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Lenze EtherCAT 8400, Communications Manual

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Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

67

8

Process data transfer

8.4

CiA402 PDO mapping in case of Inverter Drive 8400 TopLine P

 

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

Transmit PDO (Tx-PDO)

Word

Index

[hex]

Description

1

0x6041

Status word

2

0x6061

Display of the operating mode

0x60FD

Physical inputs

3

0x6044

Current velocity for "Velocity Mode" (is not supported yet)

4

0x6064

Current position

5
6

0x606C

Current velocity

7
8

0x6077

Current torque

9

0x60B9

Touch probe status

10

0x60BA

Touch probe 1 positive edge

11
12

0x60BB

Touch probe 1 negative edge

13
14

0x603F

Error code

15

0x6074

Following error

16

Summary of Contents for EtherCAT 8400

Page 1: ...L Ä KôVä 13429553 EtherCAT Accessories Inverter Drives 8400 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Communication Manual EN E84AYCET ...

Page 2: ...andard devices 0 25 kW and 0 37 kW _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22 5 1 2 Mounting for standard devices from 0 55 kW onwards _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23 5 1 3 Replacing the communication module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24 5 2 Electrical installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25 5 2 1 EMC...

Page 3: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82 10 1 Interruption of EtherCAT communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82 10 2 Sync frame failure detection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83 10 3 Interruption of internal communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83 11 Diagnostics _ _ _ _ _ _...

Page 4: ...explained to the level of detail required to understand 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 product names mentioned...

Page 5: ...tes with regard to 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 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 installed e g E...

Page 6: ... _ _ _ _ 1 1 Document history Version Description 1 0 08 2009 TD17 First edition 2 0 10 2009 TD17 Amendment of the information on the synchronisation via the fieldbus and general revision 3 0 04 2010 TD17 General revision 4 0 11 2010 TD17 Information about the EtherCAT register AL Status Code 58 supplemented 4 1 11 2012 TD17 EtherCAT is a registered trademark by Beckhoff Automation GmbH Germany 5 ...

Page 7: ...ic software version of the inverter are highlighted accordingly in this documentation Example This function extension is available from software version V3 0 Program name The Lenze PC software Engineer Window italics The message window The Options dialog box Variable name Setting bEnable to TRUE Control element Bold The OK button The Copy command The Properties tab The Name input field Sequence of...

Page 8: ...o as Subindex CoE CANopen over EtherCAT DC Distributed clocks for EtherCAT synchronisation Engineer PC software from Lenze which supports you during engineering parameterisation diagnostics and configuration throughout the entire life cycle i e from planning to maintenance of the commissioned machine PLC Designer ESI EtherCAT slave information device description file in XML format EtherCAT is a re...

Page 9: ...ts 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 may result in death or seri...

Page 10: ...cumentation and related documentation This is the precondition for a safe and trouble free operation and for obtaining the product fea tures 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 pr...

Page 11: ...rol cabinet SELV PELV Only use cables that correspond to the given specifications Specification of the Ethernet cable 29 2 3 Residual hazards Protection of persons If Inverter Drives 8400 are used on a phase earthed mains with a rated mains voltage of 400 V external measures need to implemented in order to provide reliable protection against accidental contact Protective insulation 16 Device prote...

Page 12: ...may only be used in EtherCAT networks Any other use shall be deemed inappropriate 3 2 Identification The type designation as well as the hardware and software version of the communication module are specified on the nameplate 3 1 Identification data Product series Type designation From software version Inverter Drives 8400 StateLine E84AVSCxxxxx 03 00 Inverter Drives 8400 HighLine E84AVHCxxxxx 02 ...

Page 13: ... system to the expansion slots of the Inverter Drives 8400 The communication module can be supplied internally by the standard device and externally via a separate voltage source 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 PDO transfer with CoE CANopen over EtherCAT...

Page 14: ...2 E84AYCET communication module EtherCAT E84YCET001C X245 External voltage supply of the communication module 2 pole plug connector with spring connection External voltage supply 31 X246 EtherCAT input IN X247 EtherCAT output OUT RJ45 sockets according to IEC EN 60603 7 with 2 LED status displays each for diagnostics Network topology 26 EtherCAT connection 27 Status displays at X246 and X247 88 MS...

