Lenze POWERLINK E84DGDV Series Communications Manual Download Page 1

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POWERLINK

Accessories

Inverter Drives 8400 motec

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Communication manual

E84DGFCLxxx

Summary of Contents for POWERLINK E84DGDV Series

Page 1: ...L Ä Y eä 13560868 POWERLINK Accessories Inverter Drives 8400 motec_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Communication manual EN E84DGFCLxxx ...

Page 2: ... _ _ _ 20 5 2 1 Network topology _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20 5 2 2 POWERLINK _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22 5 2 3 Basic Ethernet Mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22 5 2 4 POWERLINK connection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _...

Page 3: ...1 1 Communication relevant parameters of the operating system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45 11 2 Parameters relevant for POWERLINK communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 46 11 3 Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 60 12 Index table _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ ...

Page 4: ...t is required for understanding the function of the Communication Unit This documentation does not describe any software provided by other manufacturers No liability can be accepted for corresponding data provided in this documentation For information on how to use the software please refer to the master computer PLC master documents All brand names mentioned in this documentation are trademarks o...

Page 5: ...Lenze products can be found in the download area at www Lenze com Information regarding the validity The information given in this documentation is valid for the following devices Features and variants 13 Screenshots application examples All screenshots in this documentation are application examples Depending on the firmware version of the field devices and the software version of the Engineering ...

Page 6: ...uency inverter 8400 motec POWERLINK Option EDS84DMOTPL EN 1 0 11 2018 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1 1 Document history Version Description 1 0 10 2018 TD23 First edition ...

Page 7: ... separator Point The decimal point is always used For example 1234 56 Hexadecimal 0x 0 9 A F Example 0x60F4 Binary Nibble 0b 0 1 Example 0b0110 Example 0b0110 0100 Text Program name PC software Example Lenze Engineer Window italics The message window The Options dialog box Control element Bold The OK button The Copy command The Properties tab The Name input field Hyperlink Underlined Optically hig...

Page 8: ...IP without safety with safety STO PROFIBUS without safety with safety STO PROFINET without safety with safety STO POWERLINK without safety with safety STO The wiring unit provides flexible connection possibilities for a simple integration into the power supply of the machine Engineer Lenze PC software which supports you during the Engineering process parameterisation diagnostics and configuration ...

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

Page 10: ...ated documentation This is the precondition for safe and trouble free operation and for obtaining the product features specified Features and variants 13 The specifications processes and circuitry described in this document are for guidance only and must be adapted to your own specific application Lenze does not take responsibility for the suitability of the process and circuit proposals Only qual...

Page 11: ...pecific safety instructions During operation the Communication Unit must be connected to the Wiring Unit and the Drive Unit 2 3 Residual hazards Device protection The Communication Unit contains electronic components that can be damaged or destroyed by electrostatic discharge Installation 18 Documentation for Inverter Drives 8400 motec control system plant machine All the other measures prescribed...

Page 12: ...communication unit is a unit that can only be used in conjunction with the following modules is a device intended for use in industrial power systems should only be used under the operating conditions prescribed in this documentation can only be used in POWERLINK networks can also be used without being connected to the POWERLINK network Any other use shall be deemed inappropriate Product series Ty...

Page 13: ...ith the Ethernet POWERLINK V2 communication profile for motion and general applications Supported functions POWERLINK CN Controlled Node Up to 6 data words max 12 bytes can be sent or received Very short CN response times for optimal network performance Communication with the Lenze EASY Starter access to all Lenze parameters is executed via the diagnostic interface of the Drive Unit Product series...

Page 14: ...WERLINK IN M12 socket 4 pole D coded POWERLINK connection 23 A3 POWERLINK OUT M12 socket 4 pole D coded POWERLINK connection 23 A4 Positions for further freely designable inputs and outputs Digital inputs Digital output Analog input only for E84DGFCLxJx Relay output only for E84DGFCLxJx Connection of Safety Option safety system only for E84DGFCLxJx B1 B4 X3 X4 X61 Terminal strips for wiring the co...

Page 15: ...nnector X32 LEDs to plug connector X55 It is also possible to connect the POWERLINK and other inputs and outputs e g digital inputs via the positions A1 A4 and B1 B4 For the connections 5 pin M12 connectors or alternatively cable glands cable cross section max 1 0 mm2 AWG 18 can be used The M12 connectors cable glands and prefabricated system cables can be obtained from various manufacturers Wire ...

