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Lenze E94AYCCA Communications Manual

Lenze E94AYCCA Communications Manual

L-force 9400 canopen communication module
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EDS94AYCCA
13411721
L-force
Communication
9400
E94AYCCA
CANopen® communication module
Communication Manual
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Summary of Contents for Lenze E94AYCCA

  • Page 1 L-force Communication EDS94AYCCA 13411721 Communication Manual 9400 E94AYCCA CANopen® communication module...
  • Page 2 EDS94AYCCA EN 5.0 - 06/2012...

  • Page 3: Table Of Contents

    E94AYCCA communication manual (CANopen®) Contents Contents About this documentation ............
  • Page 4 E94AYCCA communication manual (CANopen®) Contents Commissioning ..............
  • Page 5 E94AYCCA communication manual (CANopen®) Contents Monitoring ...............

  • Page 6: About This Documentation

     safety instructions that must be observed;  key technical data relating to the communication module;  information about the versions of the Lenze standard devices to be used;  notes on troubleshooting and fault elimination. The theoretical concepts are only explained to the level of detail required to understand the function of the communication module.
  • Page 7 This documentation is intended for people involved in configuring, installing, commissioning, and maintaining the networking and remote maintenance of a machine.  Tip! Current documentation and software updates for Lenze products can be found in the ”Download” area at: www.Lenze.com Validity information...

  • Page 8: Document History

    E94AYCCA communication manual (CANopen®) About this documentation Document history Document history Version Description 08/2006 TD17 First edition 04/2008 TD17 General revision 02/2011 TD17 General revision 11/2011 TD17 Assignment of the 9-pin Sub-D plug connector corrected. System bus (CANopen) connection ( 26)

  • Page 9: Conventions Used

    E94AYCCA communication manual (CANopen®) About this documentation Conventions used Conventions used This documentation uses the following conventions to distinguish different types of information: Information type Display Examples/notes Spelling of numbers Decimal Standard spelling Example: 1234 Hexadecimal 0x[0 ... 9, A ... F]...

  • Page 10: Terminology Used

    The Servo Drives 9400 system bus (CANopen) is an advancement of the 9300 controller series' system bus (CAN). Features ( 15) Standard device Lenze controller of the "Servo Drives 9400" product series, with which the communication module can be used. Controller Application as directed ( 14)

  • Page 11: Notes Used

    E94AYCCA communication manual (CANopen®) 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 the safety instructions:  Pictograph and signal word!

  • Page 12: Safety Instructions

    ( 15) – 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. EDS94AYCCA EN 5.0 - 06/2012...

  • Page 13: Device And Application-Specific Safety Instructions

    E94AYCCA communication manual (CANopen®) Safety instructions Device and application-specific safety instructions  All works on and with Lenze drive and automation components may only be carried out by qualified personnel. According to IEC 60364 and CENELEC HD 384 these are persons who ...

  • Page 14: Product Description

    E94AYCCA communication manual (CANopen®) Product description Application as directed Product description Application as directed The communication module ...  is an accessory module which can be used with the following standard devices: Product series Type designation From hardware From software...

  • Page 15: Features

    For many years the system bus (CAN) based on the CANopen communication profile has been integrated in Lenze controllers. Due to the lower number of data objects available, the functionality and compatibility of the old system bus are lower as compared with CANopen.

  • Page 16: Terminals And Interfaces

    E94AYCCA communication manual (CANopen®) Product description Terminals and interfaces Terminals and interfaces  9-pin Sub-D plug connector for system bus connection (CANopen)  DIP switches for ... – setting the CAN node address – setting the baud rate  Front LEDs for diagnosing the ...

  • Page 17: Technical Data

    CANopen (DS301, V4.02) Communication medium CAN cable according to ISO 11898-2 Network topology Line terminated on both sides (e.g. termination with Lenze system connector EWZ0046) Adjustable node addresses 1 ... 127 Adjustable via DIP switches or code C13350 / C14350.

  • Page 18: Supported Protocols

    E94AYCCA communication manual (CANopen®) Technical data Supported protocols Supported protocols Category Protocol Standard PDO protocols PDO write PDO read SDO protocols SDO download SDO download initiate SDO download segment SDO upload SDO upload initiate SDO upload segment SDO abort transfer...

  • Page 19: Communication Time

    E94AYCCA communication manual (CANopen®) Technical data Communication time Communication time The communication time is the time between the start of a request and the arrival of the corresponding response. The communication times in the CAN network depend on the ...

  • Page 20: Protective Insulation

    E94AYCCA communication manual (CANopen®) Technical data Protective insulation Protective insulation  Danger! Dangerous electrical voltage If Servo Drives 9400 are used on a corner grounded system with a rated mains voltage ≥ 400 V, external measures need to be implemented to provide reliable protection against accidental contact.
  • Page 21 E94AYCCA communication manual (CANopen®) Technical data Protective insulation The illustration below ...  shows the arrangement of the terminal strips and the separate potential areas of the controller.  serves to determine the decisive protective insulation between two terminals located in differently insulated separate potential areas.
  • Page 22 E94AYCCA communication manual (CANopen®) Technical data Protective insulation Example Which type of protective insulation is used between the bus terminal of the device module in slot MXI1 or MXI2 and the mains terminal X100?  The separate potential area with the better protective insulation is decisive.

  • Page 23: Dimensions

    E94AYCCA communication manual (CANopen®) Technical data Dimensions Dimensions a 89 mm b 134 mm b1 87 mm e 23 mm E94YCXX005 [4-2] Dimensions EDS94AYCCA EN 5.0 - 06/2012...

  • Page 24: Installation

    E94AYCCA communication manual (CANopen®) Installation Installation  Stop! Electrostatic discharge Electronic components in the communication module can be damaged or destroyed by electrostatic discharge. Possible consequences: • The communication module is defective. • Fieldbus communication is faulty or not possible.

  • Page 25: Mechanical Installation

    E94AYCCA communication manual (CANopen®) Installation Mechanical installation Mechanical installation  Note! • Only one communication module E94AYCCA (CANopen) may be inserted per Servo Drive 9400. • The slot used (MX1 or MX2) can be selected freely. 5.1.1 Mounting E94YCXX001G [5-1] Mounting 5.1.2...

