Related Manuals for Lenze EMF2192IB
Summary of Contents for Lenze EMF2192IB
- Page 1 EDSMF2192IB L−force Communication .SuU Communication Manual EtherCAT® EMF2192IB Communication module...
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Page 2: Table Of Contents
Contents About this documentation ..........Document history . - Page 3 ....6.3.4 Behaviour of the Lenze EtherCAT nodes during start−up ... . .
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Page 4: About This Documentation
About this documentation 0Fig. 0Tab. 0 About this documentation Contents This documentation only contains descriptions for the EMF2192IB communication module (EtherCAT). Note! This documentation supplements the mounting instructions supplied with the function/communication module and the documentation of the used standard device. - Page 5 This documentation is intended for all persons who plan, install, commission and maintain the networking and remote service of a machine. Tip! Information and tools concerning the Lenze products can be found in the download area at www.lenze.com Validity information...
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Page 6: Document History
These instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product. If you have suggestions for improvement, please e−mail us to: feedback−docu@Lenze.de Thank you for your support. Your Lenze documentation team EDSMF2192IB EN 4.0... -
Page 7: Conventions Used
About this documentation Conventions used Conventions used This documentation uses the following conventions to distinguish between different types of information: Type of information Identification Examples/notes Spelling of numbers Decimal separator Point In general, the decimal point is used. For instance: 1234.56 Decimal Standard notation Example: 1234... -
Page 8: Terminology Used
EtherCAT® is a real−time capable Ethernet system with top performance. EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Standard device Lenze controllers with which the communication module can be used. ^ 12 Controller »Global Drive Control« / Lenze PC software which supports you in "engineering"... -
Page 9: Notes Used
About this documentation Notes used Notes used The following pictographs and signal words are used in this documentation to indicate dangers and important information: Safety instructions Structure of safety instructions: Danger! (characterises the type and severity of danger) Note (describes the danger and gives information about how to prevent dangerous situations) Pictograph and signal word Meaning... -
Page 10: Safety Instructions
The manufacturer does not accept any liability for the suitability of the specified procedures and circuit proposals. Only qualified skilled personnel are permitted to work with or on Lenze drive and ƒ... -
Page 11: Device− And Application−Specific Safety Instructions
Safety instructions Device− and application−specific safety instructions Device− and application−specific safety instructions During operation, the communication module must be securely connected to the ƒ standard device. With external voltage supply, always use a separate power supply unit, safely ƒ separated in accordance with EN 61800−5−1 in every control cabinet (SELV/PELV). Only use cables that meet the given specifications. -
Page 12: Product Description
Product description Application as directed Product description Application as directed The communication module ... is a device intended for use in industrial power systems. ƒ is only to be used in EtherCAT networks. ƒ can be used in connection with the following standard devices (nameplate data): ƒ... -
Page 13: Identification
Product description Identification Identification Type Id.-No. Prod.-No. E82AF000P0B201XX 2192ECAT013 W Type code 33.2192IB Device series Hardware version Software version EDSMF2192IB EN 4.0... -
Page 14: Product Features
Product features Interface module for the EtherCAT communication system to the AIF slots of the ƒ Lenze device series 8200 vector, 9300, and ECS (¶ 12) Support of the EtherCAT slave functionality ƒ External 24V supply for maintaining the EtherCAT network if the standard device ƒ... -
Page 15: Connections And Interfaces
Product description Connections and interfaces Connections and interfaces 2192ECAT001B Fig. 3−1 EMF2192IB (EtherCAT) communication module Legend for the illustration Pos. Description LED status displays 0 ... 3 ^ 53 Connection to the external voltage supply (24 V) of the communication module Plug connector with screw connection, 2−pin... -
Page 16: Technical Data