Page 16: ...bient conditions and information on the electromagnetic compatibility EMC that also apply to the Communication Unit Range Values Order designation E84DGFCLxNx POWERLINK E84DGFCLxJx POWERLINK Safety Communication profile Ethernet POWERLINK V2 Interface for communication POWERLINK IN M12 socket 4 pole D coded POWERLINK OUT M12 socket 4 pole D coded Network topology Tree star and line Type of node Co...

Page 17: ...cle time 400 μs Total cycle times 0 4 0 5 1 0 1 2 2 0 3 0 20 0 ms Buffer size Tx iso max 1490 bytes Rx iso max 1490 bytes Delay time Controlled node TPreq TRes approx 2 6 μs Controlled node TSoA TASnd approx 2 6 μs Frame size Max asynchronous frame size MTU 1518 bytes SDO communication method UDP IP or ASND Number of RPDOs 1 channel RPDO user data per application Max 6 objects max 10 bytes Number ...

Page 18: ... _ _ _ _ _ _ _ _ _ 5 Installation Stop Electrostatic discharge Electronic components within the Communication Unit can be damaged or destroyed by electrostatic discharge Possible consequences The Communication Unit is defective Fieldbus communication is not possible or faulty I O signals are faulty The safety function is faulty Protective measures Discharge electrostatic charges before touching th...

Page 19: ..._ _ _ _ _ _ _ _ _ _ _ _ 5 1 Mechanical installation 5 1 Mechanical installation of the 8400 motec components Mounting instructions for the Inverter Drive 8400 motec Here you will find detailed information on the installation 0 37 3 0 kW 4 0 7 5 kW E84DG023a E84DG023b Legend for Fig 5 1 1 Drive Unit 2 Communication unit 3 Wiring Unit A Cover of the Drive Unit EDK84DG Mounting instructions of the Dr...

Page 20: ...n class II repeaters acc to IEEE 802 3u Class I hubs and switches are not permissible since they have considerably longer delay times for the frame forwarding and a bigger jitter Both sizes reduce the real time capability and dynamics The cable length between both nodes is limited to 100 m Hardware manual for the Inverter Drive 8400 motec Here you will find detailed information about the digital a...

Page 21: ...hybrid forms between star and line topology Recommended topology For an easy configuration and due to many possible topology variants we recommend to create networks according to the following rules 1 Create CN groups with up to 10 nodes 2 Connect CN groups in star shape to the managing node 3 Connect CN groups to the managing node via one external hub each For more than 2 CN groups use an externa...

Page 22: ... POWERLINK gateway These infrastructure components separate the network traffic in the POWERLINK network segment from the one in the standard Ethernet The handling of the frames depend on their direction Standard Ethernet EPL network segment Only frames that are addressed to nodes in the EPL network segment are forwarded The forwarding takes place in the asynchronous area of the EPL cycle EPL netw...

Page 23: ...n POWERLINK IN POWERLINK OUT M12 socket 4 pole D coded Wiring at terminal strip X31 Pin Signal Description 1 Tx Data line transmitted data plus 2 Rx Data line received data plus 3 Tx Data line transmitted data minus 4 Rx Data line received data minus M12 socket 4 pole D coded Wiring at terminal strip X32 Pin Signal Description 1 Tx Data line transmitted data plus 2 Rx Data line received data plus ...

Page 24: ...he data of the digital and analog inputs Furthermore the external voltage supply serves to maintain POWERLINK communication if the main supply fails The digital inputs RFR DI1 DI5 and the analog input can continue to be evaluated The external voltage supply is done via the terminals 24E and GND of the terminal strip X3 Permissible voltage DC max current U 24 V DC 20 V 0 29 V 0 Imax 120 mA Access t...

Page 25: ...arameters for fieldbus communication are defined for the inverter For Lenze devices this is done via the codes The codes of the inverter and communication are saved non volatilely as a data set in the memory module In addition there are codes for diagnosing and monitoring the stations Parameter reference 45 The data from the inverter or the memory module can only be read with the main voltage supp...

Page 26: ...d from C13899 DIP1 switch 1 is ON DIP1 switch 1 is OFF and DIP2 switch 1 8 are OFF Lenze setting The node IDs must differ from each other in case of several networked POWERLINK nodes Save the changed parameter settings with the device command C00002 11 save all parameter sets DIP switches of the Drive Unit Note The DIP switches can only be accessed when the drive unit is detached from the communic...