  • Page 26: Electrical Installation

     The system bus (CANopen) must be terminated with resistors (120 Ω) between CAN- low and CAN-high.  The Lenze system connector EWZ0046 with integrated terminating resistor complies with the DS102-1 recommendation of the CAN user organisation CiA. The system connector is not contained in the scope of supply of the communication module.

  • Page 27: Specification Of The Bus Cable

    E94AYCCA communication manual (CANopen®) Installation Electrical installation Assignment of the 9-pin Sub-D plug connector View Assignment CAN-LOW CAN-GND CAN-HIGH 5.2.2 Specification of the bus cable We recommend the use of CAN cables according to ISO 11898-2: CAN cable according to ISO 11898-2...

  • Page 28: Bus Cable Length

    E94AYCCA communication manual (CANopen®) Installation Electrical installation 5.2.3 Bus cable length  Note! • It is absolutely necessary to comply with the permissible cable lengths. • If the total cable lengths of the CAN nodes differ for the same baud rate, the smaller value must be used to determine the max.
  • Page 29 E94AYCCA communication manual (CANopen®) Installation Electrical installation 5.2.3.2 Segment cable length The segment cable length is determined by the cable cross-section used and by the number of nodes. Repeaters divide the total cable length into segments. If no repeaters are used, the segment cable length is identical to the total cable length.
  • Page 30 E94AYCCA communication manual (CANopen®) Installation Electrical installation 5.2.3.3 Checking the use of repeaters Compare the values derived from tables Total cable length Segment cable length ( 28) ( 29)  If the sum of the segment cable lengths is smaller than the total cable length to be implemented, either repeaters must be used or the cable cross-section must be increased.

  • Page 31: Voltage Supply

    E94AYCCA communication manual (CANopen®) Installation Electrical installation 5.2.4 Voltage supply  The communication module is only internally supplied with voltage via the standard device.  If the standard device fails, data transfer between the communication module and other CAN nodes is interrupted.

  • Page 32: Commissioning

    During commissioning, the controller receives system-specific data, e.g. motor parameters, operating parameters, responses, and parameters for the fieldbus communication. In case of Lenze devices, this is done via codes. The codes for the controller and for the communication are saved as a non-volatile data set in the memory module.

  • Page 33: Possible Settings Via Dip Switches

    E94AYCCA communication manual (CANopen®) Commissioning Possible settings via DIP switches Possible settings via DIP switches The front DIP switches can be used to set:  address (switches 1 ... 64)  baud rate (switches a ... d) Baud Baud Baud...

  • Page 34: Setting The Baud Rate

    E94AYCCA communication manual (CANopen®) Commissioning Possible settings via DIP switches 6.2.2 Setting the baud rate  The baud rate can be set with the DIP switches a ... d or via the »Engineer« (code C13351 / C14351).  If several CAN nodes are interconnected, their baud rates must be identical.

  • Page 35: Settings In The "Engineer

    E94AYCCA communication manual (CANopen®) Commissioning Settings in the »Engineer« Settings in the »Engineer« Go to the Settings tab to ...  set the node address (C13350 / C14350). Setting the node address ( 33)  select the procedure for automatic allocation of the COB-IDs in the »Engineer«.

  • Page 36: Switch-On

    After a fault (e.g. short-term mains failure), it is sometimes not wanted or even impermissible that the drive restarts. In the Lenze setting of the Servo Drives 9400, the restart protection is activated. Via the standard device code C00142 ("Auto restart after mains connection") you can set the restart behaviour of the controller: •...

  • Page 37: Data Transfer

    E94AYCCA communication manual (CANopen®) Data transfer Structure of the CAN data telegram Data transfer Via the CANopen interface, process data and parameter values can be exchanged between the CAN nodes. In addition, the interface enables the connection of further modules such as distributed terminals, operator and input devices (HMIs), or external controls and control systems.

  • Page 38: Identifier

    E94AYCCA communication manual (CANopen®) Data transfer Structure of the CAN data telegram 7.1.1 Identifier The principle of the CAN communication is based on a message-oriented data exchange between a transmitter and many receivers. All nodes can transmit and receive quasi- simultaneously.
  • Page 39 (SDO1) are specified 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. They can be changed via parameters/ indexes if required.

  • Page 40: 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 41: Communication Phases / Network

    E94AYCCA communication manual (CANopen®) Data transfer Communication phases / network management Communication phases / network management Regarding communication via the system bus (CANopen), the drive distinguishes between the following states: Status Explanation "Initialisation" After power-up, initialisation is executed. (Initialisation) • During this phase, the controller does not take part in the data transfer on the system bus (CANopen).

  • Page 42: State Transitions

    E94AYCCA communication manual (CANopen®) Data transfer Communication phases / network management 7.2.1 State transitions [7-2] NMT state transitions in the CAN network Transition NMT command State after Effect on process and parameter data after state change change Initialisation Initialisation starts automatically when the mains is switched on.

  • Page 43: Network Management Telegram (Nmt)

    E94AYCCA communication manual (CANopen®) Data transfer Communication phases / network management 7.2.2 Network management telegram (NMT) The telegram for the network management contains the identifier "0" and the command included in the user data, which consists of the command byte and the node address.

  • Page 44: Parameterising The Controller As A Can Master

    E94AYCCA communication manual (CANopen®) Data transfer Communication phases / network management 7.2.3 Parameterising the controller as a CAN master If the initialisation of the system bus (CANopen) and the state change from "pre- operational" to" operational" is not carried out by a higher-level control system, the controller can be defined to be a "quasi"...

  • Page 45: Process Data Transfer

    E94AYCCA communication manual (CANopen®) Process data transfer Process data transfer [8-1] PDO data transfer from / to the higher-level host system For the transfer of process data, four separated process data channels (PDO1 ... PDO4) are available. Definitions  Process data telegrams between the host and the devices are distinguished as follows: –...

  • Page 46: Identifiers Of The Process Data Objects

    Process data transfer Identifiers of the process data objects Identifiers of the process data objects In the Lenze setting, the identifier for the process data objects PDO1 ... PDO4 results from a basic identifier and the node address set in C13350...