(TR CU 004/2011) TR CU: Technical Regulation of Customs Union Documentation for Lenze series of devices 8200 vector, 9300 and ECS Here you can find the ambient conditions and the electromagnetic compatibility (EMC) specifications applying to the communication module. EDSMF2192IB EN 4.0... -
Page 17: Protective Insulation
Protective insulation Protective insulation Danger! Dangerous electrical voltage If Lenze controllers are used on a phase earthed mains with a rated mains voltage ³ 400 V, protection against accidental contact is not ensured without implementing external measures. Possible consequences: Death or serious injury ƒ... -
Page 18: Communication Time
Technical data Communication time Communication time Processing times in the controller The parameter data and process data are independent of each other. Processing times Parameter data Process data Processing time within the Approx. 30 ms + a tolerance of 20 ms Time for 8200 vector: approx. -
Page 19: Dimensions
Technical data Dimensions Dimensions 2192ECAT001B All dimensions in mm EDSMF2192IB EN 4.0... -
Page 20: Installation
Installation Installation Danger! Inappropriate handling of the communication module and the standard device can cause serious personal injury and material damage. Observe the safety instructions and residual hazards described in the documentation for the standard device. Stop! The device contains components that can be destroyed by electrostatic discharge! Before working on the device, the personnel must ensure that they are free of electrostatic charge by using appropriate measures. -
Page 21: Mechanical Installation
Installation Mechanical installation Mechanical installation 2102LEC014 Fig. 5−1 Attaching the communication module Plug the communication module onto the standard device (here: 8200 vector). ƒ Tighten the communication module to the standard device using the fixing screw in ƒ order to ensure a good PE connection. Note! For the internal supply of the communication module by the 8200 vector frequency inverter the jumper has to be adjusted within the interface opening... -
Page 22: Electrical Installation
Installation Electrical installation Wiring according to EMC (CE−typical drive system) Electrical installation 5.2.1 Wiring according to EMC (CE−typical drive system) For wiring according to EMC requirements observe the following points: Note! Separate control cables/data lines from motor cables. ƒ Connect the shields of control cables/data lines at both ends in the case of ƒ... -
Page 23: Network Topology
Installation Electrical installation Network topology 5.2.2 Network topology An EtherCAT frame is transmitted by a pair of conductors from the master to the slaves. The frame is forwarded from slave to slave until it has passed through all devices. Finally the last slave sends the frame back to the master by a second pair of conductors. -
Page 24: Ethercat Connection
Installation Electrical installation EtherCAT connection 5.2.3 EtherCAT connection You can use a standard Ethernet patch cable for connecting the communication module to the fieldbus (see "Ethernet cable specifications" (¶ 25)). Note! Plug/remove the Ethernet cable plug in a straight manner (at right angles) into/from the socket to make sure that the RJ45 socket will not be damaged. -
Page 25: Specification Of The Ethernet Cable
Installation Electrical installation Specification of the Ethernet cable 5.2.4 Specification of the Ethernet cable Note! Only use cables complying with the below specifications. Ethernet cable specifications Ethernet standard Standard Ethernet (according 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 (at 100 MHz and per 100 m) - Page 26 Installation Electrical installation Specification of the Ethernet cable Colour code of Ethernet cable Note! Wiring and colour code are standardised in EIA/TIA 568A/568B. You can use 4−pin Ethernet cables in accordance with the industrial standard. The cable type only connects the assigned pins 1, 2, 3 and 6 with each other. E94YCEI004A Fig.
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Page 27: Voltage Supply
For internal voltage supply place the jumper on the position indicated ƒ below. In the case of all other device series (9300, ECS), voltage is always supplied from the standard device. Lenze setting Internal voltage supply (Only external voltage supply possible.) External voltage supply Note! - Page 28 Installation Electrical installation Voltage supply Terminal data Area Values Electrical connection Plug connector with screw connection Possible connections rigid: 1.5 mm (AWG 16) flexible: without wire end ferrule 1.5 mm (AWG 16) with wire end ferrule, without plastic sleeve 1.5 mm (AWG 16) with wire end ferrule, with plastic sleeve 1.5 mm...
