Lenze 8400 motec Series Communications Manual
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Lenze 8400 motec Series Communications Manual

Canopen inverter drives
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Summary of Contents for Lenze 8400 motec Series

  • Page 1 Accessories CANopen E84DGFCCxxx Inverter Drives 8400 motec Communication Manual _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _...

  • Page 2: Table Of Contents

    Settings in the Lenze »Engineer« ........
  • Page 3 Diagnostics ..............Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 4 Index ................104 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 5: About This Documentation

     Tip! Detailed information about the system bus (CAN) can be found on the website of the CAN user organisation CiA (CAN in Automation): www.can-cia.org Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 6 The information given in this documentation is valid for the following devices: Product series Type designation Version Inverter Drives 8400 motec E84DGFCCxNx CANopen CANopen communication unit E84DGFCCxJx CANopen + safety Features and variants ( 13) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 7: Document History

    General revision 01/2011 TD17 Update of the ... • Parameters relevant for CANopen communication ( 73) (version 02.00) • »Engineer« screenshots 09/2010 TD17 First edition Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 8: Conventions Used

    Optically highlighted reference to another page. Can be activated with a mouse-click in this documentation. Step-by-step instructions Step-by-step instructions are indicated by a  pictograph. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 9: Terminology Used

    This setting is the default factory setting of the device. Basic setting Hardware Software  Note! Some of the terms used originate from the CANopen protocol. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 10: Notes Used

    Application notes Pictograph Signal word Meaning Note! Important note to ensure trouble-free operation  Tip! Useful tip for easy handling  Reference to another document  Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 11: Safety Instructions

    ( 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 qualified personnel may work with and on Lenze drive and automation components.

  • Page 12: Device And Application-Specific Safety Instructions

    Observe the safety instructions and application notes contained in this manual. Residual hazards Device protection • The Communication Unit contains electronic components that can be damaged or destroyed by electrostatic discharge. ( 20) Installation Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 13: Product Description

    • may only be used in CANopen networks. • can also be used without being connected to the CANopen network. Any other use shall be deemed inappropriate! Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 14: Features And Variants

    Software manual / »Engineer« online help "Inverter Drives 8400 motec" Here you will find detailed information on how to configure the safety system (safety option). Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 15 • Sync telegram generation and response to sync telegrams: • Data transmission/reception • Device-internal time base synchronisation • Abort codes • Object directory (all mandatory functions, optional functions, indexes) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 16: Connections And Interfaces

    X3 / X4 / X61 Terminal strips for wiring the connectors at A1 ... A4 and B1 ... B4 Plug connector for connection to the Drive Unit Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 17 • Wire the M12 plugs or cable glands used with the corresponding contacts of the terminal strips X3, X4 and X61.  "Inverter Drives 8400 motec" hardware manual Observe the notes and wiring instructions contained in this documentation. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 18: Technical Data

    • Time-controlled, 1 to x ms • After the reception of 1 to 240 sync telegrams Conformities, approvals • CE • UR / cUR (see also hardware manual) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 19: Supported Protocols

    Reset node (slave and local device) Reset communication protocol (slave) Monitoring protocols Heartbeat (heartbeat producer and heartbeat consumer) • 1 Heartbeat Producer can be monitored. Emergency telegram (to master) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 20: Communication Time

    • For some codes, the processing time may be longer (see software manual/»Engineer« online help "Inverter Drives 8400 motec"). There are no interdependencies between parameter data and process data. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 21: Installation

    • Fieldbus communication is not possible or faulty. • I/O signals are faulty. • The safety function is faulty. Protective measures • Discharge electrostatic charges before touching the Communication Unit. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 22: Mechanical Installation

    Legend for fig. [5-1] Drive Unit Communication unit Wiring Unit Cover of the Drive Unit EDK84DG... Mounting instructions of the Drive Unit, Communication Unit, Wiring Unit Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 23: Electrical Installation

    CAN node (S) has to be terminated by a bus terminating resistor. Bus termination ( 23) E94YCPM012a [5-2] CAN network with one segment Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 24: Bus Termination

    Otherwise, the bus may become unstable. • Observe that the bus terminator is no longer active when the terminating resistor plug has been removed. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 25: Specification Of The Bus Cable

    1. Check that the total cable length is not exceeded. The total cable length is defined by the baud rate. Baud rate [kbps] Max. bus length [m] 4013 1575 1000 [5-1] Total cable length Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 26 The use of an additional repeater is recommended as: • Service interface • Advantage: Trouble-free connecting during ongoing bus operation is possible. • Calibration interface • Advantage: Calibration/programming units remain electrically isolated. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 27 30 m (cable reduction when a repeater is used) • Max. achievable cable length with a repeater: 690 m • Now it is possible to use the required cable length. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 28: Canopen Connection