Page 15: ... Line switch Bus device type EtherCAT slave Number of nodes Max 65535 in the entire network Max cable length between two EtherCAT nodes 100 m typically Vendor ID hex 0x3B Product ID Depending on the standard device used see chapter Automatic device identification 35 Revision ID Depending on the software version of the communication module see chapter Identification 12 Baud rate 100 Mbps full duple...

Page 16: ...a rated mains voltage 400 V external measures need to be implemented in order to provide reliable protection against accidental contact Possible consequences Death or severe injury 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 be available the comp...

Page 17: ...sive protective insulation between two terminals located in differently insulated separate potential areas 4 1 Protective insulation in accordance with EN61800 5 1 E84YCXX007 Reinforced insulation Basic insulation Functional insulation X4 X6 X5 X3 Bus Ext DC MCI X4 X6 X5 X3 X1 X1 X105 X105 X100 X100 MMI X106 X106 X106 X106 X106 X106 X106 X101 Terminal strip Connection X100 Mains DC bus connection ...

Page 18: ...pe of protective insulation is used between the bus terminal of the device module in slot MCI 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 ...

Page 19: ...te telegram length processing time within the inverter Area Values Process data words 1 16 process data words per direction max 32 bytes 16 bits word Parameter data mailbox size for CoE transfer Max 128 bytes Data Processing time Process data for synchronised operation 0 2 ms Processing time in the module 1 x ms Runtime of the application task of the technology application used tolerance Process d...

Page 20: ... EtherCAT Communication Manual DMS 5 0 EN 05 2013 TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 4 5 Dimensions 4 2 Dimensions E84YCET001B Type Dimensions mm a b c c1 E84AYCET 67 50 57 8 ...

Page 21: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5 Installation Stop Electrostatic discharge 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 22: ... inverter is switched on When the module is plugged in it is recognised automatically and checked for plausibility regarding its function and version 5 1 1 Mounting for standard devices 0 25 kW and 0 37 kW 5 1 Mounting for standard devices 0 25 kW and 0 37 kW Mounting steps 1 Use a screwdriver to lever out the cover of the MCI slot of the standard device and remove it 1 2 2 Loosen the securing scr...

Page 23: ...standard devices from 0 55 kW onwards 5 2 Mounting for standard devices from 0 55 kW onwards Mounting steps 1 Slightly impress the pressure surface of the top side of the MCI slot cover of the standard device 1 2 Bend the cover forward and remove it from the standard device 2 3 Loosen the securing screw for the communication module at the standard device 3 4 Insert the communication module into th...

Page 24: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5 1 3 Replacing the communication module 5 3 Replacing the communication module Mounting steps 1 Loosen the securing screw for the communication module at the standard device 1 2 Remove the communication module from the MCI slot of the standard device 2 3 Insert the new communication module into the MCI slot of the standard device 3 4 Tighten the securing s...

Page 25: ...wiring In typical systems standard shielding is sufficient for Ethernet cables However in environments with a very high level of interference EMC resistance can be improved by earthing both sides of the cable shield as well For this purpose observe the following notes 1 Remove the plastic sheath of the cable on a length of 2 cm 2 Fasten the cable shield to the shield support of the basic device Do...

Page 26: ...ng 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 27: ... _ _ _ _ _ _ _ _ _ _ _ _ 5 2 3 EtherCAT connection EtherCAT is connected via the RJ45 sockets X246 IN and X247 OUT 5 6 EtherCAT connection A standard Ethernet patch cable is suitable for connecting the communication module to the EtherCAT fieldbus Specification of the Ethernet cable 29 E84YCET001E Note In order to prevent damage to the RJ45 socket plug or remove the Ethernet cable connector straig...

Page 28: ... _ _ _ _ _ _ _ _ _ _ _ _ _ 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 cable or crossover cable RJ45 socket Pin Signal E9...

