Lenze 9400 Series Communications Manual
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Lenze 9400 Series Communications Manual

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Summary of Contents for Lenze 9400 Series

  • Page 1 Accessories EtherCAT® E94AYCET Servo Drives 9400 Communication Manual _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _...

  • Page 2: Table Of Contents

    Gateway Controller -> configure EtherCAT ADS (Beckhoff) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 3 Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 4: About This Documentation

    All brand names mentioned in this documentation are trademarks of their corresponding owners.  Tip! Detailed information about EtherCAT can be found on the website of the EtherCAT Technology Group: www.ethercat.org Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 5 (e.g. »Engineer«, »TwinCAT«), the screenshots in this documentation may differ from the actual screen representation. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 6: Document History

    General revision 11/2009 TD17 Amendment of the information on the fieldbus synchronisation and general revision 07/2009 TD17 General revision 04/2008 TD17 First edition Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 7: Conventions Used

    Optically highlighted reference to another page. It is activated with a mouse-click in this online documentation. Step-by-step instructions Step-by-step instructions are indicated by a pictograph.  Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 8: Terminology Used

    Default settings of the device, preconfigured ex works. Standard setting Process data object Service data object Software »TwinCAT« Beckhoff PC software for EtherCAT configuration Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 9: Definition Of The Notes Used

    Signal word Meaning Note! Important note to ensure trouble-free operation  Tip! Useful tip for easy handling  Reference to another documentation  Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 10: Safety Instructions

    • who have the corresponding qualifications for their work. • who know and can apply all regulations for the prevention of accidents, directives, and laws applicable at the place of use. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 11: Device And Application-Specific Safety Instructions

    Protective insulation ( 16) Device protection The communication module contains electronic components which may be damaged or destroyed by electrostatic discharge. Installation ( 22) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 12: Product Description

    E94 Product series Version Module identification: Extension module Module type: Communication module EtherCAT 2 Hardware version (HW) 3 Software version (SW) E94YCET005 [3-1] Identification data Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 13: Product Features

    • Access to all Lenze parameters with CoE (CANopen over EtherCAT) • From SW version 04.00: Transmission of safe information via the FSoE protocol if the SM302 safety module (E94AYAF) is used simultaneously Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 14: Terminals And Interfaces

    ( 89) 5 LED status displays for diagnostics Module status displays ( 86) EtherCAT status displays ( 87) E94YCET001B [3-2] E94AYCET communication module (EtherCAT) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 15: Technical Data

    Hardware manual "Servo Drives 9400" Here you can find the ambient conditions and data on the electromagnetic compatibility (EMC), which also apply to the communication module. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 16: Protective Insulation

    • the components to be connected must be provided with the second isolating distance.  Note! The protective insulation provided in Servo Drives 9400 is implemented in accordance with EN 61800-5-1. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 17 X107 Control of the motor holding X5 Digital inputs brake X6 Diagnostics X7 Resolver X8 Encoder MXI1, MXI2 Extension module MMI Memory module MSI Safety module Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 18 • The separate potential area of the mains terminal has a "reinforced insulation". Result: The insulation between mains terminal X100 and the bus terminal is of the "reinforced insulation" type. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 19: Protocol Data

    EtherCAT telegram); • Use of the "Distributed clocks" (DC) functionality for synchronised operation. Synchronisation with "Distributed clocks" (DC) ( 36) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 20 Documentation of the 9400 function library Here you can find detailed information on how to set the interval time of the application task. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 21: Dimensions

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Dimensions a 89 mm b 134 mm b1 87 mm e 23 mm E94YCXX005 [4-2] Dimensions Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 22: Installation

    • Fieldbus communication is not possible or faulty. Protective measures: Before touching the module, be sure that you are free of electrostatic charge. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 23: Mechanical Installation

    A safety bus system (FSoE) can only be operated via the upper module slot (MXI1) of the Servo Drive 9400. E94YCXX001G [5-1] Mounting 5.1.2 Disassembly E94AYCXX001H [5-2] Disassembly Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 24: Electrical Installation

    C IncomingEtherCAT line at X246 (IN) D Communication module in slot MXI1 of the Servo Drive 9400 E94YCXX008 [5-3] Wiring according to EMC guidelines Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 25: Network Topology

    Switch topology The wiring can also be carried out in a star structure via an appropriate switch. For this, observe the additional runtimes. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 26: Ethercat Connection

