Lenze EtherCAT E84AYCET Communications Manual
  1. Manuals
  2. Brands
  3. Lenze Manuals
  4. Control Unit
  5. EtherCAT E84AYCET
  6. Communications manual
Lenze EtherCAT E84AYCET Communications Manual

Lenze EtherCAT E84AYCET Communications Manual

Inverter drives
Hide thumbs Also See for EtherCAT E84AYCET:
Table of Contents

Advertisement

Quick Links

Download this manual
Accessories
EtherCAT®
E84AYCET
Inverter Drives 8400
Communication Manual
EN
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
L

Advertisement

Table of Contents
loading

Related Manuals for Lenze EtherCAT E84AYCET

Summary of Contents for Lenze EtherCAT E84AYCET

  • Page 1 Accessories EtherCAT® E84AYCET Inverter Drives 8400 Communication Manual _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _...

  • Page 2: Table Of Contents

    6.4.3 Response of the Lenze EtherCAT nodes during start-up _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Establishing an online connection with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6.5.1...
  • Page 3 Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 4: About This Documentation

    All product names mentioned in this documentation are trademarks of their corresponding owners.  Tip! Detailed information about EtherCAT can be found on the website of the EtherCAT Technology Group: www.EtherCAT.org Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 5 (e.g. »Engineer«), the screenshots in this documentation may differ from the actual screen representation. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 6: Document History

    11/2012 TD17 EtherCAT® is a registered trademark by Beckhoff Automation GmbH, Germany. 05/2013 TD17 • Revision of firmware version V02.00 • New layout Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 7: Conventions Used

    Optically highlighted reference to another page. Can be activated with a mouse-click in this online documentation. Step-by-step instructions Step-by-step instructions are marked by a pictograph.  Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 8: Terminology Used

    Settings with which the device is preconfigured ex works. Standard setting Process data object Service data object Software »TwinCAT« Beckhoff PC software for EtherCAT configuration Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 9: Notes Used

    Signal word Meaning Note! Important note to ensure trouble-free operation  Tip! Useful tip for easy handling  Reference to other documentation  Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 10: Safety Instructions

    Lenze does not take responsibility for the suitability of the process and circuit proposals. All works on and with Lenze drive and automation components must only be carried out by qualified personnel. According to IEC 60364 or CENELEC HD 384 these are persons who ...

  • Page 11: Device- And Application-Specific Safety Instructions

    Protective insulation ( 16) Device protection The communication module contains electronic components that can be damaged or destroyed by electrostatic discharge. Installation ( 21) Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 12: Product Description

    Module type: Communication module Type: EtherCAT V/S V: Coated version Ser.No.: S: Standard version 2 Hardware version (HW) 3 Software version (SW) E84YCPM001E [3-1] Identification data Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 13: Product Features

    • Up to 16 process data words (16 bits/word) per direction can be exchanged. • Access to all Lenze parameters with CoE (CANopen over EtherCAT) Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 14: Terminals And Interfaces

    Status displays at X246 and X247 ( 88) 5 LED status displays for diagnostics Module status displays ( 85) Fieldbus status displays ( 86) E84YCET001C [3-2] E84AYCET communication module (EtherCAT) Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 15: Technical Data

    "Inverter Drives 8400" Hardware Manual Here you can find the ambient conditions and information on the electromagnetic compatibility (EMC) which also apply to the communication module. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 16: Protective Insulation

    • the components to be connected must be provided with a second isolating distance.  Note! The protective insulation provided in Inverter Drives 8400 is realised in accordance with EN 61800-5-1. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 17 X1 System bus (CAN) X3 Analog inputs/outputs X4 Digital outputs X5 Digital inputs X6 Diagnostics MCI Slot for communication module MMI Slot for memory module Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 18 • The separate potential area of the mains terminal has a "reinforced insulation". Result: The insulation between the X100 mains terminal and the bus terminal is of the "reinforced insulation" type. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 19: Protocol Data

    Processing time + 20 ms Tolerance (typical) Some codes may require a longer processing time (see software manual/online help for the Inverter Drive 8400). Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 20: Dimensions

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Dimensions E84YCET001B [4-2] Dimensions Type Dimensions [mm] E84AYCET Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 21: Installation

