits ...

Page 60: ...ion can be downloaded to the Servo Drive 9400 with the menu command Online Transfer application to device When all PDOs have been programmed and the application has been completed it can be downloaded to the Servo Drive 9400 All CAN parameters will be transferred according to the settings made in the Engineer project ...

Page 61: ...ble for parameter setting enabling the simultaneous connection of several devices for configuration Parameter data are transmitted via the system bus CANopen as SDOs Service Data Objects and acknowledged by the receiver The SDO enables read and write access to the object directory Indexes e g I 1000 ensure access to device parameters and functions included in the object directory To transfer SDOs ...

Page 62: ...of the SDOs are preset according to the Predefined Connection Set of DS301 V4 02 Parameter data object Direction Basic identifier from the device to the device dec hex SDO1 Parameter data channel 1 z 1408 580 z 1536 600 SDO2 10 Parameter data channel 2 10 z z Deactivated Node guarding heartbeat z 1792 700 Boot up z 1792 700 Note Please observe that the parameter data channels 2 10 are deactivated ...

Page 63: ...ata telegram The following subchapters describe the user data in detail 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Index Subindex Data 1 Data 2 Data 3 Data 4 Low byte High byte Low word High word Low byte High byte Low byte High byte Note User data are displayed in the Motorola format Examples for a parameter data telegram 69 ...

Page 64: ... 2 bytes 0x2F 47 1 byte 0x21 33 Block Write response 0x60 96 4 bytes Acknowledgement by the controller regarding a write request Read request 0x40 64 4 bytes Reading a parameter from the controller Read response 0x43 67 4 bytes Response from the controller to a read request with the current parameter value 0x4B 75 2 bytes 0x4F 79 1 byte 0x41 65 Block Error response 0x80 128 4 bytes Response from t...

Page 65: ...ed is to be addressed Calculation Index Decimal 24575 11 24564 Hexadecimal 0x5FFF 0xB 0x5FF4 Subindex 0x00 subindex 0 since the parameter has no subcodes Entries 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Index Subindex Data 1 Data 2 Data 3 Data 4 Low byte High byte Low word High word Low byte High byte Low byte High byte 1st byte 2nd byte 3rd byte 4th byte 5th...

Page 66: ...6th byte 7th byte 8th byte Parameter value 1 byte 0x00 0x00 0x00 Parameter value 2 bytes 0x00 0x00 Low byte High byte Parameter value 4 bytes Low word High word Low byte High byte Low byte High byte Note The Table of attributes 149 contains a scaling factor for Lenze parameters in the factor column The scaling factor is important for the transfer of parameter values which are represented with one ...

Page 67: ...e error codes are standardised in accordance with DS301 V4 02 The representation of the error codes is reversed to the read direction see the following example Example The representation of the error code 0x06040041 in bytes 5 8 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Index Subindex Error code 0x80 128 Low byte High byte Low word High word Low byte High byte...

Page 68: ...al parameter incompatibility 0x0604 0047 General internal device incompatibility 0x0606 0000 Access denied because of hardware error 0x0607 0010 Unsuitable data type unsuitable service parameter length 0x0607 0012 Unsuitable data type service parameter length exceeded 0x0607 0013 Unsuitable data type service parameter length too short 0x0609 0011 Subindex does not exist 0x0609 0030 Parameter value...

Page 69: ...0x5F 0x00 0x00 0x00 0x00 0x00 Explanations of the telegram to the drive Identifier 1536 node address 1536 5 1541 0x0605 1536 basic identifier SDO1 to the controller Command 0x40 Read Request read request of a parameter from the controller Index 24575 code number 24575 61 24514 0x5FC2 Subindex 0 code C00061 has no subcodes Identifier User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7...

Page 70: ...rive Identifier 1536 node address 1536 2 1538 0x0602 1536 basic identifier SDO1 to the controller Command 0x23 Write Request write request of a parameter to the controller Index 24575 code number 24575 88 24487 0x5FA7 Subindex 0 code C00088 has no subcodes Data 1 4 10 2 x 10 102 0x00000066 Value for motor current data type U32 display factor 1 10 Identifier User data 1st byte 2nd byte 3rd byte 4th...

Page 71: ...Index Subindex Data 1 Data 2 Data 3 Data 4 0x060C 0x40 0x9C 0x5F 0x00 0x00 0x00 0x00 0x00 Explanations of the telegram to the drive Identifier 1536 node address 1536 12 1548 0x060C 1536 basic identifier SDO1 to the controller Command 0x40 Read Request read request of a parameter from the controller Index 24575 code number 24575 99 24476 0x5F9C Subindex 0 code C00099 has no subcodes Identifier User...

Page 72: ...first the request with command 0x60 is effected 0110 0000bin then command 0x70 0111 0000bin then 0x60 again etc Toggle bit Identifier User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 0x058C 0x00 0x30 0x31 0x2E 0x30 0x30 0x2E 0x30 0asc 1asc asc 0asc 0asc asc 0asc Explanations of the telegram to the drive Comma...

Page 73: ... read data block Bit 4 1 toggle bit Identifier User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 0x058C 0x17 0x30 0x2E 0x30 0x30 0x00 0x00 0x00 0asc asc 0asc 0asc Explanations of the telegram 3 from the drive Command 0x17 00010111bin Bit 0 1 end of transmission Bit 1 bit 3 011bin 3 bytes do not contain any dat...

Page 74: ...ing protocol 1 The NMT master within cyclic time intervals sends a data telegram to the NMT slave which is referred to as Remote Transmission Request RTR 2 The NMT slave then returns a response telegram Response to the NMT master t Toggle bit s NMT slave status 4 Stopped 5 Operational 127 Pre Operational UHTXHVW LQGLFDWLRQ 107 PDVWHU 0 5 1 107 VODYH XDUG WLPH LIH JXDUGLQJ HYHQW W FRQILUPDWLRQ UHVS...

Page 75: ...ollowing description NMT slave state s Toggle bit t The toggle bit t in the response telegram has the value 0 when the node guarding protocol is activated for the first time The toggle bit t must change its value with each response NMT slave status Data Communication status Decimal value s t NMT slave state s Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Stopped 4 0 1 0 0 0 0 1 0 0 Operational 5...

Page 76: ...ach reboot It is possible to select a different node life time for each NMT slave to be monitored OK status The status of the connection is ok OK status if within the Node life time the NMT slave has received an RTR telegram from the NMT master and the NMT master has received a correct response from the requested NMT slave In the OK status the monitoring times for the NMT master and the NMT slave ...