    • Output: M12 socket, 5-pole, A-coded • Wiring of terminal strip X3 CANopen connection Signal Description Not assigned Not assigned CAN GND potential CAN-High data line CAN-Low data line Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 29: Commissioning

    • whether the bus system is terminated by means of a bus terminating resistor at the first and last physical bus station. Bus termination ( 23) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 30: How To Configure The Host (Master)

    The CANopen process data objects are designated as seen from the node's view: • Receive PDO (RPDOx): Process data object received by a node • Transmit PDO (TPDOx): Process data object sent by a node Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 31: Possible Settings Via Dip Switch

    DIP switch position Baud rate 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1000 kbps Settings in the Lenze »Engineer« ( 32) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 32: Setting The Can Node Address

    The current address setting of the DIP switches is displayed in C00349. DIP switch positions for setting the CAN node address ( 101) Settings in the Lenze »Engineer« ( 32) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 33: Settings In The Lenze »Engineer

    • Time to the first transmission of CANx_OUT in the "Operational" state (C00356/4) Save changed settings with the device command C00002/11 (save all parameter sets). Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 34: Initial Switch-On

    • The positions of the DIP switches define whether the CAN node address and the baud rate are selected via the DIP switches or via codes C00350 and C00351. Possible settings via DIP switch ( 30) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 35: Data Transfer

     Tip! Please visit the homepage of the CAN user organisation CiA (CAN in automation) for further information: http://www.can-cia.org Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 36: Identifier

    (SDO1) are defined in the CANopen protocol and cannot be changed. • In the Lenze setting, the basic identifiers of the PDOs are preset according to the "Predefined connection set" of DS301, V4.02 and can be changed via parameters/indexes, if required.

  • Page 37: User Data

    Parameter data (SDOs – service data objects) • Parameter data are the CANopen indexes or, in the case of Lenze devices, the codes. • The parameters are, for instance, set for the initial system set-up during commissioning or when material is changed on the production machine.
  • Page 38  Tip! Part of the initialisation or the entire initialisation can be carried out again in every status by transmitting the corresponding network management telegrams. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 39: State Transitions

    The state can be changed for all nodes at the same time. • xx = Node ID: If a node address is specified, only the status of the node with the corresponding address changes. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 40: Network Management Telegram (Nmt)

    "Operational" communication status, the identifier and user data in the transmission telegram must be set as follows: • Identifier: 0x00 (network management) • User data: 0x0100 ("Start remote node" NMT command to all nodes) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 41: Parameterising The Inverter Drives 8400 Motec As Can Master

    "Reset node" NMT telegram for the reinitialisation of the CAN-specific device parameters.  Tip! Master functionality is only required during the initialisation phase of the drive system. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 42: Process Data Transfer

    I/O area. • Process data are not saved in the inverter. • Process data are e.g. setpoints, actual values, control words, and status words. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 43 • Transmit PDOs (TPDOx): Process data object sent by a node  Note! Data can only be exchanged via process data objects if the status is "Operational"! Communication phases/network management ( 36) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 44: Accessing Process Data / Pdo Mapping

    Software manual / »Engineer« online help "Inverter Drives 8400 motec" Here you will find detailed information on port blocks and port/function block interconnection in the »Engineer«. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 45: Port Interconnection Of Process Data Objects (Pdo)

    How to freely configure the port interconnection in the »Engineer«: 1. Go to the Process data objects tab and click Go to application. 2. The Ports tab displays the port blocks CAN1_IN/CAN2_IN and CAN1_OUT/CAN2_OUT. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 46 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 3. Select the port to be configured and click the Change Variable ... button. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 47 Assignment Signal --> Function Block dialog window.  Select the signals and then confirm the selection with OK. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 48  Select the signals and then confirm the selection with OK. The current interconnection is only displayed if the following has been set for the control mode in code C00007 = 40: Network (MCI/CAN). Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 49: Identifiers Of The Process Data Objects

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Identifiers of the process data objects In the Lenze setting, the identifier for the process data objects PDO1 and PDO2 consists of a basic identifier (CANBaseID) and the node address set in C00350: Identifier (COB-ID) = basic identifier + node address (node ID) •...