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Page 29: Synchronisation Of The Standard Device
U = 24 V DC (20.4 V − 0 % ... 28.8 V + 0 %) Sync output (t = 150 ms, I = 10 mA at 24 V) − Reference potential for external sync supply On ^ 61 you’ll find an overview of the Lenze standard devices which support a synchronisation. EDSMF2192IB EN 4.0... -
Page 30: Commissioning
In Lenze devices, this is done via codes. The codes are stored in numerically ascending order in the Lenze controllers and in the plugged−in communication/function modules. In addition to these configuration codes, there are codes for diagnosing and monitoring the bus devices. -
Page 31: Configuring The Host System (Master)
Lenze device family are used. 6.2.1 Installing device description files The current XML device description file Lenze_AIF−Vxzz−ddmmyy.xmlrequired for the EMF2192IB (EtherCAT) communication module can be found on the in the download area under: http://www.Lenze.com Wildcard in the file name "Lenze_AIF−Vxzz−ddmmyy.xml"... -
Page 32: Configuring Process Data
Commissioning Configuring the host system (master) Configuring process data 6.2.3 Configuring process data The process data configuration is defined during the initialisation phase of the ƒ master (PDO mapping). The process data configuration predefined application−specifically in the device ƒ description files and can be adapted by the user if required. 6.2.4 Defining the cycle time The process data objects (PDO) are transmitted cyclically between the EtherCAT master... -
Page 33: Synchronisation With "Distributed Clocks" (Dc)
Commissioning Synchronisation with "Distributed clocks" (DC) Synchronisation with "Distributed clocks" (DC) The "Distributed clocks" (DC) functionality enables an exact time adjustment for applications where several auxiliary axes carry out a coordinated movement at the same time. The data is accepted synchronously with the PLC program. With the DC synchronisation, all slaves are synchronised with a reference clock, the so−called "DC master". -
Page 34: Preparation / Installation
6.3.1 Preparation / installation Note! Lenze devices without an external sync terminal input do not support DC synchronisation. Connect the sync terminal block of the EtherCAT communication module to the voltage supply and the corresponding input terminal of the standard device (see ¶ 29 and the documentation for the standard device). -
Page 35: Behaviour Of The Lenze Ethercat Nodes During Start−Up
Commissioning Synchronisation with "Distributed clocks" (DC) Behaviour of the Lenze EtherCAT nodes during start−up 6.3.4 Behaviour of the Lenze EtherCAT nodes during start−up If the DC synchronisation is used, the communication module first changes to the "Operational" state if the standard device has adapted its phase position to the DC signal. -
Page 36: Initial Switch−On
Commissioning Initial switch−on Initial switch−on Switch on the inverter and check whether it is ready for operation using the diagnostic LEDs at the front of the communication module. Red diagnostic LEDs must not be on. ƒ The following signalling should be visible: ƒ... -
Page 37: Data Transfer
Data transfer Data transfer With EtherCAT, data is transmitted in "EtherCAT frames". The EtherCAT nodes only take the data determined for them while the EtherCAT frame passes through the device. Output data are entered in the frame the same way during the passage. Read and write accesses are only executed in a small section of the total EtherCAT frame, the datagrams. -
Page 38: Ethercat Frame Structure
Data transfer EtherCAT frame structure EtherCAT frame structure EtherCAT frames have the following structure: Ethernet header Ethernet data 48 bits 48 bits 16 bits 11 bits 1 bit 4 bits 48 ... 1498 bytes 32 bits Destination Source EtherType Frame header Datagrams Length Reserved... -
Page 39: Ethercat Datagrams
Data transfer EtherCAT datagrams EtherCAT datagrams EtherCAT datagrams have the following structure: EtherCAT Data Command header 10 bytes Max. 1486 bytes 2 bytes 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... -
Page 40: Ethercat State Machine
