Lenze 931 Series Communications Manual
  1. Manuals
  2. Brands
  3. Lenze Manuals
  4. Servo Drives
  5. 931 Series
  6. Communications manual
Lenze 931 Series Communications Manual

Lenze 931 Series Communications Manual

Ethercat
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
KHB 13.0005−EN
.Cb>
Servo Drives 930
931K
EtherCAT
Communication Manual
l

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the 931 Series and is the answer not in the manual?

Questions and answers

Related Manuals for Lenze 931 Series

Summary of Contents for Lenze 931 Series

  • Page 1 KHB 13.0005−EN .Cb> Communication Manual Servo Drives 930 931K EtherCAT...

  • Page 2: Table Of Contents

    Contents About this documentation ..........Document history .
  • Page 3 Contents Adaptation of the device description file ....... . . 8.8.1 Structure of the device description file .

  • Page 4: About This Documentation

    931 servo inverter and the corresponding hardware manual. The mounting instructions and the hardware manual contain safety instructions which must be observed! The features of the EtherCAT bus system for servo inverters of the 931 series are ƒ described in detail.

  • Page 5: Document History

    If you have suggestions for improvement, please e−mail us to: feedback−docu@Lenze.de Thank you for your support. Your Lenze documentation team Conventions used This documentation uses the following conventions to distinguish between different types of information:...

  • Page 6: Terminology Used

    Term Meaning EtherCAT Fieldbus sytem of the EtherCAT Technology Group Standard device Lenze controllers with which the bus system can be used. Controller Master EtherCAT node which takes over the master function in the fieldbus system. Slave EtherCAT node representing a slave in the fieldbus system.

  • Page 7: Notes Used

    About this documentation Notes used Notes used The following pictographs and signal words are used in this documentation to indicate dangers and important information: Safety instructions Structure of safety instructions: Danger! (characterises the type and severity of danger) Note (describes the danger and gives information about how to prevent dangerous situations) Pictograph and signal word Meaning...

  • Page 8: Safety Instructions

    The manufacturer does not accept any liability for the suitability of the specified procedures and circuit proposals. Only qualified, skilled personnel is permitted to work on and with Lenze drive ƒ...

  • Page 9: Device− And Application−Specific Safety Instructions

    Safety instructions Device− and application−specific safety instructions Device− and application−specific safety instructions Only use cables that comply with the given specifications. ƒ Documentation for the standard device, control system, plant/machine All the other measures prescribed in this documentation must also be implemented.

  • Page 10: Product Description

    Product description Product features Product description Product features EtherCAT in accordance with IEEE−802.3u ( 100Base−TX ) with 100Mbps ( full duplex ) ƒ Star and line topology ƒ Connector: two M12 sockets, shielded and D−coded, 4−pole ƒ Electrically isolated EtherCAT interface ƒ...

  • Page 11: Technical Data

    Technical data General data and operating conditions Technical data General data and operating conditions Field Values Communication profile EtherCAT Communication medium S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT 5e Interface 2 M12 sockets, standard Ethernet (in accordance with IEEE 802.3), 100Base−TX (Fast Ethernet) Network topology...

  • Page 12: Installation

    Installation Electrical installation Wiring according to EMC (CE−typical drive system) Installation Electrical installation 5.1.1 Wiring according to EMC (CE−typical drive system) For wiring according to EMC requirements observe the following points: Note! Separate control cables/data lines from motor cables. ƒ Connect the shields of control cables/data lines at both ends in the case of ƒ...

  • Page 13: Network Topology

    Installation Electrical installation Network topology 5.1.2 Network topology EtherCAT supports line and switch topologies. Line topology E94AYCET006 Fig. 5−1 Line topology Master SD Slave Device The devices are interconnected successively. ƒ For correct operation it is necessary that the Ethernet sockets IN and OUT are ƒ...

  • Page 14: Ethernet Connection

    Installation Electrical installation Ethernet connection 5.1.3 Ethernet connection For connection to the EtherCAT bus system a commercially available 4−pole standard Ethernet cable is suitable. Pin assignment M12 socket Signal Tx + Rx + Tx − 931K_001 Rx− Ethernet cable specifications Note! Only use cables complying with the below specifications.

  • Page 15: Commissioning

    Configuration with an EtherCAT configuration tool Commissioning Configuration with an EtherCAT configuration tool For commissioning the EtherCAT network the following configuration tool is required: Lenze »Small Drives Control SDC« ƒ This is a software system for real−time execution, programming, configuration, and diagnostics of control programs.