Page 27: ...on of DIP2 node ID of the last mains switching is displayed In C13864 the active node ID is displayed C13865 displays whether the node ID has been set via DIP switches or via C13899 DIP switches of the Drive Unit 4 7 5 kW DIP1 DIP switches for configuring the Drive Unit or for setting the POWERLINK node address DIP2 DIP1 1 2 3 4 5 6 7 8 Description OFF The node ID 1 239 can be set via DIP2 Lenze s...

Page 28: ...plied with voltage POWERLINK communication requires voltage supply of the communication unit If this is requirement is not met the CE04 MCI communication error error message error No 01 0127 00002 is output The error must be reset in the Inverter Drive so that POWERLINK communication can be established The external voltage supply serves to keep up POWERLINK communication in the event of a main sup...

Page 29: ... 192 168 100 Node ID The Lenze setting corresponds to the IP address 192 168 100 1 0xC0 A8 64 01 C13001 0x1E40 3 Subnet Mask Read only C13003 0x1E40 5 IP Address Router 3232261374 Lenze setting hex 0xC0A864FE 192 168 100 254 C13004 0x1030 5 MAC Address Read only C13136 SoC Cycle Counter Read only C13861 0x1F8C NMT Communica tion Status Read only C13864 0x1F93 1 Node ID Read only C13865 0x1F93 2 No...

Page 30: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6 5 Settings in the EASY Starter How to open the parameter list for the POWERLINK settings 1 Go to the online devices in the device list and select the diagnostic adapter 8400 motec 2 Select the diagnostics tab in the workspace 3 Open the fieldbus diagnostics dialog window via the button The dialog box displays the codes you can use to make the P...

Page 31: ...1E40 3 Subnet Mask C13001 Read only 0x1E40 5 IP Address Router C13003 3232261374 Lenze setting hex 0xC0A864FE 192 168 100 254 0x1030 5 MAC Address C13004 Read only 0x1F93 1 Node ID C13864 Read only 0x1F93 2 Node ID by HW C13865 Read only Node ID SW C13899 0 Setting of the node ID unless a node ID is set via DIP switches 0x1F9A Host Name C13898 DNS compatible device name The length is limited to 20...

Page 32: ...naging node has to wait until all controlled nodes have been found Unless all controlled nodes are available in the defined EPL cycle time the EPL_BOOTUP_1 error message is generated The managing node remains in this status If the managing node has found all controlled nodes it starts the network Due to machine or system specific switch on sequences it may be required to adapt the following EPL ob...

Page 33: ...ed via different communication channels Process data are transmitted via the process data channel Process data serve to control the Inverter Drive 8400 motec The transmission of process data is time critical Process data are cyclically transferred between the managing node and the controlled nodes permanent exchange of current input and output data The managing node can directly access the process...

Page 34: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7 1 Freely configuring the port interconnection of the process data objects PDO The port interconnection of the process data objects is only possible in the Engineer How to freely configure the port interconnection 1 Go to the project view of the Engineer and select the application 2 Select the port blocks MCI_IN or MCI_OUT on the Ports tab with a mous...

Page 35: ...t interconnection of the process data objects PDO _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 4 Via the button you assign signals to the process data words in the Signal assignment Function block dialog box Select the desired signals Confirm the selection with OK ...

Page 36: ..._ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5 Via the button you can expand the view for the process data words WORD_1 WORD_2 und WORD_5 to assign them to additional control and status bit signals Via the button you can select the desired signals in the Signal assignment Func tion block dialog box Confirm the selection with OK 6 Set the control mode to Network MCI...

Page 37: ... controlled node being in the OPERATIONAL state does not receive valid process data the process data are handled according to the setting in C13885 The last data sent by the managing node can either be used or set to zero If communication fails the controlled node state changes to PRE OPERATIONAL see C13861 and the red LED ERR is activated see LED status displays 38 By default there is no response...

Page 38: ...not active on the fieldbus or is in the INIT state blinking EPL network is in the initialisation phase EPL status NMT_CS_PREOPERATIONAL_1 blinking EPL network is in the initialisation phase with cyclic traffic EPL status NMT_CS_PREOPERATIONAL_2 blinking EPL node is waiting for the start signal EPL status NMT_CS_READY_TO_OPERATE blinking The EPL node has not found a managing node and is in Basic Et...