Data transfer EtherCAT state machine EtherCAT state machine Before communication via EtherCAT is possible, the fieldbus passes through the EtherCAT status machine during power−up. The following illustration shows the possible state changes from an EtherCAT slave view: Init Pre-Operational Safe-Operational Operational E94AYCET009 Fig. -
Page 41: Process Data Transfer
Process data transfer Process data transfer The process data are transmitted by means of "EtherCAT datagrams" (¶ 39) via the ƒ CoE process data channel. By means of the process data the controller is operated. ƒ The transmission of process data is time−critical. ƒ... -
Page 42: Parameter Data Transfer
Parameter data are transmitted via the fieldbus as SDOs (Service Data Objects). The SDO services allow for the writing and reading access to the object directory. Via the SDO channel, access to all implemented CoE objects (¶ 55) and Lenze codes ƒ... -
Page 43: Reading And Writing Parameters
ƒ In the case of Lenze controllers, the parameters to be changed are contained in codes or in the case of the CANopen device profile "CiA402" as device profile objects. Indexing of the Lenze codes If they are accessed via a communication module, the codes of the controller are addressed by the index. -
Page 44: Reading Parameters (Expedited Upload)
Parameter data transfer Reading and writing parameters Reading parameters (expedited upload) 9.2.1 Reading parameters (expedited upload) 1. The master transmits "Initiate Domain Upload Request". 2. The slave acknowledges the request with a positive response ("Initiate Domain Upload Response"). In the event of an error the slave responds with "Abort Domain Transfer". Note! In the case of jobs for the controller, please make sure that you convert the code into an index (¶... - Page 45 Parameter data transfer Reading and writing parameters Reading parameters (expedited upload) SDO Upload Expedited Response An "SDO Upload Expedited Response" takes place if the data length of the parameter data to be read amounts to up to 4 bytes. Detailed breakdown of the data for an "SDO Upload Expedited Response": SDO frame Data field Data type / length...
- Page 46 Parameter data transfer Reading and writing parameters Reading parameters (expedited upload) SDO Upload Normal Response An "SDO Upload Normal" takes place if the data length of the parameter data to be read amounts to ³ 4 bytes. Detailed breakdown of the data for an "SDO Upload Normal Response": SDO frame Data field Data type / length...
- Page 47 Parameter data transfer Reading and writing parameters Reading parameters (expedited upload) Example The transmitted response structure in case of an upload to the index 0x5FD8 (standard value of C00039/1 = 0x0FA0) contains the following data: SDO frame Data field Data type / length Value [hex] / description area Mailbox Header...
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Page 48: Writing Parameters (Expedited Download)
Parameter data transfer Reading and writing parameters Writing parameters (expedited download) 9.2.2 Writing parameters (expedited download) 1. The master transmits "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 controller, please make sure that you convert the code into an index (¶... - Page 49 Parameter data transfer Reading and writing parameters Writing parameters (expedited download) SDO Download Normal Request An "SDO Download Normal Request" takes place if the data length of the parameter data to be written amounts to ³ 4 bytes. Detailed breakdown of the data for an "SDO Download Normal Request": SDO frame Data field Data type / length...
- Page 50 Parameter data transfer Reading and writing parameters Writing parameters (expedited download) SDO Download Response Detailed breakdown of the data for an "SDO Download Response": SDO frame Data field Data type / length Value / description area Mailbox Header Length WORD 2 bytes 0x0A: Length of the mailbox service data Address...
- Page 51 Parameter data transfer Reading and writing parameters Writing parameters (expedited download) Example The transmitted request structure in case of a download from the index 0x1600 contains the following data: SDO frame Data field Data type / length Value [hex] / description area Mailbox Header Length...