  • Page 50: Transmission Type

    For a cyclic transmission, a cycle time must be set for the respective PDO. In this case, cyclic transmission takes place in addition to event-controlled transmission. Not permissible Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 51 The setting can also be carried out via the following CANopen objects: • I-1400 / I-1401: Communication parameter for RPDO1 and RPDO2 • I-1800 / I-1801: Communication parameter for TPDO1 and TPDO2 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 52: Pdo Synchronisation Via Sync Telegram

    Sync Sync master slave C00367 CAN SYNC Rx identifier  C00368 CAN SYNC Tx identifier  C00369 CAN SYNC transmit cycle time 0 ms  Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 53: Parameter Data Transfer

    0x1000) enable access to device parameters and functions included in the object directory. To transfer SDOs, the information contained in the user data must comply with the CAN-SDO protocol. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 54: Identifiers Of The Parameter Data Objects

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Identifiers of the parameter data objects In the Lenze setting, the basic identifiers of the SDOs are preset according to the "Predefined Connection Set".

  • Page 55: User Data

    1 byte 0x41 Block Error response 0x80 4 bytes Response by the inverter if the write/read request could not be executed correctly. Error messages ( 57) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 56: Addressing By Means Of Index And Subindex

    3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Index Subindex Data 1 Data 2 Data 3 Data 4 0xF4 0x5F 0x00 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 57: Data 1

    4th byte 5th byte 6th byte 7th byte 8th byte Command Index Subindex Data 1 Data 2 Data 3 Data 4 0x39 0x30 0x00 0x00 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 58: Error Messages

    1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Index Subindex Error code 0x41 0x00 0x04 0x06 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 59 Dynamic generation of object directory not successful or no object directory available (e.g. object directory generated from file, generation not possible because of a file error). Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 60: Parameter Data Telegram Examples

    = 0x43 = "Read response" (response to the read request with current value) Index As in telegram to the drive Subindex Data 1 ... 4 = 0x0000002B = 43 [°C] Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 61: Write Parameters

    (1408 = basic identifier SDO1 from the inverter) Command = 0x60 = "Write Response" (acknowledgement of the write access from the inverter) Index As in telegram to the drive Subindex Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 62: Reading Block Parameters

    = 0x41 = "Read response" (response is block telegram) Index As in telegram to the drive Subindex Data 1 ... 4 = 0x0000000B = data length of 11 characters in the ASCII format Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 63 " if bytes 2 ... 8 are fully occupied with data and further telegrams are following, etc. * Toggle bit Data 1 ... 7 = "01.00.0" (ASCII representation) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 64 • Bits 1 ... 3 reveal the number of bytes that do not contain data anymore. * Toggle bit Data 1 ... 7 = "0.00" (ASCII representation) The result of the data block transmission is: "01.00.00.00" Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 65: Monitoring

    If the RPDO is not received within the monitoring time or with the configured sync, the response set for the respective RPDO is effected (C00593/1...2). A monitoring time = 0 ms deactivates the monitoring function. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 66: Integrated Error Detection

    If a dominant bit is detected in the CRC delimiter, in the ACK delimiter or in the first 6 bits of the EOF field, the telegram received is rejected and an error flag is sent with the next bit. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 67: Heartbeat Protocol

    Decimal value Producer status (s) Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Boot-up Stopped Operational Pre-Operational Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 68: Parameter Setting

    • 1 Heartbeat Producer can be monitored. • The node address(es) of the nodes to be monitored is/are set in C00385/1...n or via object 1016, too. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 69 The heartbeat monitoring will not start until the first heartbeat telegram of a monitored producer has been received successfully and the "Pre-operational" NMT status has been achieved. The boot-up telegram counts as the first heartbeat telegram. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 70: Commissioning Example

    • The heartbeat telegram from the producer has the following identifier: Identifier (COB-ID) = 1792 + producer node address = 1792 + 1 = 1793 = 0x701 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 71: Emergency Telegram

    0x00 Lenze error number Reserved Generic error Corresponding error-free message: Value "0x00000000"  Tip! A detalied description can be found in CAN specification DS301, V4.02. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 72: Diagnostics

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Diagnostics Diagnostics with the »Engineer« In the »Engineer« under the Diagnostics tab, various system bus (CANopen) diagnostics information is displayed. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 73: Parameter Reference

    200 ms MCI timeout  Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 74: Parameters Relevant For Canopen Communication

    Transmission mode CAN2 IN  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 75 4 Reserved 5 Reserved  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 76 Bit 15 Accept DIP switch 24V ON  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 77 0 Slave 1 Master  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 78 C00355/4 Active COBID CAN2_OUT  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 79 6 Reserved 7 Reset  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 80 Bit 6 CRCError Bit 7 Reserved  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 81 Available from firmware version 02.00 onwards. Selection of the number of active parameter data channels • In the Lenze setting complying with CANopen, only parameter data channel 1 is active. In order to activate both parameter data channels, set the selection "2 SDO Lenze".
  • Page 82 ConsumerTime HeartBeat Producer 1  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 83 C00409/7 LP_CanIn2_wIn3 C00409/8 LP_CanIn2_wIn4  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 84 PDO CAN2_IN is exceeded.  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 85: Table Of Attributes