  • Page 16: Parameter Setting

    Parameter setting Parameter setting The EtherCAT interface is parameterised under the menu Parameters W Fieldbus W EtherCAT W Operating parameters: 931K_100 For activating the EtherCAT interface the following parameter has to be set: Basic node number ƒ In order to unambiguously identify the nodes in the network, a node number which may only appear once in the network must be assigned to each node.
  • Page 17 Parameter setting 931K_101 If the device was triggered via an EtherCAT control with the corresponding XML file and is active, the displays of the PDO editor change. 931K_102 The "NMT status" field indicates that the device is Operational. The output stage is active and the drive can be actuated with setpoints.

  • Page 18: Canopen Over Ethercat (Coe)

    CANopen over EtherCAT (CoE) CANopen communication objects supported CANopen over EtherCAT (CoE) CANopen communication objects supported As already described in the previous chapters, the user protocols are tunneled via EtherCAT. For the CANopen over EtherCAT (CoE) protocol supported by the 931K most objects for the communication layer are supported by EtherCAT in accordance with the CiA DS301 standard.

  • Page 19: Configuration Of The Communication Interface

    CANopen over EtherCAT (CoE) New communication objects Configuration of the communication interface 8.2.1 Configuration of the communication interface The EtherCAT protocol uses two different transfer types for the transmission of the device and user protocols, like for instance the CANopen over EtherCAT (CoE) protocol used by the 931K.
  • Page 20 For this purpose the sections of the device description files that are important to the user are specified in the following chapters. For most applications Lenze provides complete device description files for the 931K. Note! The sync channels described here do NOT comply with the sync telegrams known from CANopen.

  • Page 21: New And Changed Canopen Communication Objects Under Coe

    CANopen over EtherCAT (CoE) New communication objects New and changed CANopen communication objects under CoE 8.2.2 New and changed CANopen communication objects under CoE The following table provides an overview of the indexes and subindexes used for the CANopen−compatible communication objects which have been added for the EtherCAT fieldbus system in the range of 0x1000h to 0x1FFFh.
  • Page 22 CANopen over EtherCAT (CoE) New communication objects New and changed CANopen communication objects under CoE Object 0x1100 − EtherCAT fixed station address Via this object a definite address is assigned to the slave during the initialisation phase. The object has the following meaning: EtherCAT fixed station address Index 0x1100...
  • Page 23 CANopen over EtherCAT (CoE) New communication objects New and changed CANopen communication objects under CoE Sync Manager Communication Type Subindex Description Communication Type Sync Channel 1 Access PDO Mapping 2: Mailbox Transmit (Master ¬ Slave) Value Range 2: Mailbox Transmit (Master ¬ Slave) Default Value Sync Manager Communication Type Subindex...
  • Page 24 CANopen over EtherCAT (CoE) New communication objects New and changed CANopen communication objects under CoE Object 0x1C10 − Sync Manager Channel 0 (Mailbox Receive) Via this object a PDO for sync channel 0 can be configured. Since sync channel 0 is always assigned by the mailbox telegram protocol, this object cannot be changed by the user.
  • Page 25 CANopen over EtherCAT (CoE) New communication objects New and changed CANopen communication objects under CoE Object 0x1C12 − Sync Manager Channel 2 (Process Data Output) Via this object a PDO for sync channel 2 can be configured. Sync channel 2 is fixedly provided for the reception of receive PDOs (master ®...
  • Page 26 CANopen over EtherCAT (CoE) New communication objects New and changed CANopen communication objects under CoE Sync Manager Channel 3 (Process Data Input) Index 0x1C13 Name Sync Manager Channel 3 (Process Data Input) Object code Array Data type UINT8 Sync Manager Channel 3 (Process Data Input) Subindex Description Number of assigned PDOs...

  • Page 27: Canopen Communication Objects Under Coe That Are Not Supported

    CANopen over EtherCAT (CoE) New communication objects CANopen communication objects under CoE that are not supported 8.2.3 CANopen communication objects under CoE that are not supported When the 931K is connected under CANopen over EtherCAT, some CANopen objects are not supported, which are available in the case of a direct connection of the 931K via CANopen.

  • Page 28: Ethercat State Machine

    CANopen over EtherCAT (CoE) EtherCAT state machine CANopen communication objects under CoE that are not supported EtherCAT state machine Like in nearly all fieldbus interface connections for servo position controllers, the slave connected (in this case the 931K servo position controller) first has to be initialised by the master before it can be used by the master in an application.
  • Page 29 CANopen over EtherCAT (CoE) EtherCAT state machine CANopen communication objects under CoE that are not supported Status transition Status Start of acyclic communication (mailbox telegram protocol) Stop of acyclic communication (mailbox telegram protocol) Start of cyclic communication (process data telegram protocol) Slave sends actual values to the master Slave ignores setpoints from the master and uses internal default values Stop of cyclic communication (process data telegram protocol)

  • Page 30: Differences In The State Machine Under Canopen And Ethercat

    CANopen over EtherCAT (CoE) EtherCAT state machine Differences in the state machine under CANopen and EtherCAT 8.3.1 Differences in the state machine under CANopen and EtherCAT When the 931K is operated via the EtherCAT CoE protocol, instead of the CANopen state machine the EtherCAT state machine is used.