  • Page 47: Transmission Type

    E94AYCCA communication manual (CANopen®) Process data transfer Transmission type Transmission type The process data objects are transmitted in an event-controlled or time-controlled way.  Event-controlled: The PDO is sent if a special device-internal event has occurred, for instance, when the data contents of the TPDO have changed or when a transmission cycle time has elapsed.
  • Page 48 E94AYCCA communication manual (CANopen®) Process data transfer Transmission type The communication parameters (as e.g. transmission mode and cycle time) can be freely adjusted for any PDO and independent of the settings of other PDOs: Parameter Information Lenze setting Value Unit C13322/1...4...

  • Page 49: Masking Of The Tpdos For Event Control

    E94AYCCA communication manual (CANopen®) Process data transfer Masking of the TPDOs for event control Masking of the TPDOs for event control For TPDO1 ... TPDO4, a mask can be parameterised for every byte. In case of event- controlled transmission of a PDO, only the masked bits are used for the event control.

  • Page 50: Synchronisation Of Pdos Via Sync Telegram

    E94AYCCA communication manual (CANopen®) Process data transfer Synchronisation of PDOs via sync telegram Synchronisation of PDOs via sync telegram In case of cyclic transmission, one or several PDOs are transmitted or received at fixed time intervals. For synchronising the cyclic process data, an additional special telegram, the sync telegram, is used.

  • Page 51: Parameter Setting

    E94AYCCA communication manual (CANopen®) Process data transfer Synchronisation of PDOs via sync telegram 8.4.1 Parameter setting Short overview: Parameters for synchronisation via sync telegram Parameter Information Lenze setting Assignment Value Unit Sync Sync Master Slave C13367 CAN SYNC Rx identifier...
  • Page 52 From Servo Drive 9400 software version V3.0: The effect of the sync phase position can be influenced by the application cycle set in C01130. For the Lenze setting of C01130, the behaviour remains as before. Sync tolerance Time slot for monitoring the synchronisation signal via the LS_SyncInput system block.
  • Page 53 E94AYCCA communication manual (CANopen®) Process data transfer Synchronisation of PDOs via sync telegram Sync application cycle This parameter influences the effect of the sync phase position (C01122) with regard to the instant of acceptance of the synchronous PDOs by the application or the instant of transmission of the synchronous PDOs to the system bus (CANopen).

  • Page 54: Effect Of C01130 On The Sync Phase Position

    E94AYCCA communication manual (CANopen®) Process data transfer Synchronisation of PDOs via sync telegram 8.4.2 Effect of C01130 on the sync phase position Example 1: SYNC SYNC Œ 150 µs 150 µs 1 Sync cycle time (C01121) = 2000 μs Sync phase position (C01122) = 0 μs...
  • Page 55 E94AYCCA communication manual (CANopen®) Process data transfer Synchronisation of PDOs via sync telegram Example 4: SYNC SYNC Œ  Ž 1 Sync cycle time (C01121) = 2000 μs 2 Sync phase position (C01122) = 1400 μs Sync application cycle (C01130) = 1000 μs...

  • Page 56: Pdo Mapping

    E94AYCCA communication manual (CANopen®) Process data transfer PDO mapping PDO mapping With Servo Drives 9400 HighLine, you can map the process data individually. For this purpose, the »Engineer« provides a port configurator.  Note! The port mapping is no configuration that can be carried out online for the Servo Drive 9400.
  • Page 57 E94AYCCA communication manual (CANopen®) Process data transfer PDO mapping  Implementing PDO mapping with the »Engineer« Example A project to be created in the »Engineer« consists of a master drive (master) and a slave drive (slave). Among other things, for instance PDOs are to be exchanged between the two drives via the system bus (CANopen).
  • Page 58 E94AYCCA communication manual (CANopen®) Process data transfer PDO mapping Settings for transmit objects (TPDO1 ... TPDO4) Transfer mode of TPDOx (C13322/1...4 / C14322/1...4) Transfer time of TPDOx (C13356/1...4 / C14356/1...4) • If a different value than "0" is entered, the TPDO is transmitted without further consideration of the transport type after the time set has elapsed.
  • Page 59 E94AYCCA communication manual (CANopen®) Process data transfer PDO mapping 2. On the Ports tab, input ports and output ports can be created using the New Input and New Output buttons. In the example, two output ports and one input port have been created for the master drive (master).
  • Page 60 E94AYCCA communication manual (CANopen®) Process data transfer PDO mapping 3. The application can be downloaded to the Servo Drive 9400 with the menu command OnlineTransfer application to device. When all PDOs have been programmed and the application has been completed, it can be downloaded to the Servo Drive 9400.

  • Page 61: Parameter Data Transfer

    9400CAN005-2 [9-1] Parameter data transfer via available parameter data channels Parameters are values stored in codes on Lenze controllers. Ten separate parameter data channels are available for parameter setting, enabling the simultaneous connection of several devices for configuration. Parameter data are transmitted via the system bus (CANopen) as SDOs ("Service Data Objects") and acknowledged by the receiver.

  • Page 62: Identifiers Of The Parameter Data Objects

    C13350 / C14350: Identifier (COB-ID) = basic identifier + node address (node ID)  In the Lenze setting, the basic identifiers of the SDOs are preset according to the "Predefined Connection Set" of DS301, V4.02: Parameter data object Direction...

  • Page 63: User Data

    E94AYCCA communication manual (CANopen®) Parameter data transfer User data User data Structure of the user data of the parameter data telegram 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Index Subindex...

  • Page 64: Command

    E94AYCCA communication manual (CANopen®) Parameter data transfer User data 9.2.1 Command 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Index Subindex Data 1 Data 2 Data 3 Data 4 Low byte High byte...

  • Page 65: Addressing Through Index And Subindex

    High word Low byte High byte Low byte High byte A parameter (Lenze code) is addressed according to the following formula: Index = 24575 - (Lenze code number) Example The parameter C00011 (motor reference speed) is to be addressed. Calculation: ...
  • Page 66  Note! Table of attributes contains a scaling factor for Lenze parameters in ( 149) the "factor" column. The scaling factor is important for the transfer of parameter values which are represented with one or several decimal positions in the parameter list.

  • Page 67: Error Messages

    E94AYCCA communication manual (CANopen®) Parameter data transfer User data 9.2.4 Error messages 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Index Subindex Error code 0x80 Low byte High byte Low word...
  • Page 68 E94AYCCA communication manual (CANopen®) Parameter data transfer User data Error codes Error code Explanation 0x0503 0000 Toggle bit not changed. 0x0504 0000 SDO protocol expired. 0x0504 0001 Invalid or unknown client/server command specifier. 0x0504 0002 Invalid block size (block mode only).