Page 29: ... 5 7 Structure of the Ethernet cable S FTP CAT 5e Note Only use cables that correspond to the given specifications Specification of the Ethernet cable Ethernet standard Standard Ethernet acc to 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 Crosstalk damping 24 dB for 100 MHz and 100 m ea...

Page 30: ... 5 8 Ethernet plugs in accordance with EIA TIA 568A 568B Note Wiring and colour code are standardised in EIA TIA 568A 568B The use of 4 pole Ethernet cables according to industrial standard is permissible The cable type only connects the assigned pins 1 2 3 and 6 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 white green ...

Page 31: ...o be continued in the event of a failure of the supply of the standard device Access to parameters of a standard device disconnected from the mains is not possible Wiring plug connector X245 5 9 Wiring of the 2 pole plug connector with spring connection How to wire the plug connector with spring connection 1 Place a screwdriver in the notch beneath the contact slot and keep it pressed 2 Insert the...

Page 32: ...X245 plug connector Terminal data Designation Description U 24 V DC 20 4 V 0 28 8 V 0 I 140 mA Reference potential for the external voltage supply Area Values Electrical connection 2 pole plug connector with spring connection Possible connections Fixed 0 2 1 5 mm2 AWG 24 16 Flexible Without wire end ferrule 0 2 1 5 mm2 AWG 24 16 With wire end ferrule without plastic sleeve 0 2 1 5 mm2 AWG 24 16 Wi...

Page 33: ...ting parameters responses and parameters for fieldbus communication are defined for the inverter Lenze devices use codes for this purpose The codes of the inverter and for communication are saved to the memory module in a non volatile data set In addition there are codes for diagnosing and monitoring the stations Parameters of the communication module 97 6 1 Before initial switch on Stop Before yo...

Page 34: ...EtherCAT configuration real time execution and diagnostics The basic parameters of the communication module are stored in the internal configuration memory and can be used by the master for the node identification For the node search 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 f...

Page 35: ...e is made after switching off on the voltage supply 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 Inverter Drives 8400 The product code defines the following Inverter Drives 8400 in the device description files 6 2 3 Configuring process d...

Page 36: ...e EtherCAT network The address is not saved and is lost when the device is switched off Via the Station alias address input field you can assign a fixed address to the EtherCAT slave Valid address range 0 32767 Address 0 means that no station alias address is assigned Impermissible addresses are marked in red in the input field The address is written to code C13899 In addition specify the use of t...

Page 37: ...ocks in the EtherCAT bus system with Lenze Controller 3231 C The DC synchronisation is set with the EtherCAT configuration software 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 to the EtherCAT mast...

Page 38: ...e in the master It is mainly defined by the processing time of the master and the slaves 6 4 2 DC configuration in the Inverter Drive 8400 slave In order to use the DC synchronisation in the Inverter Drive 8400 select the sync source by means of the standard device code C01120 Selection 4 MCI synchronisation via MCI communication module Note The synchronisation cycle time must be an integer multip...

Page 39: ...dard device has adapted its phase position to the DC signal This process may take several seconds The state of the standard device synchronicity is displayed under code C13884 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 compares the cycle time defined by the EtherCAT master...

Page 40: ...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 41: ...eer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6 5 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 42: ... 1 Go to the Communication path dialog box and the Bus connection list field and select the entry Gateway Controller EtherCAT there 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 Cl...

Page 43: ...o 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 detecte...

Page 44: ...d in the project tree 2 Call the menu command Online Set communication path and go online 3 Select Gateway Controller EtherCAT ADS as bus connection 4 Enter the access data applicable to the Controller in area Enter the user name password and the IP 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 ...

Page 45: ..._ _ _ 6 6 EtherCAT ADS communication parameters in TwinCAT and Engineer In the following two example structures are used to describe where you can find the EtherCAT ADS communication parameters in the Beckhoff TwinCAT and in the Lenze Engineer EtherCAT 6 6 1 Example Structure without a Beckhoff Controller 6 4 Example EtherCAT bus system without Beckhoff Controller The Beckhoff Soft PLC runs on the...