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Page 52: Sdo Abort Codes
Parameter data transfer Reading and writing parameters SDO abort codes SDO abort codes If an SDO request is evaluated negatively, a corresponding error code is output. Index [hex] Description 0x00000000 No error 0x05030000 The status of the toggle bit has not changed. 0x05040000 SDO protocol time−out 0x05040001... -
Page 53: Diagnostics
Diagnostics LED status displays Diagnostics The LEDs on the front are provided to the communication module for the purpose of fault diagnostics. 10.1 LED status displays 2192ECAT001B Fig. 10−1 LEDs of the communication module Description Pos. Colour Status green blinking The EtherCAT connection has been established. -
Page 54: Emergency Requests / Emergency Messages
Diagnostics Emergency requests / emergency messages 10.2 Emergency requests / emergency messages Emergency messages are sent once to the EtherCAT master if the error status of the controller/communication module changes, i.e..if an error of the controller/communication module occurs; ƒ... -
Page 55: Appendix
Appendix Implemented CoE objects Appendix 11.1 Implemented CoE objects Lenze devices parameterised with Lenze codes with manufacturer−independent "CoE objects". order obtain complete EtherCAT−compliant communication, only the CoE objects may be used for parameterisation. The CoE objects described in this documentation are defined in the "EtherCAT Specification, Part 6 ˘... - Page 56 Appendix Implemented CoE objects Index Index name Subindex Subindex name Data type Bits Access 0x1000 Device type − − UDINT 0x1008 Device name − − STRING(30) 0x1009 Hardware version − − STRING(2) 0x100A Software version − − STRING(30) 0x1018 Identity Number of elements USINT Vendor ID...
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Page 57: Codes
11.2 Codes The objects specified in the table can be accessed via EtherCAT fieldbus. The objects are implemented in the Lenze code structure. Writable codes are stored permanently and are maintained after the communication module is switched off. Tip! The codes are visible in the object directory of the EtherCAT configuration tool. - Page 58 Appendix Codes Code description Parameter Name Data type: STRING (30) C1810 Software identification of the module Index: 22765 = 58ED The software ID of the communication module is shown here. Display: "33S2192I_xy000" (xy = version x.y) Parameter Name Data type: STRING (30) C1811 Software creation date Index: 22764...
- Page 59 Response when exiting "Operational" Index: 22693 = 58A5 Adjustable response for the process data monitoring Selection list Information (Lenze setting printed in bold) 0 No response 1 Error (TRIP) 2 Controller inhibit (CINH) 3 Quick stop (QSP) EDSMF2192IB EN 4.0...
- Page 60 With the value = 0 the immediate response is effected after the internal bus status watchdog time has elapsed A change in monitoring is effective immediately. Setting range Lenze setting (min. value | unit | max. value) 65535 65535 ms EDSMF2192IB EN 4.0...
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Page 61: Product Codes Of The Lenze Standard Devices
Appendix Product codes of the Lenze standard devices 11.3 Product codes of the Lenze standard devices Product code Meaning Sync Number AIF status/ [decimal] support Process data control word words 21920000 Generic − − − 21920100 8200 vector − −... -
Page 62: Index
Device protection, 11, 20 Automatic device detection, 31 Diagnostics, 53 Distributed clocks (DC), synchronisation, 33 Baud rate, 16 Behaviour of the Lenze EtherCAT nodes during start−up, Electrical installation, 22 Emergency message (structure), 54 Emergency requests / emergency messages, 54 Cable length, 16... - Page 63 Type code, 13 PLC Designer, 31 − finding, 13 Process data transfer, 41 Processing time, 18 Product codes of the Lenze standard devices, 61 Validity of the documentation, 5 Product description, 12 Vendor−ID, 16 − Application as directed, 12 Voltage supply, 27 Product features, 14 −...
- Page 64 © 03/2016 Lenze Automation GmbH Service Lenze Service GmbH Postfach 10 13 52, 31763 Hameln Breslauer Straße 3, 32699 Extertal Hans−Lenze−Str. 1, 31855 Aerzen GERMANY GERMANY HR Hannover B 205381 +49 5154 82−0 008000 2446877 (24 h helpline) Ê Ê...
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