    Access Read access  Reading permitted Write access  Writing permitted CINH Controller inhibit required  Writing is only possible if controller inhibit is set Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 86 5E66 UNSIGNED_16   C00592 Resp. to CAN bus connection 23983 5DAF UNSIGNED_8   C00593 Resp. to CANx_IN monitoring 23982 5DAE UNSIGNED_8   Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 87: Implemented Canopen Objects

    CANopen objects for parameter setting. The CANopen objects described in this chapter are defined in the CAN specification DS301 V4.02. Many CANopen objects can be mapped to Lenze codes. The "Relationship to Lenze code" column of the following table lists the Lenze codes used.
  • Page 88 4294967295 ro The CANopen index I-1000 specifies the profile for this device. Furthermore, additional information defined in the device profile itself can be stored here. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 89 1 ... 10 Display of the error list The error messages (U32) consist of a 16-bit error code and a manufacturer-specific information field comprising 16 bits. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 90 I-1006. Writing identifiers For the reception of PDOs, the value 0x80 is entered in the Lenze setting (and according to CANopen specification) into the 11 bit identifier. This means that all modules are set to the same sync telegram by default.
  • Page 91 * The extended identifier is not supported - bit 11 ... bit 29 must be set to "0". [13-3] Data telegram assignment setting Bit 31 0 Emergency object is valid. 1 Emergency object is invalid. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 92 • The heartbeat telegram is transmitted automatically as soon as a time > 0 ms is set. In this case, the node guarding monitoring function is deactivated. • This object relates to code C00381. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 93 Extended identifier* 11-bit identifier * The extended identifier is not supported - bit 11 ... bit 29 must be set to "0". [13-5] Data telegram assignment Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 94 • The server SDO parameter is only valid if bit 31 is set to "0" for both transmission directions (subindex 1 and 2). • In the Lenze setting, SDO server channel 2 is deactivated (bit 31 = "1"). • The identifier may only be changed when the SDO is invalid (bit 31 = "1").
  • Page 95 Data 1 Data 2 Data 3 Data 4 0x23 0x01 0x12 0x02 0xC4 0x05 0x00 0x00 [13-10] User data assignment for writing to subindex 2 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 96 RTR to this PDO permissible (cannot be set) RTR to this PDO not permissible (Lenze) PDO active PDO not active [13-12] I-1400 / I-1401, subindex 1 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 97 1 ... 4: Application object 1 ... 4 4294967295 rw Object I-1600 serves to receive parameter data as RPDO1. This object relates to code C00409/1...4. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 98 - (reserved, read or write access results in error message 0x06090011) 5: Event timer 0 ms 65535 rw Communication parameters for sending process data via TPDO1 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 99 Subindex 3 - inhibit time  Note! The delay time can only be changed when the PDO is not active (see subindex 1, bit 31 = 1). Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 100 For data telegram assignment and description of subindexes, see object I-1800. How to change the identifier: 1. Deactivate identifier (set bit 31 to "1"). 2. Change identifier. 3. Activate identifier (set bit 31 to "0"). Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 101 • The 4th mapping entry is used for the static mapping. For this, no value is available. For assignment of the data telegram see object I-1A00. Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 102: Dip Switch Positions For Setting The Can Node Address

    The following table shows the switch positions for the valid address range of 1 ... 63. Setting the CAN node address ( 31) Station address DIP switch Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 103 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Station address DIP switch Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...

  • Page 104: Index

    C00592 | Resp. to CAN bus connection C00593 | Resp. to CANx_IN monitoring C01501 | Resp. to communication error with MCI C01503 | MCI timeout CAN baud rate (C00351) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 105 Device type (I-1000) Implemented CANopen objects Diagnostics Initial switch-on Diagnostics with the »Engineer« Installation DIP switch positions for setting the CAN node address Integrated error detection Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 106 Resp. to CANx_IN monitoring (C00593) Resp. to communication error with MCI (C01501) RPDO1 communication parameter (I-1400) RPDO1 mapping parameter (I-1600) RPDO2 communication parameter (I-1401) RPDO2 mapping parameter (I-1601) Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 107 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019...
  • Page 108 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 109 Inverter Drive 8400 motec (CANopen option) · 13564905 · EDS84DMOTCAN · EN 4.0 · 02/2019 · TD23 Lenze Drives GmbH Postfach 10 13 52, D-31763 Hameln Breslauer Straße 3, D-32699 Extertal Germany HR Lemgo B 6478 +49 5154 82-0 +49 5154 82-2800 sales.de@lenze.com...

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