Page 77: ...ggered in the NMT master if the master has not received any response to its RTR telegram from the requested NMT slave within the node life time or if the toggle bit in the response telegram has not changed within the node life time In the Lenze setting the NMT master changes from the Operational communication status into the Pre Operational communication status C13625 C14625 or the I 1029 object c...

Page 78: ...roller as NMT master Set C13352 C14352 1 Master 3 Set guard time C13382 C14382 to 0 ms slave parameter 4 Set life time factor C13383 C14383 to 0 slave parameter 5 Configure monitoring for node guarding in C13386 C14386 The value to be entered into a free subcode 1 32 is 0x050203E8 It consists of the following 6 Go to C13612 1 32 C14612 1 32 and set the respective response required for the monitori...

Page 79: ...614 and set the response to be executed in the NMT slave in the case of a life guarding event Tip C13625 C14625 serves to set which state change is to occur in the NMT slave in the case of a life guarding event Node guarding telegrams Remote Transmission Request The RTR telegram from the NMT master has the following identifiers Identifier COB ID 1792 node address of slave 1792 2 1794 0x702 Remote ...

Page 80: ...ically sends a heartbeat telegram to one or several heartbeat consumers 2 One or several consumers monitor the regular arrival of the heartbeat telegram Note Heartbeat and node guarding protocols must not be used simultaneously on a CANopen device If the heartbeat producer time is set 0 ms the heartbeat protocol is used r reserved always 0 s status of the producer 0 Boot up 4 Stopped 5 Operational...

Page 81: ...transmitted as soon as a time 0 ms is set Heartbeat producer status Data Communication status Decimal value s r Producer status s Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Boot up 0 0 0 0 0 0 0 0 0 Stopped 4 0 0 0 0 0 1 0 0 Operational 5 0 0 0 0 0 1 0 1 Pre operational 127 0 1 1 1 1 1 1 1 Parameter Information Lenze setting Assignment Value Unit Consumer Producer C13346 C14346 CAN heartbeat ...

Page 82: ... received a heartbeat telegram from the producer within the heartbeat consumer time In the Lenze setting the consumer changes from the Operational communication status into the Pre Operational communication status C13625 C14625 or the I 1029 object can be used to set another status change An emergency telegram with the emergency error code 0x8130 is transmitted to the NMT master The response param...

Page 83: ...et in C13381 C14381 for the node to be monitored The value to be entered into a free subcode 1 32 is 0x0001000F It consists of the following 2 Go to C13613 1 32 C14613 1 32 and set the respective response required for the monitoring functions parameterised under C13385 1 32 C14385 1 32 This response will be executed if a heartbeat event occurs in the consumer Tip C13346 C14346 displays the activit...

Page 84: ...rors eliminated 0x00 Single error eliminated no more errors 0x1000 0x01 Generic error In the standard device an error has occurred with the error response Fault Trouble Quick stop by trouble Warning Warning locked or System fault Error message is the Lenze error number C00168 For error cause see error description C00166 0x3100 0x01 Supply voltage of standard device faulty or failed 0x8100 0x11 Com...

Page 85: ...ab to set the response for the CAN node changing to the bus OFF state C13959 C14595 set the monitoring time for RPDOx C13357 1 4 C14357 1 4 If a different value than 0 is entered the RPDO is expected after the time set has elapsed If the RPDO is not received within the monitoring time an error response parameterised under C13591 1 4 C14591 1 4 is initiated ...

Page 86: ...2012 11 Diagnostics 11 1 LED status displays Status displays MS and DE LEDs Status Description E94YCCA001E MS green on The communication module is supplied with voltage DE red on The communication module is not accepted by the standard device see notes in the documentation for the standard device ...

Page 87: ...on of the baud rate is active BS blinking every 0 2 s BE is off Pre operational BS blinking every 0 2 s BE blinking once 1 s off Warning limit reached BS blinking every 0 2 s BE blinking twice 1 s off Node guard event BS lit only Operational BS lit BE blinking once 1 s off Warning limit reached BS lit BE blinking twice 1 s off Node guard event BS lit BE blinking three times 1 s off Sync message er...

Page 88: ...SyncInput system block In the FB Editor the LS_SyncInput system block provides status information for the received sync telegram Software manual Engineer online help for Servo Drive 9400 Here you can find detailed information on the LS_SyncInput system block SYNC_nSyncDeviation SYNC_wSyncCycleTime SYNC_wSource SYNC_bSyncInsideWindow SYNC_bSyncSignalReceived SYNC_bProcessDataExpected SYNC_bProcessD...

Page 89: ...354720 CAN module MXI1 life guarding error No response C13614 0x009e0021 10354721 CAN module MXI1 NMT slave configuration incomplete Warning locked 0x009f0000 10420224 CAN module MXI1 emergency configuration incomplete Warning locked 0x00a00000 10485760 CAN module MXI1 node guarding error 1 32 No response C13612 1 32 0x00a00020 10485792 CAN module MXI1 NMT master configuration incomplete Warning l...

Page 90: ...0001 11534337 CAN module MXI2 RPDO2 telegram n received or faulty No response C14591 2 0x00b00002 11534338 CAN module MXI2 RPDO3 telegram n received or faulty No response C14591 3 0x00b00003 11534339 CAN module MXI2 RPDO4 telegram n received or faulty No response C14591 4 0x00b00004 11534340 CAN module MXI2 RPDO5 telegram n received or faulty No response C14591 5 0x00b00005 11534341 CAN module MXI...

Page 91: ...rouble Quick stop by trouble Warning locked Warning Information Cause Remedy The CANopen communication module in module slot MXI2 is incompatible with the application Use a communication module supported by the application Response Lenze setting printed in bold Setting C13595 Adjustable response None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy C...

Page 92: ...ate CAN node by mains switching restart of the controller C00002 11000 or Reset node C00002 92 Parameterise heartbeat producer monitoring time again or switch off monitoring Reset possibly active error status Tip Before switching the mains and restarting the controller save the current parameter set C00002 11 Heartbeat protocol 80 Response Lenze setting printed in bold Setting C13614 Adjustable re...

Page 93: ...vate CAN node by mains switching restart of the controller C00002 11000 or Reset node C00002 92 Parameterise node guarding monitoring time again or switch off the monitoring Reset possibly active error status Tip Before switching the mains and restarting the controller save the current parameter set C00002 11 Node guarding protocol 74 Response Lenze setting printed in bold Setting not possible Non...