  • Page 69: Examples For A Parameter Data Telegram

    E94AYCCA communication manual (CANopen®) Parameter data transfer Examples for a parameter data telegram Examples for a parameter data telegram 9.3.1 Reading parameters Task: The heatsink temperature of 43 °C (code C00061, data format INTEGER32, scaling factor 1) is to be read from the controller with node address "5".

  • Page 70: Writing Parameters

    E94AYCCA communication manual (CANopen®) Parameter data transfer Examples for a parameter data telegram 9.3.2 Writing parameters Task: The rated current of the connected motor with I = 10.2 A (code C00088) is to be rated entered in the controller with node address "2".

  • Page 71: Reading Block Parameters

    E94AYCCA communication manual (CANopen®) Parameter data transfer Examples for a parameter data telegram 9.3.3 Reading block parameters Task: The firmware version (code C00099) is to be read from the parameter set of the controller with node address "12". The firmware version has a length of 11 ASCII characters and is transmitted as a block parameter.
  • Page 72 E94AYCCA communication manual (CANopen®) Parameter data transfer Examples for a parameter data telegram Telegram 2 to the drive: Request of the 1st data block Identifier User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte...
  • Page 73 E94AYCCA communication manual (CANopen®) Parameter data transfer Examples for a parameter data telegram Telegram 3 to the drive: Request of the 2nd data block Identifier User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte...

  • Page 74: Monitoring

    E94AYCCA communication manual (CANopen®) Monitoring Node guarding protocol Monitoring 10.1 Node guarding protocol In a CAN network, the node guarding protocol serves to monitor the connection between the NMT master and the NMT slave(s). If the controller was parameterised as NMT master, it can monitor up to 32 NMT slaves.

  • Page 75: Telegram Structure

    E94AYCCA communication manual (CANopen®) Monitoring Node guarding protocol 10.1.1 Telegram structure RTR telegram  The RTR telegram from the NMT master has the following identifiers: Identifier (COB-ID) = 1792 + node address of the NMT slave  The RTR telegram does not contain any user data.

  • Page 76: Parameter Setting

    E94AYCCA communication manual (CANopen®) Monitoring Node guarding protocol 10.1.2 Parameter setting Short overview of parameters for the "Node Guarding" monitoring function: Parameter Information Lenze setting Assignment Value Unit Master Slave C13382 C14382 CAN guard time 0 ms C13383 C14383 life time factor...
  • Page 77 The "life guarding event" is triggered in the NMT slave if the slave has not received an RTR telegram from the NMT master within the node life time:  In the Lenze setting, the NMT slave changes from the "Operational" communication status into the "Pre-Operational" communication status.

  • Page 78: Commissioning Example

    E94AYCCA communication manual (CANopen®) Monitoring Node guarding protocol 10.1.3 Commissioning example Task A Servo Drive 9400 configured as NMT master (node 1) is to monitor another Servo Drive 9400 (node 2).  The node guarding telegram is to be transmitted from the NMT master to the NMT slave in intervals of 1 s: –...
  • Page 79 E94AYCCA communication manual (CANopen®) Monitoring Node guarding protocol Parameterise NMT slave (node 2) 1. Adapt the life time factor and guard time settings of the NMT slave to the settings applied to the NMT master under C13386 / C14386: – Set guard time (C13382 / C14382) to 1000 ms.

  • Page 80: Heartbeat Protocol

    E94AYCCA communication manual (CANopen®) Monitoring Heartbeat protocol 10.2 Heartbeat protocol The heartbeat protocol can be used as an alternative to the node guarding protocol for monitoring nodes within a CAN network. Unlike node guarding, this monitoring does not require a polling by means of an RTR telegram (Remote Transmission Request) from the NMT master.

  • Page 81: Telegram Structure

    E94AYCCA communication manual (CANopen®) Monitoring Heartbeat protocol 10.2.1 Telegram structure  The heartbeat telegram from the producer has the following identifier: Identifier (COB-ID) = 1792 + node address of the producer  The user data (1 byte) contain the status (s) of the producer:...
  • Page 82 The "heartbeat event" is triggered in the consumer if the consumer has not received a heartbeat telegram from the producer within the heartbeat consumer time:  In the Lenze setting, the consumer changes from the "Operational" communication status into the "Pre-Operational" communication status.

  • Page 83: Commissioning Example

    E94AYCCA communication manual (CANopen®) Monitoring Heartbeat protocol 10.2.3 Commissioning example Task A Servo Drive 9400 configured as heartbeat consumer (node 2) is to monitor another Servo Drive 9400 (heartbeat producer; node 1).  The heartbeat producer is to transmit every 10 seconds a heartbeat telegram to the heartbeat consumer.

  • Page 84: Emergency Telegram

    Low byte High byte Low byte High byte See table below • With emergency error code "0x1000: Lenze error number" (value displayed in C00168) • With all other emergency error codes, the value "0" is entered here. Emergency error code...

  • Page 85: Settings In The "Engineer

    E94AYCCA communication manual (CANopen®) Monitoring Settings in the »Engineer« 10.4 Settings in the »Engineer« Go to the Monitoring tab to ...  set the response for the CAN node changing to the "bus OFF" state (C13959 C14595).  set the monitoring time for RPDOx (C13357/1...4...

  • Page 86: Diagnostics

    E94AYCCA communication manual (CANopen®) Diagnostics LED status displays Diagnostics 11.1 LED status displays Status displays MS and DE LEDs Status Description MS (green) on The communication module is supplied with voltage. DE (red) on The communication module is not accepted by the standard device (see notes in the documentation for the standard device).
  • Page 87 E94AYCCA communication manual (CANopen®) Diagnostics LED status displays Status displays BS and BE (connection status to the system bus (CANopen)) LEDs Description CANopen status (green) CANopen error (red) E94YCCA001D LED status display Meaning BS (green) BE (red) CANopen status CANopen error...

  • Page 88: Diagnostics With The "Engineer

    E94AYCCA communication manual (CANopen®) Diagnostics Diagnostics with the »Engineer« 11.2 Diagnostics with the »Engineer« In the »Engineer«, diagnostic information for CAN is provided on the Diagnostics tab. LS_SyncInput system block In the »FB Editor«, the LS_SyncInput system block provides status information for the received sync telegram.