Page 39: ...ff The Communication Unit is not active on the fieldbus or is in the Init state On The Communication Unit is supplied with voltage and is connected to the standard device blinking The Communication Unit is supplied with voltage but has not yet established a connection to the standard device Standard device is switched off initialising or not present ERR red Off No error On A fieldbus error has occ...

Page 40: ...hich type of error is to be suppressed Errors and warnings are sent to the managing node as extended diagnostic messages The diagnostic data are visible via the PLC Engineering software Bytes Meaning Value hex 1 6 Diagnostic block header 0x0010 001C 0100 7 8 Alarm type 0x0001 diagnosis 9 12 API Application Programming Interface 0x0000 0000 13 14 Slot number 0x0001 0x0002 15 16 Subslot number 0x000...

Page 41: ...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 EPL Lost connection to 8400 target 1 No Response 0x01bc5531 444 21809 EPL NV memory No access 1 No Response 0x01bc5532 444 21810 EPL NV memory Read error 1 No Response 0x01bc5533 444 21811 EPL NV memory Write e...

Page 42: ...cted correctly to the Drive Unit Switch on Inverter Drive 8400 motec Check connection of the Communication Unit to the Drive Unit Sent Inverter Drive 8400 motec with error description to Lenze Response Lenze setting printed in bold Setting not possible No reaction System fault Fault Trouble Quick stop by trouble WarningLocked Warning Information Cause Remedy Access to parameter set in memory modul...

Page 43: ...tion unit is defective Send Communication Unit with error description to Lenze Response Lenze setting printed in bold Setting not possible No reaction System fault Fault Trouble Quick stop by trouble WarningLocked Warning Information Cause Remedy Communication unit is defective Send Communication Unit with error description to Lenze Response Lenze setting printed in bold Setting not possible No re...

Page 44: ... the status of the managing node Response Lenze setting printed in bold Setting not possible No reaction System fault Fault Trouble Quick stop by trouble WarningLocked Warning Information Cause Remedy An invalid IP address has been assigned by the managing node via POWERLINK or set as node ID Ensure that a valid IP address is assigned by the managing node via POWERLINK Set valid node ID Node addre...

Page 45: ...cally ascending order C01501 C01503 Reference manual online help for the Inverter Drive 8400 motec Here you will find general information on parameters Parameter Name C01501 Resp to communication error with MCI Data type UNSIGNED_8 Index 23074d 5A22h Configuration of monitoring functions for the Communication Unit Selection list 0 No response 1 Error 4 Warning Locked Subcodes Lenze setting Info C0...

Page 46: ...ameter Name C13001 0x1E40 3 Subnet Mask Data type UNSIGNED_32 Index 11574d 2D36h The code declares the IP subnet mask which restricts the directly addressable IP address range i e without a gate way in the EPL segment of the routers The value 255 255 255 0 0xFFFFFF00 is always assigned to the subnet mask in one segment Display range min value unit max value Subcodes Info C13001 1 EPL IP Subnet Mas...

Page 47: ... 5 MAC address Data type OCTET_STRING Index 11571d 2D33h The code indicates the physical address MAC address of the POWERLINK interface of the Communication Unit When the Communication Unit is produced the MAC address is assigned unequivocally worldwide and provides ad dressing on the lowest level Display range min value unit max value Subcodes Info C13004 1 MAC Address octet string 6 00 0A 86 xx ...

Page 48: ...On detection of a booting controlled node the application will be informed and the controlled node will be started 3 0 Optional controlled node 1 Obligatory controlled node 4 0 The managing node is allowed to send reset commands 1 The managing node must not send any reset command 5 0 Software version verification of the controlled node is not required 1 Software version verification of the control...

Page 49: ...ith this ID is a controlled node 2 0 On detection of a booting controlled node the application will not be informed 1 On detection of a booting controlled node the application will be informed and the controlled node will be started 3 0 Optional controlled node 1 Obligatory controlled node 4 0 The managing node is allowed to send reset commands 1 The managing node must not send any reset command 5...

Page 50: ... 1 Isochronous access 1 0 No SDO by UDP IP 1 SDO by UDP IP 2 0 No SDO by EPL ASnd 1 SDO by EPL ASnd 3 0 No SDO integrated in PDO 1 SDO integrated in PDO 4 0 No NMT Info Services 1 NMT Info Services supported 5 0 No extended NMT State Commands 1 Extended NMT State Commands supported 6 0 No dynamic PDO mapping 1 Dynamic PDO mapping supported 7 Reserved No function 8 0 No configuration manager functi...