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

  • Page 27: Ethernet Cable Specification

    Twisted core pairs 1 ... 4 Colour code of the Ethernet cable ( 28) E94YCEP016 [5-7] Structure of the Ethernet cable (S/FTP, CAT 5e) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 28 White / Green blue blue White / Blue Blue / White Rx - orange Green White / Brown White / Brown brown brown Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 29: External Voltage Supply

    0.5 ... 0.6 Nm / 4.4 ... 5.3 lb-in (only with screw connection) Stripping length 6 mm with screw connection 9 mm with spring connection Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 30: Commissioning

    Before switching on the Servo Drive 9400 and the communication module for the first time, check the entire wiring for completeness, short circuit and earth fault. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 31: Configuring The Controller (Ethercat Master)

    E94AYCET communication module in connection with the technology application "CiA402" and Servo Drives 9400 Wildcards in the file name yyyy Year Month Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 32: Automatic Device Identification

    Servo Drive 9400 PLC with PLC application (appl. ID 100700204) Servo Drive 9400 V/R (regenerative power supply module) with V/R application (appl. ID 120100101) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 33: Configuring Process Data

    The process data objects (PDO) and the optional safety process data are transmitted cyclically between the EtherCAT master and the slaves (inverters). The cycle time is set by means of the EtherCAT configuration software. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 34: Settings In »Engineer

    Display of the active station address C13864 C14864 See also Address allocation ( 35). Entry of the station alias address C13899 C14899 See also Address allocation ( 35). Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 35: Address Allocation

    • If the value is > ’0’, the address cannot be assigned by the EtherCAT master. • Impermissible addresses are marked in red in the input field. • The address is written to code C13899 / C14899. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 36: Synchronisation With "Distributed Clocks" (Dc)

    »TwinCAT«).  "Controller-based Automation EtherCAT" communication manual Here you'll find some detailed information relating to the EtherCAT configuration with the Lenze »PLC Designer«. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 37: Dc Configuration In The Master

     Note! The synchronisation cycle time ... • must be an integer multiple of 1 ms; • may be maximally 15 ms. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 38: Dc Configuration In The Servo Drive 9400 (Slave)

    • Selection 4: Module in slot MXI1 of the Servo Drive 9400 • Selection 5: Module in slot MXI2 of the Servo Drive 9400 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 39: Behaviour Of The Communication Module During The Start

    The cycle time (in μs) set by the master on the fieldbus is displayed with code C13870 / C14870. The state of the standard device synchronicity is displayed in code C13884 / C14884. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 40: Process Data Mode

    • The setpoints are always processed with the Sync0 event. • When Lenze EtherCAT controllers are used, we recommend setting the deterministic mode (C13892 C14892 = 1). Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 41: Establishing An Online Connection With The »Engineer

    Online  Go offline <Shift>+<F4>  Documentation for the Lenze »Engineer« Here you'll find further detailed information about how to establish an online connection. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 42: 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 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 43 • The "Enter IP address" dialog box is closed. • In the Device access path column of the "Communication path" dialog box, the corresponding device access path is shown (e.g. "IPC:172_31_207_254.ECAT.ecat1.dev1001."). Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 44: Gateway Controller -> Configure Ethercat Ads (Beckhoff)

    • Configure the access data applicable to the controller via the Insert address button. • The Search button initiates the Controller to display the fieldbus devices connected to the EtherCAT segment. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 45 (accessible via the »TwinCAT« tray icon) for creating the required ADS remote connection. As "AMSNetId" select the "NetId" of the EtherCAT device (usually "a.b.c.d.2.1"). Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 46: Ethercat Ads Communication Parameters In »Twincat« And »Engineer

    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: Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 47 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The EtherCAT Slave address (here ’1001’) can be found under the EtherCAT tab of the EtherCAT slave: Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 48 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 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 49 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 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 50: Example: Structure With A Beckhoff Din Rail Ipc Cx1020

    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. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 51 Net ID (here ’5.3.66.236.4.1’) can be found under the target system selection: EtherCAT Master Net ID (here ’5.3.66.236.4.1’) can also be found under the EtherCAT tab of EtherCAT master: Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 52 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The EtherCAT slave address (here ’1003’) can be found under the EtherCAT tab of the EtherCAT slave: Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 53 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 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 54 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 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 55: Initial Switch-On