  • Page 89: Error Messages

    E94AYCCA communication manual (CANopen®) Error messages Short overview of the CANopen error messages Error messages This chapter supplements the error list in the software manual and the »Engineer« online help for the Servo Drive 9400 with the error messages of the communication module.
  • Page 90 E94AYCCA communication manual (CANopen®) Error messages Short overview of the CANopen error messages Error number Designation Response Can be set in (Lenze setting) 0x00ad0000 11337728 CAN module (MXI2): heartbeat error index 1 ... 32 No response C14613/1...32 0x00ad001F 11337759 0x00ad0020...

  • Page 91: Possible Causes And Remedies

    Possible causes and remedies as well as responses to error messages are described in detail. Short overview of the CANopen error messages ( 89) MXI1: CAN module is missing or is incompatible [0x008c0017] Response (Lenze setting printed in bold) Setting: not possible None System fault Fault...
  • Page 92 E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI1): basic configuration invalid [0x009d0002] Response (Lenze setting printed in bold) Setting: not possible None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause...
  • Page 93 E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI1): emergency configuration faulty [0x009f0000] Response (Lenze setting printed in bold) Setting: not possible None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause...
  • Page 94 E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI1) RPDO2: telegram not received or faulty [0x00a10001] Response (Lenze setting printed in bold) Setting: C13591/2 C14591/2 Adjustable response) None System fault Fault Trouble Quick stop by trouble...
  • Page 95 E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI1) RPDO7: telegram not received or faulty [0x00a10006] Response (Lenze setting printed in bold) Setting: C13591/7 C14591/7 Adjustable response) None System fault Fault Trouble Quick stop by trouble...
  • Page 96 E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI1) SDO client: configuration faulty [0x00a30000] Response (Lenze setting printed in bold) Setting: not possible None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information...
  • Page 97 E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI2): heartbeat error index 1 ... 32 [0x00ad0000 ... 0x00ad001f] Response (Lenze setting printed in bold) Setting: C14613/1...32 Adjustable response) None System fault Fault Trouble Quick stop by trouble...
  • Page 98 E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI2): node guarding error 1 ... 32 [0x00af0000 ... 0x00af001f] Response (Lenze setting printed in bold) Setting: C14612/1...32 Adjustable response) None System fault Fault Trouble Quick stop by trouble...
  • Page 99 E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI2) RPDO3: telegram not received or faulty [0x00b00002] Response (Lenze setting printed in bold) Setting: C14591/3 Adjustable response) None System fault Fault Trouble Quick stop by trouble Warning locked...
  • Page 100 E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI2) RPDO8: telegram not received or faulty [0x00b00007] Response (Lenze setting printed in bold) Setting: C14591/8 Adjustable response) None System fault Fault Trouble Quick stop by trouble Warning locked...

  • Page 101: Parameter Reference

    = 2BC6 C00369 | CAN sync transmission cycle time Cycle within which the sync master is to send sync telegrams. • With "0 ms" (Lenze setting), no sync telegrams are created. • Mapping of the CANopen object I-1006 (see DS301, V4.02).
  • Page 102 E94AYCCA communication manual (CANopen®) Parameter reference Communication-relevant parameters of the standard device C00615 Parameter | Name: Data type: UNSIGNED_32 Index: 23960 = 5D98 C00615 | Resp. to imp. device config. Selection of response to impermissible device configuration Selection list 1 Fault...
  • Page 103 Selection of the source for the synchronisation signals. • The drive can only be synchronised by one source. Note: Select "2: CAN module" for the CANopen communication module (E94AYCCA). Synchronisation of PDOs via sync telegram ( 50) Selection list (Lenze setting printed in bold)
  • Page 104 From software version V3.0: The effect of the sync phase position can be influenced by the application cycle set in C01130. For the Lenze setting of C01130, the behaviour remains as before. Synchronisation of PDOs via sync telegram ( 50)
  • Page 105 E94AYCCA communication manual (CANopen®) Parameter reference Communication-relevant parameters of the standard device C01124 Parameter | Name: Data type: UNSIGNED_8 Index: 23451 = 5B9B C01124 | Sync-PLL increment When the cycle times of the synchronisation signal and the phase control loop (PLL) differ, this setting defines the increment to be used to readjust the phase control loop.
  • Page 106 (C01121 C01122 + 150 μs) modulo C01130 • For the Lenze setting, the behaviour remains as before; the sync phase position (C01122) is always calculated "modulo 1000". • The set value is automatically rounded down to multiples of 1000 μs.