Page 51: ...gth of the EPL cycle in μs In the configured state this code must have an identical value in all EPL nodes The selected value must correspond to the actual bus cycle time so that the internal monitoring functions work correctly Selection list Lenze setting printed in bold 400 400 500 500 600 600 800 800 1000 1000 2000 2000 3000 3000 4000 4000 5000 5000 6000 6000 7000 7000 8000 8000 9000 9000 10000...

Page 52: ...UNSIGNED_16 Index 11508d 2CF4h The code defines the reserved user data length of the PRes frames for managing node diagnostic device or router Each subcode number corresponds to one EPL node with the same node ID The EPL node must be enabled via code C13028 The subcode describes the PRes telegrams received The value must be within the limits of 36 1490 bytes The values are upper limit values for t...

Page 53: ...e three multiplexed cycles Setting range min value unit max value Lenze setting 0 Cycles 255 0 cycles Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13075 0x1F98 8 SDO Channel Width AsyncMTU Data type UNSIGNED_16 Index 11500d 2CECh The code defines the maximum user data size of asynchronous frames Protocol specific headers for EPL UDP IP and others...

Page 54: ...nd Data type UNSIGNED_8 Index 11473d 2CD1h A reset command to a single EPL node in the network can result in cycle and monitoring errors The code initiates a reset of the EPL node When the reset has been executed the code is automatically set to NoCommand NMTInvalidService Selection list Lenze setting printed in bold 40 ResetNode 41 ResetCommunication 42 ResetConfiguration 255 NoCommand Read acces...

Page 55: ...ays the current NMT state according to the Ethernet POWERLINK specification of the EPL node 0 Off NMT_GS_OFF 25 Initialising NMT_GS_INITIALISING 41 ResetAppl NMT_GS_RESET_APPLICATION 57 ResetComm NMT_GS_RESET_CONFIGURATION 121 ResetConfig NMT_GS_RESET_CONFIGURATION 28 NotActive NMT_CS_NOT_ACTIVE 29 PreOp1 NMT_CS_PRE_OPERATIONAL_2 93 PreOp2 NMT_CS_PRE_OPERATIONAL_2 109 ReadyToOp NMT_CS_READY_TO_OPE...

Page 56: ... 0x00000000 no bus error Bit 0 1 0x00000001 bus error active Value is bit coded Bit 0 Bus Error if TRUE Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13880 error response Data type UNSIGNED_8 Index 10695d 29C7h The subcodes determine the reaction when the OPERATIONAL state is left when SoC is lost and when a CRC error occurs Selection list 0 No re...

Page 57: ... 29C0h This code serves to suppress sending alarm messages to the managing node You can explicitly suppress a certain type of error Furthermore all errors are entered into the logbook A change can only be effective immediately if no error number with the error type selected here is active in C00165 Value is bit coded Bit 0 Error Bit 1 Fault Bit 2 Quick stop by trouble Bit 3 Warning Locked Bit 4 Wa...

Page 58: ...Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13900 Firmware Type Data type VISIBLE_STRING Index 10675d 29B3h Display of the Lenze firmware type of the Communication Unit product designation Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13901 Firmware Date Data type VISIBLE_STRING Index 10674d 29B2h Display o...

Page 59: ...g locked CN_SoC_LOSS 431784549 Information CN_SoC_LOSS 96240230 Fault COM_CRC 230457958 Quick stop COM_CRC 297566822 Warning locked COM_CRC 431784550 Information COM_CRC Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT Parameter Name C13915 CustomerObject 16 Data type OCTET_STRING Index 10660d 29A4h The code contains an octet string 16 for customised use Setting ran...

Page 60: ... for 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 array elements subcodes Number DT Data type BITFIELD_8 1 byte bit coded BITFIELD_16 2 bytes bit coded BITFIELD_32 4 bytes bit coded INTEGER_8 1 byte with sign INTEGER_16 2 bytes with sign INTEGER_32 4 bytes with sign U...