    • Fieldbus communication is faulty or not possible. Protective measures: Before touching the module, make sure that you are free of electrostatic charge. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 22: Mechanical Installation

    2. Loosen the securing screw for the communication module at the standard device (3). 3. Insert the communication module into the MCI slot of the standard device (4). 4. Tighten the securing screw again (5). Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 23: Mounting For Standard Devices From 0.55 Kw Onwards

    3. Loosen the securing screw for the communication module at the standard device (3). 4. Insert the communication module into the MCI slot of the standard device (4). 5. Tighten the securing screw again (5). Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 24: Replacing The Communication Module

    2. Remove the communication module from the MCI slot of the standard device (2). 3. Insert the new communication module into the MCI slot of the standard device (3). 4. Tighten the securing screw again (4). Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 25: Electrical Installation

    1. Remove the plastic sheath of the cable on a length of 2 cm. 2. Fasten the cable shield to the shield support of the basic device. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 26: Network Topology

    Switch topology The wiring can also be carried out in a star structure via an appropriate switch. For this, observe the additional runtimes. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 27: Ethercat Connection

    In order to prevent damage to the RJ45 socket, plug or remove the Ethernet cable connector straight (at a right angle) into/from the socket. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 28 RJ45 interfaces so that a connection can be established irrespective of the polarity of the opposite EtherCAT interface and irrespective of the type of cable used (standard patch cable or crossover cable). Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 29: Specification Of The Ethernet Cable

    A Cable insulation B Braid C Foil shielding Twisted core pairs 1 ... 4 E94YCEP016 [5-7] Structure of the Ethernet cable (S/FTP, CAT 5e) Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 30 / green blue blue white / blue blue / white Rx - orange green white / brown white / brown brown brown Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 31: External Voltage Supply

    1. Place a screwdriver in the notch beneath the contact slot and keep it pressed. 2. Insert the supply cable in the contact slot. 3. Remove the screwdriver from the notch. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 32 (AWG 24 ... 16) With wire end ferrule, with plastic sleeve 0.2 ... 1.5 mm (AWG 24 ... 16) Stripping length 10 mm Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 33: Commissioning

    Before you switch on the Inverter Drive 8400 and the communication module for the first time, check the entire wiring for completeness, short circuit and earth fault. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 34: Configuring The Controller (Ethercat Master)

    The description file includes all EtherCAT capable devices of the Inverter Drives 8400 series (Inverter Drives 8400 with EtherCAT V01.xx and V02.xx, 8400 motec with EtherCAT V01.xx). Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 35: Automatic Device Identification

    The process data objects (PDO) are transferred cyclically between the EtherCAT master and the slaves (inverters). The cycle time is set with the EtherCAT configuration software. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 36: Address Allocation

    In addition, specify the use of the fixed addressing on the master. The address assigned by the master is displayed under code C13864. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 37: Synchronisation With "Distributed Clocks" (Dc)

    "Control technology EtherCAT" communication manual Here you can find some detailed information about the EtherCAT configuration and the commissioning of Lenze devices in the EtherCAT network. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 38: Dc Configuration In The Master

    In order to use the DC synchronisation in the Inverter Drive 8400, select the sync source by means of the standard device code C01120: Selection 4: MCI (synchronisation via MCI (communication module)) Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 39: Response Of The Lenze Ethercat Nodes During Start-Up

    • Further information can be found in the status information or emergency messages of the master. The state of the standard device synchronicity is displayed under code C13884. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 40: Establishing An Online Connection With The "Engineer

    Online  Go offline <Shift>+<F4>  Documentation for the Lenze »Engineer« Here you'll find further detailed information about how to establish an online connection. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 41: Gateway Controller -> Configure Ethercat

    The Lenze Controller provides a gateway function to establish an online connection to a field device via EtherCAT. [6-2] Example: EtherCAT bus system with a Lenze Controller 3231 C as gateway Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 42 • The Enter IP address dialog box is closed. • In the Communication path dialog box in the Device access path column, the corresponding device access path is shown (e.g. "IPC:172_31_207_254.ECAT.ecat1.dev1001."). Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 43: Gateway Controller -> Configure Ethercat Ads (Beckhoff)