    • An explicit controller enable causes the drive to start up in a controlled manner: LOW- HIGH edge at digital input X5/RFR. C00142 = "1: Enabled" • An uncontrolled restart of the drive is possible. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 56: Data Transfer

    EtherCAT master and the inverters (slaves) that are part of the fieldbus. The data is transmitted via corresponding communication channels depending on their time-critical behaviour (see Process data transfer Parameter data transfer ( 61) ( 67) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 57: Ethercat Telegrams

    • Length of the datagram within the EtherCAT telegram (length) • One reserved bit (Reserved) • Type of the datagrams within the EtherCAT frame (type) • Datagrams Checksum of the EtherCAT frame Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 58: Ethercat Datagrams

    The data area contains the data of the command to be executed. WKC (Working Counter) The working counter is evaluated by the master for monitoring the execution of the command. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 59: Ethercat State Machine

    Operational" state has been reached. The current status of the EtherCAT state machine is shown in C13861 C14861 and is indicated via the RUN LED. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 60 Invalid input data configuration 0x002B Invalid input and output data 0x0030 Invalid configuration of DC synchronisation 0x9001 Firmware watchdog error 0x9002 Mapping error Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 61: Process Data Transfer

    Up to 32 process data words (16 bits/word) per direction can be exchanged. Process data are not saved in the Servo Drive 9400. Process data are e.g. setpoints, actual values, control words, and status words. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 62: Configuring Process Data (Pdo Mapping)

    In order that the predefined PDO mapping from the device description file can be used, a standard technology application must be configured in the standard device. Moreover, the standard ports of the configured standard technology application must be used. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 63: Setting Pdo Mapping With The »Engineer

    1. The process data mapping to the port variables is executed in the »Engineer« under the Process data objects tab of the corresponding fieldbus communication module: 2. Select the receive object PDO_RX0: Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 64 If the »FB Editor« is activated, the multiplexer codes (> C03000) are no longer available. In this case, you must carry out the interconnection directly in the »FB Editor«. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 65: Mapping Indices And Codes

    Number of RPDO mapping entries RPDO-1 ... 10 C14489/10 0x1609.00 C14784 0x1C13.01 Active TPDO channel C14789/1 0x1A00.00 Number of TPDO mapping entries TPDO-1 ... 10 C14789/10 0x1A09.00 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 66: Structure Of The Mapping Codes

    0x1C13.02 = 0x1B00. The FSoE mapping is only possible with the simultaneous use of a valid PDO mapping. Safety over EtherCAT ( 81) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 67: Parameter Data Transfer

    Basically a master can always request parameter jobs from a slave if the slave is at least in the "Pre- operational" state. SDO-channel Slave Master read write E94AYCET008 [9-1] Data communication via the SDO channel Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 68: Reading And Writing Parameters

    • for instance are set for one-time system settings or if materials are changed within a machine; • are transmitted with a low priority. In the case of Lenze inverters, the parameters to be changed are contained in codes or in the case of the CANopen device profile "CiA402" as device profile objects.

  • Page 69: Reading Parameters (Sdo Upload)

    Index of the object Subindex BYTE 1 byte Subindex of the object 0x00 or 0x01 if "Complete access" = 0x01. Reserved DWORD 4 bytes 0x00 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 70 BYTE 1 byte Subindex of the object 0x00 or 0x01 if "Complete access" = 0x01. Data DWORD 4 bytes Data of the object Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 71 0x00 or 0x01 if "Complete access" = 0x01. Complete size DWORD 4 bytes Total data length of the object Data BYTE n - 10 Data of the object bytes Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 72 0xC2: Index low byte of the object 0x5F: Index high byte of the object Subindex BYTE 1 byte 0x00 Data DWORD 4 bytes 0x0000002B Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 73: Writing Parameters (Sdo Download)

    In the case of jobs for the inverter, please make sure that you convert the code into an index. Indexing of the Lenze codes ( 68) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 74 BYTE 1 byte Subindex of the object 0x00 or 0x01 if "Complete access" = 0x01. Data DWORD 4 bytes Data of the object Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 75 0x00 or 0x01 if "Complete access" = 0x01. Complete size DWORD 4 bytes Total data length of the object Data BYTE n - 10 Data of the object bytes Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 76 Index of the object Subindex BYTE 1 byte Subindex of the object 0x00 or 0x01 if "Complete access" = 0x01. Reserved DWORD 4 bytes 0x00 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 77 0x5F: Index high byte of the object Subindex BYTE 1 byte 0x00: Subindex of the object Data DWORD 4 bytes 0x00000066 (10.2 x 10 = 102) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 78: Communication Objects (Object Directory)