  • Page 107: Parameters Of The Communication Module For Slot Mxi1

    Parameters of the communication module for slot MXI1 13.2 Parameters of the communication module for slot MXI1 In this chapter, the parameters of the E94AYCCA communication module (CANopen) for slot MXI1 of the Servo Drive 9400 are listed in numerically ascending order. C13311...
  • Page 108 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13313 Parameter | Name: Data type: BITFIELD_8 Index: 11262 = 2BFE C13313 | CAN TPDO3 mask byte x For each byte of the TPDO3 a mask can be parameterised in the corresponding subcode.
  • Page 109 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13320 Parameter | Name: Data type: BITFIELD_32 Index: 11255 = 2BF7 C13320 | CAN TPDOx identifier Identifier for TPDO1 ... TPDO4 • If bit 31 is set (0x8nnnnnnn), the TPDO is deactivated.
  • Page 110 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13321 Parameter | Name: Data type: BITFIELD_32 Index: 11254 = 2BF6 C13321 | CAN RPDOx identifier Identifier for RPDO1 ... RPDO4 • If bit 31 is set (0x8nnnnnnn), the RPDO is deactivated.
  • Page 111 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13323 Parameter | Name: Data type: UNSIGNED_8 Index: 11252 = 2BF4 C13323 | CAN RPDOx Rx mode RPDO transmission type according to DS301, V4.02 • For the RPDO serves as monitoring setting in the case of sync-controlled PDOs.
  • Page 112 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13344 Parameter | Name: Data type: UNSIGNED_32 Index: 11231 = 2BDF C13344 | CAN RPDO counter Counter for RPDO1 ... RPDO4 Display range (min. value | unit | max. value)
  • Page 113 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13347 Parameter | Name: Data type: UNSIGNED_8 Index: 11228 = 2BDC C13347 | CAN heartbeat status Status of node 1 ... 32 Heartbeat protocol ( 80)
  • Page 114 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13350 Parameter | Name: Data type: UNSIGNED_8 Index: 11225 = 2BD9 C13350 | CAN node address • A change in the node address is only effective after a "Reset node" (C00002 = 92).
  • Page 115 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13356 Parameter | Name: Data type: UNSIGNED_16 Index: 11219 = 2BD3 C13356 | CAN TPDOx cycle time TPDO event time according to DS301, V4.02 • If a different value than "0" is entered, the TPDO is transmitted without further consideration of the transport type after the time set has elapsed.
  • Page 116 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13360 Parameter | Name: Data type: UNSIGNED_16 Index: 11215 = 2BCF C13360 | CAN telegram and error counter • After mains connection, all counters start with "0".
  • Page 117 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13367 Parameter | Name: Data type: UNSIGNED_32 Index: 11208 = 2BC8 C13367 | CAN sync Rx identifier Identifier with which the sync slave is to receive sync telegrams.
  • Page 118 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13373 Parameter | Name: Data type: BITFIELD_32 Index: 11202 = 2BC2 C13373 | CAN SDO server Tx identifier Identifier with which the corresponding SDO server can carry out transmissions.
  • Page 119 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13375 Parameter | Name: Data type: BITFIELD_32 Index: 11200 = 2BC0 C13375 | CAN SDO client Rx identifier Identifier with which the corresponding SDO client can be reached.
  • Page 120 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13377 Parameter | Name: Data type: UNSIGNED_8 Index: 11198 = 2BBE C13377 | CAN SDO server node address Node address of the server with which this client communicates via the client channel selected.
  • Page 121 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13383 Parameter | Name: Data type: UNSIGNED_8 Index: 11192 = 2BB8 C13383 | CAN Life Time Factor • The life time factor multiplied with the guard time (C13382) is the time within which a node guarding telegram must have arrived.
  • Page 122 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13386 Parameter | Name: Data type: BITFIELD_32 Index: 11189 = 2BB5 C13386 | CAN Node Guarding These 32 subcodes represent the nodes which are to be monitored by the master via node guarding.
  • Page 123 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13390 Parameter | Name: Data type: BITFIELD_8 Index: 11185 = 2BB1 C13390 | CAN Error Register (DS301V402) Mapping of the CANopen object I-1001 (see DS301, V4.02)
  • Page 124 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13392 Parameter | Name: Data type: UNSIGNED_16 Index: 11183 = 2BAF C13392 | CAN emergency delay time Minimum time that has to elapse between two successive emergency telegrams.
  • Page 125 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13591 Parameter | Name: Data type: UNSIGNED_8 Index: 10984 = 2AE8 C13591 | Resp. to CAN-RPDOx error Response if the corresponding CAN RPDO has not been received within the configured time (C13357/1...4...
  • Page 126 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13612 Parameter | Name: Data type: UNSIGNED_8 Index: 10963 = 2AD3 C13612 | Resp. to CAN node guarding error Response of master if the corresponding node guarding response is missing.
  • Page 127 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13614 Parameter | Name: Data type: UNSIGNED_8 Index: 10961 = 2AD1 C13614 | Resp. to CAN life guarding error Response of slave if node guarding request is missing.

  • Page 128: Parameters Of The Communication Module For Slot Mxi2

    Parameters of the communication module for slot MXI2 13.3 Parameters of the communication module for slot MXI2 In this chapter, the parameters of the E94AYCCA communication module (CANopen) for slot MXI2 of the Servo Drive 9400 are listed in numerically ascending order. C14311...
  • Page 129 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14313 Parameter | Name: Data type: BITFIELD_8 Index: 11262 = 2BFE C14313 | CAN TPDO3 mask byte x For each byte of the TPDO3 a mask can be parameterised in the corresponding subcode.
  • Page 130 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14320 Parameter | Name: Data type: BITFIELD_32 Index: 11255 = 2BF7 C14320 | CAN TPDOx identifier Identifier for TPDO1 ... TPDO4 • If bit 31 is set (0x8nnnnnnn), the TPDO is deactivated.
  • Page 131 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14321 Parameter | Name: Data type: BITFIELD_32 Index: 11254 = 2BF6 C14321 | CAN RPDOx identifier Identifier for RPDO1 ... RPDO4 • If bit 31 is set (0x8nnnnnnn), the RPDO is deactivated.
  • Page 132 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14323 Parameter | Name: Data type: UNSIGNED_8 Index: 11252 = 2BF4 C14323 | CAN RPDOx Rx mode RPDO transmission type according to DS301, V4.02 • For the RPDO serves as monitoring setting in the case of sync-controlled PDOs.
  • Page 133 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14344 Parameter | Name: Data type: UNSIGNED_32 Index: 11231 = 2BDF C14344 | CAN RPDO counter Counter for RPDO1 ... RPDO4 Display range (min. value | unit | max. value)
  • Page 134 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14347 Parameter | Name: Data type: UNSIGNED_8 Index: 11228 = 2BDC C14347 | CAN heartbeat status Status of node 1 ... 32 Heartbeat protocol ( 80)
  • Page 135 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14350 Parameter | Name: Data type: UNSIGNED_8 Index: 11225 = 2BD9 C14350 | CAN node address • A change in the node address is only effective after a "Reset node" (C00002 = 92).
  • Page 136 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14356 Parameter | Name: Data type: UNSIGNED_16 Index: 11219 = 2BD3 C14356 | CAN TPDOx cycle time TPDO event time according to DS301, V4.02 • If a different value than "0" is entered, the TPDO is transmitted without further consideration of the transport type after the time set has elapsed.
  • Page 137 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14360 Parameter | Name: Data type: UNSIGNED_16 Index: 11215 = 2BCF C14360 | CAN telegram and error counter • After mains connection, all counters start with "0".
  • Page 138 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14367 Parameter | Name: Data type: UNSIGNED_32 Index: 11208 = 2BC8 C14367 | CAN SYNC Rx identifier Identifier with which the sync slave is to receive sync telegrams.
  • Page 139 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14373 Parameter | Name: Data type: BITFIELD_32 Index: 11202 = 2BC2 C14373 | CAN SDO server Tx identifier Identifier with which the corresponding SDO server can carry out transmissions.
  • Page 140 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14375 Parameter | Name: Data type: BITFIELD_32 Index: 11200 = 2BC0 C14375 | CAN SDO client Rx identifier Identifier with which the corresponding SDO client can be reached.
  • Page 141 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14377 Parameter | Name: Data type: UNSIGNED_8 Index: 11198 = 2BBE C14377 | CAN SDO server node address Node address of the server with which this client communicates via the client channel selected.
  • Page 142 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14383 Parameter | Name: Data type: UNSIGNED_8 Index: 11192 = 2BB8 C14383 | CAN Life Time Factor • The life time factor multiplied with the guard time (C14382) is the time within which a node guarding telegram must have arrived.
  • Page 143 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14386 Parameter | Name: Data type: BITFIELD_32 Index: 11189 = 2BB5 C14386 | CAN Node Guarding These 32 subcodes represent the nodes which are to be monitored by the master via node guarding.
  • Page 144 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14390 Parameter | Name: Data type: BITFIELD_8 Index: 11185 = 2BB1 C14390 | CAN Error Register (DS301V402) Mapping of the CANopen object I-1001 (see DS301, V4.02)
  • Page 145 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14392 Parameter | Name: Data type: UNSIGNED_16 Index: 11183 = 2BAF C14392 | CAN emergency delay time Minimum time that has to elapse between two successive emergency telegrams.
  • Page 146 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14591 Parameter | Name: Data type: UNSIGNED_8 Index: 10984 = 2AE8 C14591 | Resp. to CAN-RPDOx error Response if the corresponding CAN RPDO has not been received within the configured time (C13357/1...4...
  • Page 147 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14612 Parameter | Name: Data type: UNSIGNED_8 Index: 10963 = 2AD3 C14612 | Resp. to CAN node guarding error Response of master if the corresponding node guarding response is missing.
  • Page 148 E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14614 Parameter | Name: Data type: UNSIGNED_8 Index: 10961 = 2AD1 C14614 | Resp. to CAN life guarding error Response of slave if node guarding request is missing.