  • Page 31: Parameter Data Transfer

    CANopen over EtherCAT (CoE) Parameter data transfer Differences in the state machine under CANopen and EtherCAT Parameter data transfer All data of an SDO transfer in the case of CoE are transmitted via SDO frames. Structure of an EtherCAT SDO frame Mailbox SDO control Index...

  • Page 32: Process Data Transfer

    CANopen over EtherCAT (CoE) Process data transfer Differences in the state machine under CANopen and EtherCAT Process data transfer The Process Data Objects (PDO) serve to the cyclic transmission of setpoint and actual value data between the master and the slave. They have to be configured by the master before the slave is operated in the "Pre−operational state.
  • Page 33 CANopen over EtherCAT (CoE) Process data transfer Differences in the state machine under CANopen and EtherCAT the 931K, apart from the mapping of the CANopen objects, also allows for using the objects for the CANopen protocol available for the 931K transmission type of the PDOs for the PDOs to be parameterised.

  • Page 34: Error States

    CANopen over EtherCAT (CoE) Error states Differences in the state machine under CANopen and EtherCAT Error states The EtherCAT CoE implementation for the 931K servo position controller monitors the following error states of the EtherCAT fieldbus: FPGA is not ready when the system is started ƒ...

  • Page 35: Emergency Telegram

    CANopen over EtherCAT (CoE) Emergency telegram Differences in the state machine under CANopen and EtherCAT Emergency telegram Via the EtherCAT CoE emergency frame error messages are exchanged between the master and the slave. The CoE emergency frames serve to directly transfer the emergency messages defined under CANopen.

  • Page 36: Adaptation Of The Device Description File

    For the 931K servo position controller Lenze has created such a device description file. It can be downloaded from the Lenze homepage. In order to enable the user to adapt this file to his or her application, its contents are described in greater detail here.
  • Page 37 CANopen over EtherCAT (CoE) Adaptation of the device description file Structure of the device description file Important subnodes of the Descriptions node Node designation Meaning Adaptable RxPDO Fixed=... This node contains the PDO mapping and the assignment of the PDO to the sync manager for receive PDOs TxPDO Fixed=...

  • Page 38: Receive Pdo Configuration In The Rxpdo Node

    CANopen over EtherCAT (CoE) Adaptation of the device description file Receive PDO configuration in the RxPDO node 8.8.2 Receive PDO configuration in the RxPDO node The RxPDO node serves to define the mapping for the receive PDOs and their assignment to a channel of the sync manager.
  • Page 39 CANopen over EtherCAT (CoE) Adaptation of the device description file Receive PDO configuration in the RxPDO node Subnodes of the Entry node for the PDO configuration Node designation Meaning Adaptable Index This entry indicates the index of the CANopen object which is to be mapped into the PDO SubIndex This entry indicates the subindex of the CANopen object to be mapped.

  • Page 40: Transmit Pdo Configuration In The Txpdo Node

    CANopen over EtherCAT (CoE) Adaptation of the device description file Transmit PDO configuration in the TxPDO node 8.8.3 Transmit PDO configuration in the TxPDO node The TxPDO node serves to define the mapping for the transmit PDOs and their assignment to a channel of the sync manager.

  • Page 41: Synchronisation With "Distributed Clocks" (Dc)

    CANopen over EtherCAT (CoE) Synchronisation with "Distributed clocks" (DC) Initialisation commands via the Mailbox node Synchronisation with "Distributed clocks" (DC) The time synchronisation in the case of EtherCAT is implemented via so−called "Distributed Clocks". For this each EtherCAT slave contains a real−time clock which is synchronised in all slaves by the master during the initialisation phase.

  • Page 42: Index

    Index Index Line topology, 13 Approvals, 11 Max. cable length, 11 Baud rate, 11 Network topology, 11 Cable specifications, 14 Node type, 11 CE−typical drive system, 12 Notes, definition, 7 Commissioning, 15 Number of nodes, 11 Communication medium, 11 Communication profile, 11 Configuration with an EtherCAT configuration tool, 15 Parameter data transfer, 31 Conformities, 11...
  • Page 43 © 07/2010 Lenze Drives GmbH Service Lenze Service GmbH Postfach 10 13 52 Breslauer Straße 3 D−31763 Hameln D−32699 Extertal Germany Germany +49 (0)51 54 / 82−0 00 80 00 / 24 4 68 77 (24 h helpline) Ê Ê...

This manual is also suitable for:

931k

Table of Contents