Page 61: ...MTU 11500 2CEC E 1 UNSIGNED_16 1 C13076 0x1F98 9 Prescaler_U16 11499 2CEB E 1 UNSIGNED_16 1 C13078 0x1F99 BasicEthTimeout 11497 2CE9 E 1 UNSIGNED_32 1 C13079 0x1F9B NMT_MultiplCycleAsgn CN 11496 2CE8 A 100 UNSIGNED_8 1 C13102 0x1F9E NMT_ResetCmd 11473 2CD1 E 1 UNSIGNED_8 1 C13136 SoC Cycle Counter 11439 2CAF E 1 UNSIGNED_32 1 C13859 0x1A00 0 Number of mapped Tx PDO 1 10716 29DC A 1 UNSIGNED_8 1 C1...

Page 62: ...aceGroup_0h_REC InterfaceType_U8 U8 R Interface type 6 0x1030 4 NMT_InterfaceGroup_0h_REC InterfaceMtu_U32 U32 R Maximum frame size byte 1490 0x1030 5 NMT_InterfaceGroup_0h_REC InterfacePhysAddress_ OSTR OS6 R C13004 1 0x1030 6 NMT_InterfaceGroup_0h_REC InterfaceName_VSTR VS16 RW Symb name of the POWERLINK interface ETH0 0x1030 7 NMT_InterfaceGroup_0h_REC InterfaceOperState_U8 U8 R Operation statu...

Page 63: ...smMaxSize_U16 U16 R Maximum frame size which can be reconstructed from frames arriving in fragments byte 1518 0x1E40 5 NWL_IpAddrTable_0h_REC DefaultGateway_IPAD U32 RW C13003 1 0x1E4A 0 NWL_IpGroup_REC NumberOfEntries U8 R 3 0x1E4A 1 NWL_IpGroup_REC Forwarding_BOOL BOOL R Release for IP router function 0 FALSE 0x1E4A 2 NWL_IpGroup_REC DefaultTTL_U16 U16 RW TimeToLive value for transmitted IP fram...

Page 64: ...ming_REC PReqActPayloadLimit_ U16 U16 RW C13071 36 0x1F98 5 NMT_CycleTiming_REC PResActPayloadLimit_ U16 U16 RW C13072 36 0x1F98 6 NMT_CycleTiming_REC ASndMaxLatency_U32 U32 R Asynchronous response delay ns 3000 0x1F98 7 NMT_CycleTiming_REC MultiplCycleCnt_U8 U8 RW C13074 0 0x1F98 8 NMT_CycleTiming_REC AsyncMTU_U16 U16 RW C13075 300 0x1F98 9 NMT_CycleTiming_REC Prescaler_U16 U16 RW C13076 2 0x1F99...

Page 65: ... address 47 C13028 0x1F81 Node Assignment CN 48 C13029 0x1F81 Node Assignment 49 C13040 0x1F82 Feature Flags 50 C13060 0x1006 Cycle Time 51 C13066 0x1F8D PResPayloadLimit RPDO CN 52 C13067 0x1F8D PResPayloadLimit 52 C13071 0x1F98 4 PReqPayloadLimit RPDO 52 C13072 0x1F98 5 PResPayloadLimit TPDO 53 C13074 0x1F98 7 MultiplCycleCnt 53 C13075 0x1F98 8 AsyncMTU 53 C13076 0x1F98 9 Prescaler_U16 53 C13078...

Page 66: ...100 43 0x01bc6101 43 0x01bc6110 43 0x01bc641f 43 0x01bc6420 43 0x01bc6430 44 0x01bc8131 44 0x01bc8261 44 0x01bc8265 44 0x01bc8266 44 Error reaction on RPDO check C13885 57 Establishing communication 28 EtherCAT parameters 46 External voltage supply 24 F Feedback to Lenze 68 Firmware Date C13901 58 Firmware Type C13900 58 Firmware Version C13902 58 Frame size 17 Freely configuring the port intercon...

Page 67: ...01501 45 RPDO user data per application all RPDOs 17 S Safety instructions 10 Safety instructions representation 9 Screenshots 5 SDO bandwidth 32 SDO communication method 17 SoC Cycle Counter C13136 54 Status displays LEDs 38 Suppress emergency message upon C13887 57 System error messages 41 T Table of attributes 60 Target group 5 Technical data 16 Terminology used 8 Terms 8 Total cycle times 17 T...

Page 68: ...nd belief to give you the best possible support for handling our product Perhaps we have not succeeded in achieving this objective in every respect If you have suggestions for improvement please e mail us to feedback docu lenze com Thank you very much for your support Your Lenze documentation team ...

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