Page 94: ...ience e g EMC Set different time monitoring or switch off time monitoring Response Lenze setting printed in bold Setting C13591 4 C14591 4 Adjustable response None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy CANopen communication module in MXI1 CAN IN4 error PDO telegram length incorrect Error during transmission PDO time monitoring has been tri...

Page 95: ...ation module in MXI1 CAN IN8 error PDO telegram length incorrect Error during transmission PDO time monitoring has been triggered Set correct telegram length for the CAN master transmitter Eliminate fault in the ambience e g EMC Set different time monitoring or switch off time monitoring Response Lenze setting printed in bold Setting not possible None System fault Fault Trouble Quick stop by troub...

Page 96: ...able defect e g loose contact Too many faulty telegrams received Two CAN nodes have the same node address Eliminate fault in the ambience e g EMC Eliminate loose contact tighten adapter Assign different node addresses Setting the node address 33 Response Lenze setting printed in bold Setting not possible None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause...

Page 97: ... Warning locked Warning Information Cause Remedy CANopen communication module in MXI2 cyclic node monitoring Slave response The maximum time between two node guarding telegrams RTR from the master has been exceeded Parameterise life guarding monitoring time again or switch it off Node guarding protocol 74 Response Lenze setting printed in bold Setting not possible None System fault Fault Trouble Q...

Page 98: ...ning Information Cause Remedy CANopen communication module in MXI2 on the CAN master a configuration error has occurred in the network management Faulty download of an Engineer or PLC Designer project Invalid CAN settings according to DS301 V4 02 carried out in the Engineer or PLC Designer project Node guarding or heartbeat parameterised incorrectly Repeat download Correct CAN settings in the proj...

Page 99: ...e ambience e g EMC Set different time monitoring or switch off time monitoring Response Lenze setting printed in bold Setting C14591 5 Adjustable response None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy CANopen communication module in MXI2 CAN IN5 error PDO telegram length incorrect Error during transmission PDO time monitoring has been trigger...

Page 100: ... CAN PDO configuration error Erroneous project download Invalid CAN settings according to DS301 V4 02 carried out in the Engineer or PLC Designer project Mapping variables have incorrect CANopen indexes according to DS405 Repeat download Correct CAN settings in the project and have project regenerated Response Lenze setting printed in bold Setting not possible None System fault Fault Trouble Quick...

Page 101: ...ascending order C00369 Software manual Engineer online help for Servo Drive 9400 Here you will find general information about parameters Parameter Name C00369 CAN sync transmission cycle time Data type UNSIGNED_16 Index 11206d 2BC6h Cycle within which the sync master is to send sync telegrams With 0 ms Lenze setting no sync telegrams are created Mapping of the CANopen object I 1006 see DS301 V4 02...

Page 102: ...rved Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C00636 Resp to new module in MXI1 Data type UNSIGNED_32 Index 23939d 5D83h Selection of the response to a new extension module being inserted into module slot MXI1 Selection list Lenze setting printed in bold 1 Fault 6 Information 5 Warning 4 Warning locked 3 Quick stop by trouble 0 No response Read access Writ...

Page 103: ...nput 6 12 Digital input 7 13 Digital input 8 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C01121 Sync cycle time Data type UNSIGNED_32 Index 23454d 5B9Eh Time interval at which the phase control loop PLL in the controller expects the synchronisation signals The time interval set must correspond to the cycle of the synchronisation source Note For synchronisatio...

Page 104: ...application starts 400 μs before the synchronisation signal arrives From software version V3 0 The effect of the sync phase position can be influenced by the application cycle set in C01130 For the Lenze setting of C01130 the behaviour remains as before Synchronisation of PDOs via sync telegram 50 Setting range min value unit max value Lenze setting 0 μs 64000 400 μs Read access Write access CINH ...

Page 105: ...be used to readjust the phase control loop If the system bus CANopen is used as synchronisation source the recommended time increment for deviations is 109 ns Synchronisation of PDOs via sync telegram 50 Selection list Lenze setting printed in bold 1 7 ns 2 15 ns 3 23 ns 4 31 ns 5 39 ns 6 46 ns 7 54 ns 8 62 ns 9 70 ns 10 78 ns 11 85 ns 12 93 ns 13 101 ns 14 109 ns 15 117 ns 16 125 ns 17 132 ns 18 ...

Page 106: ...50 μs modulo C01130 For the Lenze setting the behaviour remains as before the sync phase position C01122 is always calculated modulo 1000 The set value is automatically rounded down to multiples of 1000 μs Effect of C01130 on the sync phase position 54 Note Setting the application cycle to a higher value than the sync cycle time C01121 results in an undefined response The same applies if the value...

Page 107: ...nsmission Masking of the TPDOs for event control 49 Setting range 0x00 0xFF Value is bit coded Bit 0 Mask bit 0 Bit 7 Mask bit 7 Subcodes Lenze setting Information C13311 1 0x00 Mask for byte 1 byte 8 of TPDO1 C13311 8 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13312 CAN TPDO2 mask byte x Data type BITFIELD_8 Index 11263d 2BFFh For each byte of the TPDO2 a ...

Page 108: ...it 0 Bit 7 Mask bit 7 Subcodes Lenze setting Information C13313 1 0x00 Mask for byte 1 byte 8 of TPDO3 C13313 8 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13314 CAN TPDO4 mask byte x Data type BITFIELD_8 Index 11261d 2BFDh For each byte of the TPDO4 a mask can be parameterised in the corresponding subcode In case of event controlled transmission of a PDO on...

Page 109: ...ID Bit 11 30 Reserved Bit 31 PDO invalid Bit 31 PDO invalid Subcodes Lenze setting Information C13320 1 0x00000181 Identifier TPDO1 After changing the node address and executing Reset node C00002 92 here the value 0x180 node address is set by default C13320 2 0x00000281 Identifier TPDO2 After changing the node address and executing Reset node C00002 92 here the value 0x280 node address is set by d...

Page 110: ...address and executing Reset node C00002 92 here the value 0x300 node address is set by default C13321 3 0x00000401 Identifier RPDO3 After changing the node address and executing Reset node C00002 92 here the value 0x400 node address is set by default C13321 4 0x00000501 Identifier RPDO4 After changing the node address and executing Reset node C00002 92 here the value 0x500 node address is set by d...

Page 111: ...ion C13323 1 254 Transmission mode for RPDO1 RPDO4 C13323 4 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13324 CAN TPDOx delay time Data type UNSIGNED_16 Index 11251d 2BF3h TPDO inhibit time according to DS301 V4 02 Minimum time between the transmission of two identical TPDOs The time is entered in 1 10 ms and automatically rounded to full milliseconds by the...