    UINT Minimum cycle time / ns UDINT Minimum shift time / ns UDINT Delay time / ns UDINT Cycle time too small UINT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 79 *: from SW version 04.00 **: from SW version 04.00 only in the "Pre-Operational" state ***: from SW version 04.00 only available if FSoE is used Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 80: Sdo Abort Codes (Abort Codes)

    Due to the current device state, data cannot be transferred to the application or stored in the application 0x08000023 The dynamic generation of an object directory has failed, or no object directory is available. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 81: Safety Over Ethercat

    Configuring safety process data ( 33)  Documentation for the SM302 safety module (E94AYAF) Here you can find detailed information on the FSoE connection. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 82: Monitoring

    The monitoring time elapses as soon as the "Operational" state is exited. (See 1.). After the monitoring time has elapsed, the set response is executed with the error message "EtherCAT: Quit 'Operational' state [0x00c88131]" ( 95) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 83: Interruption Of Internal Communication

    The function blocks L_SdInterExtrapolatePosition or L_SdInterExtrapolateAny are available as extrapolation blocks. The frame failure detection is implemented by default in the "CiA402" technology application. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 84: Ethercat Synchronisation Loss

    Servo Drive 9400 is synchronised.  Tip! The synchronisation can be monitored in the application by the LS_SyncInput system block. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 85: Diagnostics

    The following status displays can be differentiated: Module status displays ( 86) EtherCAT status displays ( 87) Status display at the RJ45 sockets (X246 / X247) ( 89) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 86: Module Status Displays

    The communication module is not accepted by the basic device or the basic device is not active (see notes in the documentation relating to the basic device.) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 87: Ethercat Status Displays

    "Safe-operational" status is active: • The data are not yet active in the standard device. The communication module is in the "Operational" state. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 88 1000 ms 200 ms 200 ms 200 ms 200 ms 200 ms An "Application Watchdog Timeout" or a "Sync Manager Watchdog Timeout" has occurred. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 89: Status Display At The Rj45 Sockets (X246 / X247)

    Status Description Green A physical EtherCAT connection is available. Flickers 50 ms Data are being exchanged via EtherCAT. This LED is not used. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 90: Diagnostics With The »Engineer

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12.2 Diagnostics with the »Engineer« In the »Engineer«, the Diagnostics tab displays various pieces of EtherCAT diagnostic information. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 91: Emergency Requests / Emergency Messages

    • Bytes 5 ... 8 contain the error code.  Reference manual/online help for the Servo Drive 9400 Here you will find detailed information on error codes. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 92: Error Messages

    C13880/1 C14880/1 0x00c88132 13140274 EtherCAT: Sync loss detected in standard device Warning Locked 0x00c88700 13141760 EtherCAT: Sync telegram failure No response C13880/2 C14880/2 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 93: Possible Causes And Remedies

     None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information Cause Remedy Parameter could not be written. Send communication module together with a description of the fault to Lenze. Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 94  None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information Cause Remedy No active parameter set could be loaded. Download application again (including module). Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 95 • Check the EtherCAT master / DC master settings. • The sync source setting is faulty. • Check the settings of the standard device in C01120 (selection of the sync source). Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 96 • Restart EtherCAT configuration. jitters too much. • Postpone PDO instant of reception via the user shift time. • Increase sync error counter monitoring limit (0x10F1.2). Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 97: Parameter Reference

    4 Warning Locked 3 Quick stop by trouble 0 No response  Read access  Write access  CINH  PLC-STOP  No transfer Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 98 3 Quick stop by trouble 4 Warning Locked 5 Warning  Read access  Write access  CINH  PLC-STOP  No transfer Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 99 3 Quick stop by trouble 4 Warning Locked 5 Warning  Read access  Write access  CINH  PLC-STOP  No transfer Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 100: Parameters Of The Communication Module For Slot Mxi1