Page 46: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Display of the communication parameters in TwinCAT The communication parameters IP address here 172 31 200 200 and EtherCAT Master Net ID here 172 31 200 200 2 1 can be found under the target system selection The EtherCAT Slave address here 1001 can be found under the EtherCAT tab of the EtherCAT s...

Page 47: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 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 48: ...ion Manual DMS 5 0 EN 05 2013 TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 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 49: ..._ _ _ _ _ _ _ 6 6 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 Display of the communication parameters in TwinCAT The communication parameters IP address here 172 31 200 10 and...

Page 50: ...S 5 0 EN 05 2013 TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The EtherCAT Master Net ID here 5 3 66 236 4 1 can also be found under the EtherCAT tab of the EtherCAT master The EtherCAT slave address here 1003 can be found under the EtherCAT tab of the EtherCAT slave ...

Page 51: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 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 52: ...ation Manual DMS 5 0 EN 05 2013 TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 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 53: ...mand 11 Save all parameter sets via the standard device code C00002 and then execute a reset node of the node or switch off the voltage supply of the communication module and switch it on again Protection against uncontrolled restart After a fault e g short time mains failure the restart of a drive is not always wanted and in some cases even not allowed In the Lenze setting for Inverter Drives 840...

Page 54: ...he master without being processed in the slaves EtherCAT transmits data in so called EtherCAT frames The EtherCAT nodes only extract the data intended for them while the EtherCAT 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 EtherCAT frame the dat...

Page 55: ...ormation Target address of the EtherCAT frame destination Source address of the EtherCAT frame source Type of the EtherCAT frame EtherType 0x88A4 Ethernet data The Ethernet data contain the following information Length of the datagrams within the EtherCAT frame Length One reserved bit Reserved Type of the datagrams within the EtherCAT frame Type EtherCAT datagrams Datagrams FCS Checksum of the Eth...

Page 56: ...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 57: ...red in the AL status code EtherCAT register 58 E94AYCET009 Operational Pre Operational Init Safe Operational State Description Init Initialisation phase No SDO PDO communication with the slaves Device detection possible by means of a fieldbus scan Pre operational The fieldbus is active SDO communication mailbox communication is possible No PDO communication Safe operational SDO communication mailb...

Page 58: ...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 fault 0x0011 Invalid status change requested 0x0012 Unknown status requested 0x0013 Bootstrap status is not supported 0x0016 Invalid mailbox configuration Pre operational 0x001A Synchronisation error 0x001B Sync manager wat...

Page 59: ...8400 is controlled by means of the process data 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 16 process data words ...

Page 60: ...ed via the port blocks LP_MciIn and LP_MciOut These port blocks are also referred to as process data channels The port function block interconnection of the process data objects PDO is made via the Lenze Engineer 8 1 Outer and inner data transfer between bus system inverter and application 3B0FL Q E WUOB E WUOB Z WUO E Q B E Q B Z Q Z Q GQ Q BS 3B0FL2XW E6WDWHB E6WDWHB Z6WDWH E2XW B E2XW B Z2XW Z2...

Page 61: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8 2 Preconfigured port interconnection of the process data objects PDO The preconfigured port interconnection of the process data objects can be activated by setting the standard device code C00007 40 MCI The FB Editor serves to display the port blocks LP_MciIn and LP_MciOut with the preconfigured ...

Page 62: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8 3 Free configuration of the port interconnection of the process data objects PDO How to configure the port interconnection in the Engineer 1 Under the Process data objects tab click on the Go to application button 2 Under the Ports tab select port block MCI_IN or MCI_OUT by mouse click and activate it via the Acti...

Page 63: ... the port interconnection of the process data objects PDO _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 4 The button serves to assign signals to the process data words in the Assignment Signal Function Block dialog box Select signals and then click the OK button ...

Page 64: ...rCAT Communication Manual DMS 5 0 EN 05 2013 TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Moreover you can assign signals to the individual control and status bits at the WORD_1 and WORD_2 process data words via the and buttons Select the signals and then click OK ...