Page 112: ...transfer Scaling factor 1 Parameter Name C13345 CAN error Data type UNSIGNED_8 Index 11230d 2BDEh Display of the active CAN network error Selection list read only 0 No error 1 Guard Event 2 Warning 3 Bus off 4 Sync telegram error 6 CAN controller overflow Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13346 CAN heartbeat activity Data type BITFIELD_32 Index 112...

Page 113: ... during power on and a valid baud rate and node address have been set The value 0 means that either no CAN DIP switch or no valid setting has been recognised or that the setting has been overwritten by code C13350 or C13351 Selection list read only Information 0 Setting not accepted 1 Setting accepted Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13349 CAN set...

Page 114: ...factor 1 Parameter Name C13351 CAN baud rate Data type UNSIGNED_8 Index 11224d 2BD8h A change in the baud rate is only effective after a Reset node C00002 92 Setting the baud rate 34 Selection list Lenze setting printed in bold 0 500 kbps 1 250 kbps 2 125 kbps 3 50 kbps 4 1 Mbps 5 20 kbps 6 10 kbps 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 800 kbps 15 Reserved 255 Au...

Page 115: ...ng factor 1 Parameter Name C13357 CAN RPDOx monitoring time Data type UNSIGNED_16 Index 11218d 2BD2h Mapping of the RPDO event time see DS301 V4 02 If a different value than 0 is entered the RPDO is expected after the time set has elapsed If the RPDO is not received within the expected time an error message parameterisable under C13591 1 4 can be triggered Setting range min value unit max value 0 ...

Page 116: ...as read C13360 5 Bit0 error counter 0 should be sent after bus arbitration but 1 was read C13360 6 CRC error counter Checksum check has indicated an error C13360 7 Tx telegram counter Telegrams received without errors C13360 8 Rx telegram counter Telegrams sent without errors Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13361 CAN bus load Data type UNSIGNED_3...

Page 117: ...enze setting 0 2047 128 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13372 CAN SDO server Rx identifier Data type BITFIELD_32 Index 11203d 2BC3h Identifier with which the corresponding SDO server can be reached If bit 31 is set 0x8nnnnnnn the corresponding SDO server is deactivated Mapping of the CANopen objects I 1200 1 I 1209 1 see DS301 V4 02 Identifiers o...

Page 118: ...SDO channel According to DS301 V4 02 it can neither be changed nor deactivated Writing this subcode has no effect The value in subcode 1 results from the node address C13350 0x580 C13373 2 0x80000000 SDO server channel 2 TX C13373 10 0x80000000 SDO server channel 10 TX Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13374 CAN SDO client node address Data type UN...

Page 119: ...O invalid Subcodes Lenze setting Information C13375 1 0x80000000 SDO client channel 1 RX 10 RX C13375 10 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13376 CAN SDO client Tx identifier Data type BITFIELD_32 Index 11199d 2BBFh Identifier with which the corresponding SDO client can carry out transmissions If bit 31 is set 0x8nnnnnnn the corresponding SDO client...

Page 120: ...he master bit is activated C13352 Setting range min value unit max value Lenze setting 0 ms 65535 3000 ms Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13381 CAN Heartbeat Producer Time Data type UNSIGNED_16 Index 11194d 2BBAh Time interval for the transmission of the heartbeat telegram to one or several consumers The parameterised time is rounded down to an i...

Page 121: ... The 32 subcodes represent the nodes which are to be monitored via heartbeat Each bit coded subcode entry contains the expected heartbeat time and the node ID node address from which the heartbeat telegram is expected The parameterised time is rounded down to an integer multiple of 5 ms and must have a higher value than the heartbeat producer time C13381 of the node to be monitored The response to...

Page 122: ...e bit 0 Bit 0 15 Guard time Bit 16 23 Node address Bit 24 31 Life time factor Bit 31 Lifetime factor bit 7 Subcodes Lenze setting Information C13386 1 0x00000000 Monitoring entry 1 32 C13386 32 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13387 CAN Node Guarding Activity Data type BITFIELD_32 Index 11188d 2BB4h Node guarding protocol 74 Display range 0x000000...

Page 123: ...rror not used Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13391 CAN Emergency Object Data type BITFIELD_32 Index 11184d 2BB0h Identifier of the emergency telegram If bit 31 of this code is set 0x8nnnnnnn the generation of emergency telegrams is deactivated Mapping of the CANopen object I 1014 see DS301 V4 02 Emergency telegram 84 Setting range Lenze setting ...

Page 124: ...ite access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13393 CAN result bus scan Data type UNSIGNED_8 Index 11182d 2BAEh Result of a CAN bus scan previously carried out C00002 96 The subcode number 1 128 corresponds to the node address 1 128 Display range min value unit max value 0 1 Subcodes Information C13393 1 Result of the CAN bus scan for node address 1 128 The value 1 means th...

Page 125: ...n bold 1 Fault 2 Trouble 3 Quick stop by trouble 4 Warning locked 5 Warning 6 Information 0 No response Subcodes Lenze setting Information C13591 1 0 No response Response to the absence of RPDO1 RPDO4 C13591 4 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13595 Resp to CAN bus OFF Data type UNSIGNED_8 Index 10980d 2AE4h Response if CAN node switches to the bus...

Page 126: ...Information C13612 1 0 No response Response to the absence of the node guarding response for monitoring entry 1 32 C13612 32 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13613 Resp to CAN heartbeat error Data type UNSIGNED_8 Index 10962d 2AD2h Response if the corresponding heartbeat telegram is missing Heartbeat protocol 80 Selection list Lenze setting printe...

Page 127: ...74 Selection list Lenze setting printed in bold 1 Fault 2 Trouble 3 Quick stop by trouble 4 Warning locked 5 Warning 6 Information 0 No response Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C13625 CAN behaviour in case of fault Data type UNSIGNED_8 Index 10950d 2AC6h Mapping of the CANopen object I 1029 see DS301 V4 02 Selection list Lenze setting printed in b...

Page 128: ...nsmission Masking of the TPDOs for event control 49 Setting range 0x00 0xFF Value is bit coded Bit 0 Mask bit 0 Bit 7 Mask bit 7 Subcodes Lenze setting Information C14311 1 0x00 Mask for byte 1 byte 8 of TPDO1 C14311 8 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14312 CAN TPDO2 mask byte x Data type BITFIELD_8 Index 11263d 2BFFh For each byte of the TPDO2 a ...