  • Page 149: Table Of Attributes

    E94AYCCA communication manual (CANopen®) Parameter reference Table of attributes 13.4 Table of attributes The table of attributes contains information required for communicating with the controller via parameters. How to read the table of attributes: Column Meaning Entry Code Parameter designation...
  • Page 150 E94AYCCA communication manual (CANopen®) Parameter reference Table of attributes Table of attributes Code Name Index Data Access Factor CINH C13311 CAN TPDO1 mask byte x 24264 5EC8 BITFIELD_8 C13312 CAN TPDO2 mask byte x 24263 5EC7 BITFIELD_8 C13313 CAN TPDO3 mask byte x...
  • Page 151 E94AYCCA communication manual (CANopen®) Parameter reference Table of attributes Code Name Index Data Access Factor CINH C13613 Resp. to CAN heartbeat error 23962 5D9A UNSIGNED_8 C13614 Resp. to CAN life guarding error 23961 5D99 UNSIGNED_8 C13625 CAN behaviour in the case of error...
  • Page 152 E94AYCCA communication manual (CANopen®) Parameter reference Table of attributes Code Name Index Data Access Factor CINH C14612 Resp. CAN node guarding error 23963 5D9B UNSIGNED_8 C14613 Resp. to CAN heartbeat error 23962 5D9A UNSIGNED_8 C14614 Resp. to CAN life guarding error...