Page 65: ...e port interconnection of the process data objects PDO _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Tip When the port blocks LP_MciIn and LP_MciOut are activated see 1 they will be visible in the FB Editor Here you can also assign signals to the process data words ...

Page 66: ...eipt PDO Rx PDO and transmit PDO Tx PDO Receipt PDO Rx PDO Software manual online help for the Inverter Drive 8400 TopLine P Here you will find detailed information on the functions of the CiA402 objects Word Index hex Description 1 0x6040 Control word 2 0x6060 Operating mode 0x60FE 1 Physical outputs 3 0x6042 Target velocity for Velocity Mode is not supported yet 4 0x607A Target position 5 6 0x60...

Page 67: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Transmit PDO Tx PDO Word Index hex Description 1 0x6041 Status word 2 0x6061 Display of the operating mode 0x60FD Physical inputs 3 0x6044 Current velocity for Velocity Mode is not supported yet 4 0x6064 Current position 5 6 0x606C Current velocity 7 8 0x6077 Current torque 9 0x60B9 Touch probe status 10 0x60BA Touch probe 1 positive edge 11 12 0x60BB Touch pr...

Page 68: ...bjects The SDO services provide for the write and read access to the object directory The SDO channel provides for access to Implemented CoE objects 79 and Lenze codes by means of the CoE protocol In general the parameter data transfer is not time critical Parameter data are for instance operating parameters motor data diagnostic information 9 1 Establishing a connection between master and slave B...

Page 69: ...ained in codes 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 of Lenze code numbers within the manufacturer specific area of the object directory is between 8192 0x2000 and 24575 0x5FFF Structure of a mailbox datagram Mailbox data are transmitted in a datagramm within an EtherCAT frame The data area of the ...

Page 70: ...a 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 instructing party Station address of the target if an EtherCAT slave is the instructing party Channel WORD 6 bits 0 5 0x00 Reserved Priority 2 bits 6 7 0x00 Lowest priority 0x03 Highest priority Ty...

Page 71: ...on address of the target if an EtherCAT slave is the instructing party 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 ...

Page 72: ...nstructing party Station address of the target if an EtherCAT slave is the instructing party 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...

Page 73: ...th 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 the Data set size Tran...

Page 74: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 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 75: ...on address of the target if an EtherCAT slave is the instructing party 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 t...

Page 76: ...nstructing party Station address of the target if an EtherCAT slave is the instructing party 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 ...

Page 77: ...Station address of the target if an EtherCAT slave is the instructing party 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 Tran...

Page 78: ...D 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 the Data set size Transfer type 1 bit 1 0x01 Expedited transfer Dat...

Page 79: ...oduct code UDINT 32 R 3 Revision number UDINT 32 R 4 Serial number UDINT 32 R 0x10F1 Error Settings Object 0 Subindex 000 USINT 8 R 1 Local Error Reaction USINT 8 R 2 Sync Error Counter Limit USINT 8 RW 0x1600 RxPDO 1 0 Subindex 000 USINT 8 RW 1 16 Output Object 1 16 UDINT 32 RW 0x1A00 TxPDO 1 0 Subindex 000 USINT 8 RW 1 16 Input Object 1 16 UDINT 32 RW 0x1C00 Sync Man Communication type 0 Subinde...

Page 80: ...x29E2 C13853 All words from standard device 1 16 All words from standard device UNSIGNED 16 R 0x29DC C13859 Number of Tx PDOs UNSIGNED 16 R 0x29DB C13860 Number of Rx PDOs UNSIGNED 16 R 0x29DA C13861 Bus state UNSIGNED 16 R 0x29D7 C13864 Active station address UNSIGNED 16 R 0x29D4 C13867 Display of emergency data STRING 8 64 R 0x29C8 C13879 Bus error UNSIGNED 16 R 0x29C7 C13880 Reaction on communi...

Page 81: ...number and or length of the objects 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 Incorrect data type The para...

Page 82: ...is transferred to the slave If the slave does not receive any valid process data in the Operational status the setting in C13885 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 and the green LED BS is activated see ...