Page 129: ...it 0 Bit 7 Mask bit 7 Subcodes Lenze setting Information C14313 1 0x00 Mask for byte 1 byte 8 of TPDO3 C14313 8 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14314 CAN TPDO4 mask byte x Data type BITFIELD_8 Index 11261d 2BFDh For each byte of the TPDO4 a mask can be parameterised in the corresponding subcode In case of event controlled transmission of a PDO on...

Page 130: ...ID Bit 11 30 Reserved Bit 31 PDO invalid Bit 31 PDO invalid Subcodes Lenze setting Information C14320 1 0x00000181 Identifier TPDO1 After changing the node address and executing Reset node C00002 92 here the value 0x180 node address is set by default C14320 2 0x00000281 Identifier TPDO2 After changing the node address and executing Reset node C00002 92 here the value 0x280 node address is set by d...

Page 131: ...ing the node address and executing Reset node C00002 92 here the value 0x300 node address is set by default C14321 3 0x00000401 Identifier RPDO3 After changing the node address and executing Reset node C00002 92 here the value 0x400 node address is set by default C14321 4 0x00000501 Identifier RPDO4 After changing the node address and executing Reset node C00002 92 here the value 0x500 node addres...

Page 132: ...254 Transmission mode for RPDO1 RPDO4 C14323 4 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14324 CAN TPDOx delay time Data type UNSIGNED_16 Index 11251d 2BF3h TPDO inhibit time according to DS301 V4 02 Minimum time between the transmission of two identical TPDOs The time is entered in 1 10 ms and automatically rounded to full milliseconds by the code Mapping...

Page 133: ...transfer Scaling factor 1 Parameter Name C14345 CAN error Data type UNSIGNED_8 Index 11230d 2BDEh Display of the active CAN network error Selection list read only 0 No error 1 Guard Event 2 Warning 3 Bus off 4 Sync telegram error 6 CAN controller overflow Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14346 CAN heartbeat activity Data type BITFIELD_32 Index 112...

Page 134: ... during power on and a valid baud rate and node address have been set The value 0 means that either no CAN DIP switch or no valid setting has been recognised or that the setting has been overwritten by code C14350 or C14351 Selection list read only Information 0 Setting not accepted 1 Setting accepted Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14349 CAN set...

Page 135: ...factor 1 Parameter Name C14351 CAN baud rate Data type UNSIGNED_8 Index 11224d 2BD8h A change in the baud rate is only effective after a Reset node C00002 92 Setting the baud rate 34 Selection list Lenze setting printed in bold 0 500 kbps 1 250 kbps 2 125 kbps 3 50 kbps 4 1 Mbps 5 20 kbps 6 10 kbps 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 800 kbps 15 Reserved 255 Au...

Page 136: ...ng factor 1 Parameter Name C14357 CAN RPDOx monitoring time Data type UNSIGNED_16 Index 11218d 2BD2h Mapping of the RPDO event time see DS301 V4 02 If a different value than 0 is entered the RPDO is expected after the time set has elapsed If the RPDO is not received within the expected time an error message parameterisable under C14591 1 4 can be triggered Setting range min value unit max value 0 ...

Page 137: ...as read C14360 5 Bit0 error counter 0 should be sent after bus arbitration but 1 was read C14360 6 CRC error counter Checksum check has indicated an error C14360 7 Tx telegram counter Telegrams received without errors C14360 8 Rx telegram counter Telegrams sent without errors Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14361 CAN bus load Data type UNSIGNED_3...

Page 138: ...enze setting 0 2047 128 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14372 CAN SDO server Rx identifier Data type BITFIELD_32 Index 11203d 2BC3h Identifier with which the corresponding SDO server can be reached If bit 31 is set 0x8nnnnnnn the corresponding SDO server is deactivated Mapping of the CANopen objects I 1200 1 I 1209 1 see DS301 V4 02 Identifiers o...

Page 139: ...SDO channel According to DS301 V4 02 it can neither be changed nor deactivated Writing this subcode has no effect The value in subcode 1 results from the node address C14350 0x580 C14373 2 0x80000000 SDO server channel 2 TX C14373 10 0x80000000 SDO server channel 10 TX Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14374 CAN SDO client node address Data type UN...

Page 140: ...O invalid Subcodes Lenze setting Information C14375 1 0x80000000 SDO client channel 1 RX 10 RX C14375 10 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14376 CAN SDO client Tx identifier Data type BITFIELD_32 Index 11199d 2BBFh Identifier with which the corresponding SDO client can carry out transmissions If bit 31 is set 0x8nnnnnnn the corresponding SDO client...

Page 141: ...he master bit is activated C14352 Setting range min value unit max value Lenze setting 0 ms 65535 3000 ms Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14381 CAN Heartbeat Producer Time Data type UNSIGNED_16 Index 11194d 2BBAh Time interval for the transmission of the heartbeat telegram to one or several consumers The parameterised time is rounded down to an i...

Page 142: ... The 32 subcodes represent the nodes which are to be monitored via heartbeat Each bit coded subcode entry contains the expected heartbeat time and the node ID node address from which the heartbeat telegram is expected The parameterised time is rounded down to an integer multiple of 5 ms and must have a higher value than the heartbeat producer time C14381 of the node to be monitored The response to...

Page 143: ...e bit 0 Bit 0 15 Guard time Bit 16 23 Node address Bit 24 31 Life time factor Bit 31 Lifetime factor bit 7 Subcodes Lenze setting Information C14386 1 0x00000000 Monitoring entry 1 32 C14386 32 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14387 CAN Node Guarding Activity Data type BITFIELD_32 Index 11188d 2BB4h Node guarding protocol 74 Display range 0x000000...

Page 144: ...rror not used Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14391 CAN Emergency Object Data type BITFIELD_32 Index 11184d 2BB0h Identifier of the emergency telegram If bit 31 of this code is set 0x8nnnnnnn the generation of emergency telegrams is deactivated Mapping of the CANopen object I 1014 see DS301 V4 02 Emergency telegram 84 Setting range Lenze setting ...

Page 145: ...ite access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14393 CAN result bus scan Data type UNSIGNED_8 Index 11182d 2BAEh Result of a CAN bus scan previously carried out C00002 96 The subcode number 1 128 corresponds to the node address 1 128 Display range min value unit max value 0 1 Subcodes Information C14393 1 Result of the CAN bus scan for node address 1 128 The value 1 means th...

Page 146: ...n bold 1 Fault 2 Trouble 3 Quick stop by trouble 4 Warning locked 5 Warning 6 Information 0 No response Subcodes Lenze setting Information C14591 1 0 No response Response to the absence of RPDO1 RPDO4 C14591 4 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14595 Resp to CAN bus OFF Data type UNSIGNED_8 Index 10980d 2AE4h Response if CAN node switches to the bus...