    • Configure the access data applicable to the Controller via the Insert address button. • The Search button initiates the Controller to display the fieldbus nodes connected to the EtherCAT segment. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 44 Alternatively you can click the Search/Enter button which calls the Select Device Access Path dialog window. By this, the »Engineer« initiates the Controller to display the devices detected on the EtherCAT segment. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 45: Ethercat Ads Communication Parameters In "Twincat" And "Engineer

    The Beckhoff Soft-PLC runs on the Microsoft Windows XP PC on which the Beckhoff »TwinCAT« and the Lenze »Engineer« are installed as well. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 46 Net ID (here ’172.31.200.200.2.1’) can be found under the target system selection: The EtherCAT Slave address (here ’1001’) can be found under the EtherCAT tab of the EtherCAT slave: Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 47 Gateway Controller -> EtherCAT ADS bus connection, a field device was detected online: IP address: 172.31.200.200 EtherCAT Net ID: 172.31.200.200.2.1 EtherCAT slave address: 1001 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 48 Display of the identification of the field device detected in the »Engineer« start-up wizard: IP address: 172.31.200.200 EtherCAT Net ID: 172.31.200.200.2.1 EtherCAT slave address: 1001 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 49: Example: Structure With A Beckhoff Din Rail Ipc Cx1020

    Display of the communication parameters in »TwinCAT« The communication parameters IP address (here ’172.31.200.10’) and EtherCAT Master Net ID (here ’5.3.66.236.4.1’) can be found under the target system selection: Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 50 EtherCAT Master Net ID (here ’5.3.66.236.4.1’) can also be found under the EtherCAT tab of EtherCAT master: The EtherCAT slave address (here ’1003’) can be found under the EtherCAT tab of the EtherCAT slave: Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 51 Gateway Controller -> EtherCAT ADS bus connection, a field device was detected online: IP address: 172.31.200.10 EtherCAT Net ID: 5.3.66.236.4.1 EtherCAT slave address: 1003 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 52 Display of the identification of the field device detected in the »Engineer« start-up wizard: IP address: 172.31.200.10 EtherCAT Net ID: 5.3.66.236.4.1 EtherCAT slave address: 1003 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 53: Initial Switch-On

    • In order to directly enable the device at switch-on, bit 0 must be set to zero (FALSE). • An uncontrolled restart of the drive is possible. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 54: Data Transfer

    EtherCAT master and the inverters (slaves) that are part of the fieldbus. The data are transmitted via corresponding communication channels depending on their time-critical behaviour (see Process data transfer Parameter data transfer ( 59) ( 68) Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 55: Ethercat-Frames

    • One reserved bit (Reserved) • Type of the datagrams within the EtherCAT frame (Type) • EtherCAT datagrams (Datagrams) Checksum of the EtherCAT frame Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 56: Ethercat Datagrams

    The data area contains the data of the command to be executed. WKC (Working Counter) The working counter is evaluated by the master for monitoring the execution of the command. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 57: Ethercat State Machine

    Possible errors at the state transitions are shown in C13879. Additionally, an error message is entered in the "AL status code" EtherCAT register" ( 58) Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 58 Invalid input data configuration 0x002B Invalid input and output data 0x0030 Invalid configuration of DC synchronisation 0x9001 Firmware watchdog error 0x9002 Mapping error Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 59: Process Data Transfer

    Process data are not saved in the Inverter Drive 8400. Process data are for instance setpoints, actual values, control words, and status words. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 60: Accessing Process Data / Pdo Mapping

    Software manual / online help for the Inverter Drive 8400 Here you can find detailed information on the port/function block interconnection in the »Engineer« and on port blocks. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 61: Preconfigured Port Interconnection Of The Process Data Objects (Pdo)

    C00007 = 40: MCI. The »FB Editor« serves to display the port blocks "LP_MciIn" and "LP_MciOut" with the preconfigured interconnections: Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 62: Free Configuration Of The Port Interconnection Of The Process Data Objects (Pdo)

    2. Under the Ports tab, select port block "MCI_IN" or "MCI_OUT" by mouse-click and activate it via the Activate button. 3. Click the Change Variable... button. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 63 Assignment Signal --> Function Block dialog box.  Select signals and then click the OK button. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 64 Moreover you can assign signals to the individual control and status bits at the WORD_1 and WORD_2 process data words via the buttons.  Select the signals and then click OK. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 65 When the port blocks "LP_MciIn" and "LP_MciOut" are activated (see 1.), they will be visible in the »FB-Editor«. Here you can also assign signals to the process data words. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 66: Cia402 Pdo Mapping In Case Of Inverter Drive 8400 Topline P