Page 83: ...ted by 1 If the internal telegram failure error counter reaches a threshold adjustable in CoE object 0x10F1 2 a change to Safe Operational takes place and the Sync telegram failure 0x01bc8700 error message is output In the standard setting monitoring is deactivated 0x10F1 2 0 A sensible setting is a value 5 in order that an error will only be triggered in the inverter when a second telegram fails ...

Page 84: ...agnostics For fault diagnostics the communication module is provided with LEDs on the front Furthermore you can carry out the Diagnostics with the Engineer 89 11 1 LED status displays The following status displays can be differentiated Module status displays 85 Fieldbus status displays 86 Status displays at X246 and X247 88 Note During normal operation only the LEDs MS 85 and BS 86 should be lit c...

Page 85: ...6 ME DE MS LED Colour State 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 has no connection to the standard device the standard device is switched off in the initialisation phase or not available ME red on An error has occurred in the communication module DE red on The...

Page 86: ...nd BE show the fieldbus status 11 2 LEDs BS BE E84YCET006 BS BE LED Colour State Description BS 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 Safe operational status is active The data are not yet active in the standar...

Page 87: ...he 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 node 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 State Description ...

Page 88: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11 1 3 Status displays at X246 and X247 The LEDs beneath the RJ45 sockets X246 and X247 show the EtherCAT connection status 11 3 LEDs at the RJ45 sockets X246 and X247 E84YCET005 A B A B LED Colour State Description A green on A physical EtherCAT connection is available flickering Data are being exchanged via EtherCAT B red off This LED is not u...

Page 89: ...gnostics 11 2 Diagnostics with the Engineer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11 2 Diagnostics with the Engineer In the Engineer the Diagnostics tab displays various pieces of EtherCAT diagnostic information ...

Page 90: ...sage last sent by the Inverter Drive 8400 is displayed in code C13867 Code C13887 serves to select the error responses where no emergency messages are to be sent to the EtherCAT master 11 3 1 Structure of the Emergency message Example Emergency message of the error Operational status quit 0x01bc8131 Bytes 1 and 2 display that an error is pending Byte 3 display the contents of the error register I ...

Page 91: ..._ _ _ _ _ _ _ 11 3 2 Emergency messages overview The following emergency messages can occur Emergency no hex Designation Extended error code hex Description 0x1000 General error 0x01bc3100 Lost connection to 8400 0x01bc3100 93 0x1000 General error 0x01bc6430 Invalid module configuration 0x01bc6430 94 0x1000 General error 0x01bc8131 Operational status quit 0x01bc8131 95 0xA000 Synchronisation error...

Page 92: ...column you will see a detailed description causes and remedies of this error message Software manual online help for the Inverter Drive 8400 Here you can find general information on diagnostics fault analysis and on error messages Error no hex Subject area no dec Error no dec Error text Error type Error response Adjustable in 0x01bc3100 444 12544 Lost connection to 8400 base device 1 Fault 0x01bc5...

Page 93: ...wed connection of the communication module to the MC slot of the Inverter Drive 8400 Send communication module and Inverter Drive 8400 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 Access via standard device to parameter set within the memory module wa...

Page 94: ...nication module 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 Communication module is defective Send communication module with error description to Lenze Response Lenze setting printed in bold Setting not possible None System fault Fault Trouble Quick ...

Page 95: ...the Operational state See also chapter Interruption of EtherCAT communication 82 Check cables and terminals The master has to reset the node to the Operational status If required check a pending emergency message first Response Lenze setting printed in bold Setting C13880 2 Adjustable response None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy The...

Page 96: ...GNED_8 Index 23455d 5B9Fh Selection of the source for DC synchronisation signals Select 4 MCI for the communication module In general only one source can synchronise the drive Synchronisation with Distributed Clocks DC 37 Selection list Lenze setting printed in bold Info 0 Off Synchronisation off 1 CAN on board Synchronisation via the system bus CAN on board 4 MCI Synchronisation via MCI communica...

Page 97: ... value unit max value 0 65535 Subcodes Info C13850 1 C13850 16 Read access 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 10724d 29E4h Display of the process data words subcodes 1 16 which are transferred from the master to the communication module Only those which are configured are valid Display area mi...