Page 147: ...Information C14612 1 0 No response Response to the absence of the node guarding response for monitoring entry 1 32 C14612 32 Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14613 Resp to CAN heartbeat error Data type UNSIGNED_8 Index 10962d 2AD2h Response if the corresponding heartbeat telegram is missing Heartbeat protocol 80 Selection list Lenze setting printe...

Page 148: ...74 Selection list Lenze setting printed in bold 1 Fault 2 Trouble 3 Quick stop by trouble 4 Warning locked 5 Warning 6 Information 0 No response Read access Write access CINH PLC STOP No transfer Scaling factor 1 Parameter Name C14625 CAN behaviour in case of fault Data type UNSIGNED_8 Index 10950d 2AC6h Mapping of the CANopen object I 1029 see DS301 V4 02 Selection list Lenze setting printed in b...

Page 149: ...ingle 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 UNSIGNED_8 1 byte without sign UNSIGNED_16 2 bytes without sign UNSIGNED_32 4 bytes ...

Page 150: ... 1 C13360 CAN telegram and error counter 24215 5E97 A 8 UNSIGNED_16 1 C13361 CAN bus load 24214 5E96 A 6 UNSIGNED_32 1 C13367 CAN SYNC Rx identifier 24208 5E90 E 1 UNSIGNED_32 1 C13368 CAN SYNC Tx identifier 24207 5E8F E 1 UNSIGNED_32 1 C13372 CAN SDO server Rx identifier 24203 5E8B A 10 BITFIELD_32 1 C13373 CAN SDO server Tx identifier 24202 5E8A A 10 BITFIELD_32 1 C13374 CAN SDO client node addr...

Page 151: ... A 4 UNSIGNED_16 1 C14359 CAN status 24216 5E98 E 1 UNSIGNED_8 1 C14360 CAN telegram and error counter 24215 5E97 A 8 UNSIGNED_16 1 C14361 CAN bus load 24214 5E96 A 6 UNSIGNED_32 1 C14367 CAN SYNC Rx identifier 24208 5E90 E 1 UNSIGNED_32 1 C14368 CAN SYNC Tx identifier 24207 5E8F E 1 UNSIGNED_32 1 C14372 CAN SDO server Rx identifier 24203 5E8B A 10 BITFIELD_32 1 C14373 CAN SDO server Tx identifier...

Page 152: ...Resp CAN node guarding error 23963 5D9B A 32 UNSIGNED_8 1 C14613 Resp to CAN heartbeat error 23962 5D9A A 32 UNSIGNED_8 1 C14614 Resp to CAN life guarding error 23961 5D99 E 1 UNSIGNED_8 1 C14625 CAN behaviour in the case of error 23950 5D8E E 1 UNSIGNED_8 1 Code Name Index Data Access dec hex DS DA DT Factor R W CINH ...

Page 153: ...ANopen protocol CANopen object Relationship to Lenze code Index Subindex Name I 1000 0 Device type I 1001 0 Error register C13390 C14390 I 1003 Pre defined error field 0 Number of errors 1 10 Standard error field I 1005 0 COB ID SYNC message C13367 C14367 C13368 C13368 I 1006 0 Communication cycle period C00369 I 100C 0 Guard time C13382 C14382 I 100D 0 Life time factor C13383 C14383 I 1010 Store ...

Page 154: ...RPDO1 RPDO4 communication parameter 0 Highest subindex supported 1 COB ID used by RPDO C13321 1 4 C14321 1 4 2 Transmission type C13323 1 4 C14323 1 4 3 Inhibit time 4 Compatibility entry 5 Event timer I 1600 I 1603 RPDO1 RPDO4 mapping parameter 0 Number of mapped application objects in PDO 1 8 Application object 1 8 I 1800 I 1803 TPDO1 TDDO4 communication parameter 0 Highest subindex supported 1 ...

Page 155: ...information Index I 1000 Name Device type Subindex Default setting Display range min value unit max value Access Data type 0 Device type 0 0 4294967295 ro U32 8th byte 7th byte 6th byte 5th byte Data 4 Data 3 Data 2 Data 1 High word Low word High byte Low byte High byte Low byte Additional information Device profile number Index I 1001 Name Error register Subindex Default setting Display range min...

Page 156: ...es in the standard error field under subindexes 1 10 will be deleted if the subindex number of recorded errors is overwritten with the value 0 Emergency error code Cause Entry in the error register I 1001 0x0000 One of several errors eliminated 0xxx Elimination of an individual error afterwards error free state 0x00 0x1000 Standard device is in error status error response Trouble Message Warning F...

Page 157: ...t to the same sync telegram If sync telegrams are only to be received by specific communication modules their identifiers can be entered with a value of up to and including 0x07FF The identifier may only be changed if the communication module does not transmit a sync telegram bit 30 0 How to change the identifier Deactivate identifier set bit 30 to 0 Change identifier Activate identifier set bit 3...

Page 158: ...ported by the slave This object is related to the Lenze code C13382 C14382 I 100D Life Time Factor for node guarding Node guarding protocol 74 The node life time is the product of the guard time and the life time factor Node Life Time Guard Time I 100C x Life Time Factor I 100D The life guarding event occurs in the NMT slave if the slave has not been triggered by the NMT master through an RTR with...

Page 159: ...ccording to CANopen specification DS301 V4 02 14 4 Assignment of the data telegram write access Index I 1010 Name Store parameters Subindex Default setting Setting range min value unit max value Access Data type 0 highest subindex supported 1 only read access ro U32 1 Save all parameters 0 4294967295 rw U32 Subindex Meaning Read Write 0 Max supported subindex 1 A write attempt triggers the error m...

Page 160: ...g identifier causes a response according to the CANopen specification DS301 V4 02 14 6 Assignment of the data telegram write Index I 1011 Name Restore default parameters Subindex Default setting Setting range min value unit max value Access Data type 0 highest subindex supported 1 only read access ro U32 1 restore all default parameters 0 4294967295 rw U32 Subindex Meaning Read Write 0 Max support...

Page 161: ...tered value multiplied by 0 1 gives the delay time in ms The values are automatically rounded up to whole values in ms This object is related to the Lenze code C13392 C14392 Index I 1014 Name COB ID EMCY Subindex Default setting Setting range min value unit max value Access Data type 0 COB ID EMCY 0x80 Node ID 0 4294967295 rw U32 8th byte 7th byte 6th byte 5th byte Data 4 Data 3 Data 2 Data 1 Bit ...