  • Page 153: Implemented Canopen Objects

    The CANopen objects described in this chapter are defined in the CANopen specification DS301, V4.02. Many CANopen objects can be mapped to Lenze codes. In the following table, the related Lenze codes are listed in the column "Relationship to Lenze code".
  • Page 154 E94AYCCA communication manual (CANopen®) Implemented CANopen objects CANopen object Relationship to Lenze code Index Subindex Name I-1029 Error behaviour Highest subindex supported Communication error C13625 C14625 I-1200 SDO1 server parameter Highest subindex supported COB-ID client −> server (rx) C13372/1 C14372/1 COB-ID server −>...
  • Page 155 Data type 0: Error register 255 ro Error register  This object is related to the Lenze code C13390 / C14390.  The error status in the data byte (U8) is bit coded (see the following table). Currently only bit 0 and bit 4 in the data byte contain the corresponding information.
  • Page 156 E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1003 - Pre-defined error field Index: Name: I-1003 Pre-defined error field Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: Number of errors 255 rw 1 ... 10: Standard error field...
  • Page 157 I-1006. Writing identifiers For the reception of PDOs, the value 0x80 is entered in the 11-bit identifier in the Lenze setting (and according to DS301, V4.02). This means that all modules are by default set to the same sync telegram.
  • Page 158  The "life guarding event" occurs in the NMT slave if the slave has not been triggered by the NMT master through an RTR within the node life time.  With "0 ms" (Lenze setting), monitoring is not supported by the slave.  This object is related to the Lenze code C13382 / C14382.
  • Page 159 [14-3] Assignment of the data telegram (read access) Meaning Bit 0 0 No saving of parameters on command. 1 Saving of parameters on command (Lenze). Bit 1 0 No automatic saving of parameters (Lenze). 1 Automatic saving of parameters. Write subindex 1 In addition to the index and subindex, the telegram data must also include the "save"...
  • Page 160 4294967295 rw Load Lenze setting.  Corresponds to the device command C00002 = "0: Load Lenze setting".  This command serves to reset the parameters of the active application to the Lenze setting which is stored in the firmware. Subindex...
  • Page 161 (e. g. "trouble"), an error message is sent via the system bus (CANopen). For each error, the telegram is transmitted once. This function can be activated or deactivated by means of bit 31.  This object is related to the Lenze code C13391 / C14391.
  • Page 162  The parameterised time is rounded down to an integer multiple of 5 ms.  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 is related to the Lenze code C13381 / C14381.
  • Page 163 3: Revision number 4: Serial number Subindex Meaning Manufacturer identification number • The identification number allocated to Lenze by the "CAN in Automation e. V." organisation is "0x0000003B". Product code 0x94001 9400 StateLine 0x94002 9400 HighLine / ServoPLC 0x94004 9400 regenerative power supply module...
  • Page 164 E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1200 - SDO1 server parameter Index: Name: I-1200 SDO1 server parameter Subindex Default setting Display range (min. value | unit | max. value) Access Data type 0: highest subindex supported 2 ro 1: COB-ID client -> server (Rx)
  • Page 165  The server SDO parameter is only valid if the bit 31 is set to "0" for both transmission directions (subindex 1 and 2).  In the Lenze setting, the SDO server channels 2 ... 10 are deactivated (bit 31 = "1").  The identifier may only be changed if the SDO is invalid (bit 31 = "1").
  • Page 166 E94AYCCA communication manual (CANopen®) Implemented CANopen objects The parameter data channel 2 of the controller with the node address 4 is to be activated. Example  For this purpose, bit 31 in the subindexes 1 and 2 of the I-1201 object must be set to the value "0"...
  • Page 167 E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1202 - SDO3 server parameter Index: Name: I-1202 SDO3 server parameter Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: highest subindex supported - (only read access) 1: COB-ID client ->...
  • Page 168 E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1206 - SDO7 server parameter Index: Name: I-1206 SDO7 server parameter Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: highest subindex supported - (only read access) 1: COB-ID client ->...
  • Page 169 * The extended identifier is not supported - bit 11 ... bit 29 must be set to "0". [14-15] Data telegram assignment Setting Bit 30 0 RTR to this PDO possible (cannot be set). 1 RTR to this PDO not possible (Lenze). Bit 31 0 PDO active. 1 PDO inactive. How to change the identifier: 1.
  • Page 170 E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1401 - RPDO2 communication parameter Index: Name: I-1401 RPDO2 communication parameter Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: highest subindex supported - (only read access)
  • Page 171 E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1403 - RPDO4 communication parameter Index: Name: I-1403 RPDO4 communication parameter Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: highest subindex supported - (only read access)
  • Page 172 E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1601 - RPDO2 mapping parameter Index: Name: I-1601 RPDO2 mapping parameter Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: number of mapped application 8 rw objects in PDO 1 ...
  • Page 173 * The extended identifier is not supported - bit 11 ... bit 29 must be set to "0". [14-17] Data telegram assignment Setting Bit 30 0 RTR to this PDO possible (Lenze). 1 RTR to this PDO not possible (cannot be set). Bit 31 0 PDO active.
  • Page 174 E94AYCCA communication manual (CANopen®) Implemented CANopen objects Subindex 3 - inhibit time The delay time can only be changed if the PDO is inactive (subindex 1, bit 31 = 1). The entered value multiplied by 0.1 results in the delay time in [ms]. The calculated delay time is always rounded down to an inter value.
  • Page 175 E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1802 - TPDO3 communication parameter Index: Name: I-1802 TPDO3 communication parameter Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: highest subindex supported - (only read access)
  • Page 176 E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1A00 - TPDO1 mapping parameter Index: Name: I-1A00 TPDO1 mapping parameter Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: number of mapped application 8 rw objects in PDO 1 ...
  • Page 177 E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1A02 - TPDO3 mapping parameter Index: Name: I-1A02 TPDO3 mapping parameter Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: number of mapped application 8 rw objects in PDO 1 ...

  • Page 178: Dip Switch Positions For Setting The Can Node Address

    E94AYCCA communication manual (CANopen®) DIP switch positions for setting the CAN node address DIP switch positions for setting the CAN node address The node address results from the sum of the binary values of switches 1 ... 64. The following table shows the switch positions for the valid address range of 1 ... 127.
  • Page 179 E94AYCCA communication manual (CANopen®) DIP switch positions for setting the CAN node address Node address DIP switch EDS94AYCCA EN 5.0 - 06/2012...
  • Page 180 E94AYCCA communication manual (CANopen®) DIP switch positions for setting the CAN node address Node address DIP switch EDS94AYCCA EN 5.0 - 06/2012...
  • Page 181 E94AYCCA communication manual (CANopen®) DIP switch positions for setting the CAN node address Node address DIP switch EDS94AYCCA EN 5.0 - 06/2012...

  • Page 182: Index

    E94AYCCA communication manual (CANopen®) Index Index C13373 - CAN SDO server Tx identifier C13374 - CAN SDO client node address Activating changed settings C13375 - CAN SDO client Rx identifier Addressing through index and subindex C13376 - CAN SDO client Tx identifier...
  • Page 183 E94AYCCA communication manual (CANopen®) Index C14373 - CAN SDO server Tx identifier CAN module (MXI1) basic configuration invalid (error number) C14374 - CAN SDO client node address bus-off (error message) C14375 - CAN SDO client Rx identifier emergency configuration faulty (error message)
  • Page 184 E94AYCCA communication manual (CANopen®) Index CAN module (MXI2) RPDO6 CAN SYNC Tx identifier (C13368) telegram not received or faulty (error message) CAN SYNC Tx identifier (C14368) CAN module (MXI2) RPDO7 CAN telegram and error counter (C13360) telegram not received or faulty (error message)
  • Page 185 E94AYCCA communication manual (CANopen®) Index DIP switch positions for setting the CAN node address Error register (I-1001) Establishing communication DIP switch settings Dismounting Document history Features Emergency telegram General data Error behaviour (I-1029) General safety and application notes Error codes...
  • Page 186 E94AYCCA communication manual (CANopen®) Index I-1802 - TPDO3 communication parameter Number of nodes I-1803 - TPDO4 communication parameter I-1A00 - TPDO1 mapping parameter Operating conditions I-1A01 - TPDO2 mapping parameter I-1A02 - TPDO3 mapping parameter I-1A03 - TPDO4 mapping parameter...
  • Page 187 E94AYCCA communication manual (CANopen®) Index Transfer mode for TPDOs Transmission type Safety instructions Safety instructions (representation) Screenshots Use of repeaters SDO1 server parameter (I-1200) User data SDO10 server parameter (I-1209) Using the communication module SDO2 server parameter (I-1201) SDO3 server parameter (I-1202)
  • Page 188  © 06/2012 Lenze Automation GmbH Service Lenze Service GmbH Hans-Lenze-Str. 1 Breslauer Straße 3 D-31855 Aerzen D-32699 Extertal Germany Germany +49 (0)51 54 / 82-0 00 80 00 / 24 4 68 77 (24 h helpline) +49 (0)51 54 / 82-28 00 +49 (0)51 54 / 82-11 12 Lenze@Lenze.de...

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