Page 98: ... MOT Parameter Name C13859 Number of Tx PDOs Data type UNSIGNED_16 Index 10716d 29DCh Number of process data words sent Display area min value unit max value 0 16 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13860 Number of Rx PDOs Data type UNSIGNED_16 Index 10715d 29DBh Number of process data words received Display area min value unit max value...

Page 99: ...PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13879 Bus error Data type UNSIGNED_16 Index 10696d 29C8h Bit coded display of the bus error Additionally an error message is entered in the EtherCAT register AL Status Code 58 Value is bit coded Info Bit 0 General bus error Bit 1 Reserved Bit 31 Reserved Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13...

Page 100: ...mmunication module Synchronisation with Distributed Clocks DC 37 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 10691d 29C3h The code displays whether the inverter is DC synchronised Synchronisation with Distributed...

Page 101: ...as Data type UNSIGNED_16 Index 10676d 29B4h This code serves to set a station alias address In order to use a station alias address you must select a value 0 The station alias address must only be set if the node is part of a hot connect group The station alias address must be unambiguous and may only be assigned once within the EtherCAT network Use the same station alias address in the EtherCAT m...

Page 102: ... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ C13902 Parameter Name C13902 Firmware version Data type VISIBLE_STRING Index 10673d 29B1h The code contains a string with a length of 5 bytes The firmware version is output here Example 01 00 Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT ...

Page 103: ...access via a bus system hex 5FFFh Lenze code number Data DS Data structure E Single variable only one parameter element A Array variable several parameter elements DA Number of the 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 UN...

Page 104: ...mber of Rx PDOs 10715 29DB E 1 UNSIGNED_16 1 C13861 Bus state 10714 29DA E 1 UNSIGNED_16 1 C13864 Active station address 10711 29D7 E 1 UNSIGNED_16 1 C13867 Display of emergency data 10708 29D4 E 1 OCTET_STRING C13879 Bus error 10696 29C8 E 1 UNSIGNED_16 1 C13880 Reaction on communication failure 10695 29C7 A 2 UNSIGNED_8 1 C13881 Response time when exiting Operational 10694 29C6 E 1 UNSIGNED_16 1...

Page 105: ...tion failure 99 C13881 Response time when exiting Operational 100 C13883 DC active 100 C13884 Base device synchronisation status 100 C13885 Clear process data 100 C13887 Suppress emergency message in case of 101 C13899 Station alias 101 C13900 Firmware product type 101 C13901 Firmware compilation date 101 C13902 Firmware version 102 Carrying out the port interconnection in the Engineer 62 CiA402 P...

Page 106: ...e structure 29 External voltage supply 31 F Feedback to Lenze 108 Fieldbus status displays 86 Firmware compilation date C13901 101 Firmware product type C13900 101 Firmware version C13902 102 Frame structure 55 G Gateway Controller configure EtherCAT 41 Gateway Controller configure EtherCAT ADS Beckhoff 43 General data 15 General safety and application notes 10 I Identification 12 Indexing of the ...

Page 107: ... Residual hazards 11 Response of the Lenze EtherCAT nodes during start up 39 Response time when exiting Operational C13881 100 Restart by watchdog reset error message 93 Revision ID 15 S Safety instructions 10 Safety instructions representation 9 Screenshots application examples 5 SDO abort codes Abort codes 81 SDO download 74 SDO upload 70 Specification of the Ethernet cable 29 State machine 57 S...

Page 108: ...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 notice this please send your suggestions and points of criticism in a short e mail to feedback docu Lenze de Thank you for your support Your Lenze documentation team ...

Page 109: ...5 0 EN 05 2013 TD17 Lenze Automation GmbH Hans Lenze Str 1 D 31855 Aerzen Germany 49 0 51 54 82 0 49 0 51 54 82 28 00 Lenze Lenze de www Lenze com Service Lenze Service GmbH Breslauer Straße 3 D 32699 Extertal Germany 00 80 00 24 4 68 77 24 h helpline 49 0 51 54 82 11 12 Service Lenze de ...

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