Page 162: ...ed automatically as soon as a time 0 ms is set In this case the node guarding monitoring function is deactivated This object is related to the Lenze code C13381 C14381 Index I 1016 Name Consumer heartbeat time Subindex Default setting Setting range min value unit max value Access Data type 0 highest subindex supported 32 only read access ro U32 1 32 consumer heartbeat time 0 0 4294967295 rw U32 Su...

Page 163: ...ex Meaning 1 Manufacturer identification number The identification number allocated to Lenze by the CAN in Automation e V organisation is 0x0000003B 2 Product code 0x94001 9400 StateLine 0x94002 9400 HighLine ServoPLC 0x94004 9400 regenerative power supply module 3 Main version and subversion of the firmware 4 Serial number Index I 1029 Name Error behaviour Subindex Default setting Setting range m...

Page 164: ...alue Access Data type 0 highest subindex supported 2 2 2 ro U8 1 COB ID client server Rx Node ID 0x600 0 4294967295 ro U32 2 COB ID server client Tx Node ID 0x580 0 4294967295 ro U32 Subindex Meaning 1 Receive identifier specification For SDO server channel 1 node address C13350 C14350 0x600 2 Send identifier specification For SDO server channel 1 node address C13350 C14350 0x580 8th byte 7th byte...

Page 165: ... Activate identifier set bit 31 to 0 Index I 1201 Name SDO2 server parameter Subindex Default setting Setting range min value unit max value Access Data type 0 highest subindex supported 3 only read access ro U8 1 COB ID client server Rx 0x80000000 0 4294967295 rw U32 2 COB ID server client Tx 0x80000000 0 4294967295 rw U32 3 Node ID of the SDO client 1 127 only read access ro U32 Subindex Meaning...

Page 166: ...a telegram assignment for subindices 1 14 12 Data telegram assignment for subindices 2 Assignment of the user data 14 13 Assignment of the user data for writing the subindex 1 14 14 Assignment of the user data for writing the subindex 2 8th byte 7th byte 6th byte 5th byte Data 4 Data 3 Data 2 Data 1 Bit 31 Bit 30 Bit 29 bit 11 Bit 10 bit 0 0 0 Extended identifier 0 11 bit identifier 0x644 0x00 0x0...

Page 167: ...nt 1 127 only read access ro U32 Index I 1203 Name SDO4 server parameter Subindex Default setting Setting range min value unit max value Access Data type 0 highest subindex supported 3 only read access ro U8 1 COB ID client server Rx 0x80000000 0 4294967295 rw U32 2 COB ID server client Tx 0x80000000 0 4294967295 rw U32 3 Node ID of the SDO client 1 127 only read access ro U32 Index I 1204 Name SD...

Page 168: ...ent 1 127 only read access ro U32 Index I 1207 Name SDO8 server parameter Subindex Default setting Setting range min value unit max value Access Data type 0 highest subindex supported 3 only read access ro U8 1 COB ID client server Rx 0x80000000 0 4294967295 rw U32 2 COB ID server client Tx 0x80000000 0 4294967295 rw U32 3 Node ID of the SDO client 1 127 only read access ro U32 Index I 1208 Name S...

Page 169: ... transmission type 254 0 255 rw U8 3 inhibit time for RPDOs unused rw U16 4 compatibility entry reserved write or read access results in error message 0x06090011 rw U8 5 event timer for RPDOs unused rw U16 Subindex Meaning Lenze code 1 Identifier RPDO1 The basic setting is according to the Predefined Connection Set Identifier 0x200 node ID C13321 1 C14321 1 2 RPDO transmission type according to DS...

Page 170: ...or message 0x06090011 rw U8 5 event timer for RPDOs unused rw U16 Subindex Meaning Lenze code 1 Identifier RPDO2 The basic setting is according to the Predefined Connection Set Identifier 0x300 node ID C13321 2 C14321 2 2 RPDO transmission type according to DS301 V4 02 Transmission type 47 C13323 2 C14323 2 Index I 1402 Name RPDO3 communication parameter Subindex Default setting Setting range min ...

Page 171: ...de ID 0 4294967295 rw U32 2 transmission type 254 0 255 rw U8 3 inhibit time for RPDOs unused rw U16 4 compatibility entry reserved write or read access results in error message 0x06090011 rw U8 5 event timer for RPDOs unused rw U16 Subindex Meaning Lenze code 1 Identifier RPDO4 The basic setting is according to the Predefined Connection Set Identifier 0x500 node ID C13321 4 C14321 4 2 RPDO transm...

Page 172: ...ue Access Data type 0 number of mapped application objects in PDO 0 0 8 rw U8 1 8 application object 1 8 0 0 4294967295 rw U32 Subindex Meaning 0 Number of mapped objects 1 8 Mapping entries 1 8 for RPDO2 Index I 1602 Name RPDO3 mapping parameter Subindex Default setting Setting range min value unit max value Access Data type 0 number of mapped application objects in PDO 0 0 8 rw U8 1 8 applicatio...

Page 173: ...rved write or read access results in error message 0x06090011 rw U8 5 event timer 0 ms 0 ms 65535 rw U16 Subindex Meaning Lenze code 1 Identifier TPDO1 The basic setting is according to the Predefined Connection Set Identifier 0x180 node ID C13320 1 C14320 1 2 TPDO transmission type according to DS301 V4 02 Transmission type 47 C13322 1 C14322 1 3 Minimum time between the transmission of two ident...

Page 174: ...index Default setting Setting range min value unit max value Access Data type 0 highest subindex supported 5 only read access ro U8 1 COB ID used by TPDO 0x280 node ID 0 4294967295 rw U32 2 transmission type 254 0 255 rw U8 3 inhibit time 0 ms 0 0 1 ms 65535 rw U16 4 reserved reserved write or read access results in error message 0x06090011 rw U8 5 event timer 0 ms 0 ms 65535 rw U16 Subindex Meani...

Page 175: ...0 node ID C13320 3 C14320 3 2 TPDO transmission type according to DS301 V4 02 Transmission type 47 C13322 3 C14322 3 3 Minimum time between the transmission of two identical TPDOs see DS301 V4 02 C13324 3 C14324 3 5 Cycle time with which the PDOs are transmitted with the transmission type 254 C13356 3 C14356 3 Index I 1803 Name TPDO4 communication parameter Subindex Default setting Setting range m...