    32. Mapping entry RPDO-2 (I-1601.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 101 32. Mapping entry RPDO-4 (I-1603.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 102 32. Mapping entry RPDO-6 (I-1605.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 103 32. Mapping entry RPDO-8 (I-1607.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 104 32. Mapping entry RPDO-10 (I-1609.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 105 32. mapping entry TPDO-1 (I-1A00.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 106 32. Mapping entry TPDO-3 (I-1A02.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 107 32. Mapping entry TPDO-5 (I-1A04.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 108 32. Mapping entry TPDO-7 (I-1A06.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 109 32. Mapping entry TPDO-9 (I-1A08.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 110 No. of mapping entries for TPDO-10  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 111 C13852/1 C13852/32  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 112 Safety-RxPDO length  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 113 μs 4294967295  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 114 65535 0 ms  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 115 1 PDOs are set to the value 0'  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 116 32767 0  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 117 Example: "02.00.00.36"  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 118: Parameters Of The Communication Module For Slot Mxi2

    32. Mapping entry RPDO-2 (I-1601.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 119 32. Mapping entry RPDO-4 (I-1603.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 120 32. Mapping entry RPDO-6 (I-1605.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 121 32. Mapping entry RPDO-8 (I-1607.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 122 32. Mapping entry RPDO-10 (I-1609.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 123 32. mapping entry TPDO-1 (I-1A00.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 124 32. Mapping entry TPDO-3 (I-1A02.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 125 32. Mapping entry TPDO-5 (I-1A04.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 126 32. Mapping entry TPDO-7 (I-1A06.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 127 32. Mapping entry TPDO-9 (I-1A08.20)  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 128 No. of mapping entries for TPDO-10  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 129 C14852/1 C14852/32  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 130 Safety-RxPDO length  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 131 μs 4294967295  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 132 65535 0 ms  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 133 1 PDOs are set to the value 0'  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 134 Sync0 event.  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 135 Example: "02.00.00.36"  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 136: Table Of Attributes

    Read access  Reading permitted Write access  Writing permitted CINH Controller inhibit required  Writing is only possible if controller inhibit is set Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 137 C13900 Firmware product type 10675 0x29B3 VISIBLE_STRING  C13901 Firmware compilation date 10674 0x29B2 VISIBLE_STRING  C13902 Firmware version 10673 0x29B1 VISIBLE_STRING  Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 138 C14900 Firmware product type 9675 0x25CB VISIBLE_STRING  C14901 Firmware compilation date 9674 0x25CA VISIBLE_STRING  C14902 Firmware version 9673 0x25C9 VISIBLE_STRING  Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 139: Index

    C13237 | Mapping entries RPDO-7 C14239 | Mapping entries RPDO-9 C13238 | Mapping entries RPDO-8 C14240 | Mapping entries RPDO-10 C13239 | Mapping entries RPDO-9 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 140 Communication parameters in »TwinCAT« and »Engineer« Error messages Causes and remedies Communication profile Short overview Communication time Error number Configuration of the master 0x00c83100 Configuring process data Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 141 Mapping entries RPDO-3 (C14233) Ethernet cable specification Mapping entries RPDO-4 (C13234) Ethernet cable, colour code Mapping entries RPDO-4 (C14234) Ethernet cable, structure Mapping entries RPDO-5 (C13235) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 142 Station alias (C14899) Operating conditions Status display at the RJ45 sockets (X246 / X247) Status displays (LEDs) Structure of the Emergency message Parameter data transfer Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...
  • Page 143 Type of device Upload Using the communication module Validity of the documentation Vendor ID Voltage supply Wiring according to EMC guidelines Writing parameters (SDO download) Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06...

  • Page 144: Your Opinion Is Important To Us

    Perhaps we have not succeeded in achieving this objective in every respect. If you have suggestions for improvement, please e-mail us feedback-docu@lenze.com Thank you very much for your support. Your Lenze documentation team...
  • Page 145 E94AYCET communication module (EtherCAT®) · Communication Manual · EDS94AYCET · 13518011 · DMS 10.2 EN · 11/2018 · TD06 Lenze Automation GmbH Postfach 10 13 52, 31763 Hameln Hans-Lenze-Straße 1, 31855 Aerzen GERMANY HR Hannover B 205381 +49 5154 82-0 +49 5154 82-2800 lenze.de@lenze.com...

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