Page 176: ... parameter Subindex Default setting Setting range min value unit max value Access Data type 0 number of mapped application objects in PDO 0 0 8 rw U8 1 8 application object 1 8 0 0 4294967295 rw U32 Subindex Meaning 0 Number of mapped objects 1 8 Mapping entry 1 8 for TPDO1 8th byte 7th byte 6th byte 5th byte Data 4 Data 3 Data 2 Data 1 Bit 31 bit 16 Bit 15 bit 8 Bit 7 bit 0 Index Subindex Length ...

Page 177: ...TPDO3 mapping parameter Subindex Default setting Setting range min value unit max value Access Data type 0 number of mapped application objects in PDO 0 0 8 rw U8 1 8 application object 1 8 0 0 4294967295 rw U32 Subindex Meaning 0 Number of mapped objects 1 8 Mapping entries 1 8 for RPDO4 Index I 1A03 Name TPDO4 mapping parameter Subindex Default setting Setting range min value unit max value Acce...

Page 178: ...FF OFF OFF ON OFF OFF ON 10 OFF OFF OFF ON OFF ON OFF 11 OFF OFF OFF ON OFF ON ON 12 OFF OFF OFF ON ON OFF OFF 13 OFF OFF OFF ON ON OFF ON 14 OFF OFF OFF ON ON ON OFF 15 OFF OFF OFF ON ON ON ON 16 OFF OFF ON OFF OFF OFF OFF 17 OFF OFF ON OFF OFF OFF ON 18 OFF OFF ON OFF OFF ON OFF 19 OFF OFF ON OFF OFF ON ON 20 OFF OFF ON OFF ON OFF OFF 21 OFF OFF ON OFF ON OFF ON 22 OFF OFF ON OFF ON ON OFF 23 OF...

Page 179: ...N ON OFF ON ON ON 56 OFF ON ON ON OFF OFF OFF 57 OFF ON ON ON OFF OFF ON 58 OFF ON ON ON OFF ON OFF 59 OFF ON ON ON OFF ON ON 60 OFF ON ON ON ON OFF OFF 61 OFF ON ON ON ON OFF ON 62 OFF ON ON ON ON ON OFF 63 OFF ON ON ON ON ON ON 64 ON OFF OFF OFF OFF OFF OFF 65 ON OFF OFF OFF OFF OFF ON 66 ON OFF OFF OFF OFF ON OFF 67 ON OFF OFF OFF OFF ON ON 68 ON OFF OFF OFF ON OFF OFF 69 ON OFF OFF OFF ON OFF ...

Page 180: ... OFF OFF ON OFF 99 ON ON OFF OFF OFF ON ON 100 ON ON OFF OFF ON OFF OFF 101 ON ON OFF OFF ON OFF ON 102 ON ON OFF OFF ON ON OFF 103 ON ON OFF OFF ON ON ON 104 ON ON OFF ON OFF OFF OFF 105 ON ON OFF ON OFF OFF ON 106 ON ON OFF ON OFF ON OFF 107 ON ON OFF ON OFF ON ON 108 ON ON OFF ON ON OFF OFF 109 ON ON OFF ON ON OFF ON 110 ON ON OFF ON ON ON OFF 111 ON ON OFF ON ON ON ON 112 ON ON ON OFF OFF OFF ...

Page 181: ... 2012 L 181 E94AYCCA communication manual CANopen DIP switch positions for setting the CAN node address 125 ON ON ON ON ON OFF ON 126 ON ON ON ON ON ON OFF 127 ON ON ON ON ON ON ON Node address DIP switch 64 32 16 8 4 2 1 ...

Page 182: ...ver Tx identifier 118 C13374 CAN SDO client node address 118 C13375 CAN SDO client Rx identifier 119 C13376 CAN SDO client Tx identifier 119 C13377 CAN SDO server node address 120 C13378 CAN delay boot up Operational 120 C13381 CAN Heartbeat Producer Time 120 C13382 CAN Guard Time 120 C13383 CAN Life Time Factor 121 C13385 CAN Heartbeat Consumer Time 121 C13386 CAN Node Guarding 122 C13387 CAN Nod...

Page 183: ...status C14347 134 CAN life time factor C13383 121 CAN life time factor C14383 142 CAN module MXI1 basic configuration invalid error number 92 bus off error message 91 emergency configuration faulty error message 93 heartbeat error index 1 error message 92 invalid node address 0 error message 91 life guarding error error message 92 NMT master configuration faulty error message 93 NMT slave configur...

Page 184: ...tch C13349 113 CAN setting of DIP switch C14349 134 CAN slave master C13352 114 CAN slave master C14352 135 CAN status C13359 115 CAN status C14359 136 CAN status DIP switch C13348 113 CAN status DIP switch C14348 134 CAN SYNC application cycle C01130 106 CAN SYNC Rx identifier C13367 117 CAN SYNC Rx identifier C14367 138 CAN sync transmission cycle time C00369 101 CAN SYNC Tx identifier C13368 11...

Page 185: ... Guard time 76 Guard time I 100C 158 H Heartbeat consumer time 82 Heartbeat event 82 Heartbeat producer time 81 Heartbeat protocol 80 I I 1000 Device type 155 I 1001 Error register 155 I 1003 Pre defined error field 156 I 1005 COB ID SYNC message 157 I 1006 Communication cycle period 158 I 100C Guard time 158 I 100D Life time factor 158 I 1010 Store parameters 159 I 1011 Restore default parameters...

Page 186: ... Notes used 11 Number of nodes 17 O Operating conditions 17 P Parameter data 17 40 Parameter data telegram examples 69 Parameter data transfer 61 Parameter reference 101 Parameters of the communication module for slot MXI1 107 Parameters of the communication module for slot MXI2 128 PDO delay 54 PDO mapping 56 Pre defined error field I 1003 156 Process data 17 40 Process data transfer 45 Producer ...

Page 187: ...Sync phase position 52 54 Sync phase position C01122 104 Sync source 51 Sync source C01120 103 Sync telegram 50 Sync tolerance 52 Sync tolerance C01123 104 Synchronisation of PDOs 50 Sync PLL increment 52 Sync PLL increment C01124 105 System bus CANopen connection 26 System error messages 89 T Table of attributes 149 Target group 7 Technical data 17 Terminals 16 Terminology used 10 Terms 10 Total ...

Page 188: ...rmany Service Lenze Service GmbH Breslauer Straße 3 D 32699 Extertal Germany 49 0 51 54 82 0 00 80 00 24 4 68 77 24 h helpline 49 0 51 54 82 28 00 49 0 51 54 82 11 12 Lenze Lenze de Service Lenze de Þ www Lenze com EDS94AYCCA 13411721 EN 5 0 TD17 10 9 8 7 6 5 4 3 2 1 ...

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