    Upper speed limit for "CST Mode" (is not supported yet) 0xXXXX Lower speed limit for "CST Mode" (is not supported yet) 0xA580.1 Freely interconnectable Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 67 Current torque 0x60B9 Touch probe status 0x60BA Touch probe 1 positive edge 0x60BB Touch probe 1 negative edge 0x603F Error code 0x6074 Following error Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 68: Parameter Data Transfer

    Basically a master can always request parameter jobs from a slave if the slave is at least in the "Pre- operational" state. SDO-channel Slave Master read write E94AYCET008 [9-1] Data communication via the SDO channel Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 69: Reading And Writing Parameters

    Index Subindex Data Data byte Header Header 6 bytes 2 bytes 1 byte 2 bytes 1 byte 4 bytes 1 ... n bytes Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 70: Reading Parameters (Sdo Upload)

    Index of the object Subindex BYTE 1 byte Subindex of the object 0x00 or 0x01 if "Complete access" = 0x01. Reserved DWORD 4 bytes 0x00 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 71 BYTE 1 byte Subindex of the object 0x00 or 0x01 if "Complete access" = 0x01. Data DWORD 4 bytes Data of the object Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 72 0x00 or 0x01 if "Complete access" = 0x01. Complete size DWORD 4 bytes Total data length of the object Data BYTE n - 10 Data of the object bytes Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 73 0xD8: Index low byte of the object 0x5F: Index high byte of the object Subindex BYTE 1 byte 0x01 Data DWORD 2 bytes 0x0FA0 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 74: Writing Parameters (Sdo Download)

    In the case of jobs for the inverter, please make sure that you convert the code into an index. Indexing of the Lenze codes ( 69) Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 75 BYTE 1 byte Subindex of the object 0x00 or 0x01 if "Complete access" = 0x01. Data DWORD 4 bytes Data of the object Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 76 0x00 or 0x01 if "Complete access" = 0x01. Complete size DWORD 4 bytes Total data length of the object Data BYTE n - 10 Data of the object bytes Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 77 Index of the object Subindex BYTE 1 byte Subindex of the object 0x00 or 0x01 if "Complete access" = 0x01. Reserved DWORD 4 bytes 0x00 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 78 0x00: Index low byte of the object 0x16: Index high byte of the object Subindex BYTE 1 byte 0x01: Subindex of the object Data DWORD 4 bytes 0x5C930110 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 79: Implemented Coe Objects

    Sync types supported UINT Minimum cycle time / ns UDINT Minimum shift time / ns UDINT R: Read access only RW: Read and write access Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 80: Ethercat Objects Of The Communication Module

    Firmware product type STRING(8) 0x29B2 C13901 Firmware compilation date STRING(20) 0x29B1 C13902 Firmware version STRING(11) R: Read access only RW: Read and write access Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 81: Sdo Abort Codes (Abort Codes)

    Due to the current device state, data cannot be transferred to the application or stored in the application 0x08000023 The dynamic object directory generation has failed, or no object directory is available Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 82: Monitoring

    The monitoring time elapses as soon as the "Operational" state is exited. (See 1.). After the monitoring time has elapsed, the response set is executed with the error message "Operational status quit [0x01bc8131]" ( 95) Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 83: Sync Frame Failure Detection

    "Safe-operational" state. The error message "Lost connection to 8400 [0x01bc3100]" is output. ( 93) Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 84: Diagnostics

    The following status displays can be differentiated: • Module status displays ( 85) • Fieldbus status displays ( 86) • Status displays at X246 and X247 ( 88) Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 85: Module Status Displays

    The communication module is not accepted by the standard device, or the standard device is not active. (See notes in the documentation for the standard device). Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 86: Fieldbus Status Displays

    "Safe-operational" status is active: • The data are not yet active in the standard device. The communication module is in the "Operational" state. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 87 1000 ms 200 ms 200 ms 200 ms 200 ms 200 ms An "Application Watchdog Timeout" or a "Sync Manager Watchdog Timeout" has occurred. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 88: Status Displays At X246 And X247

    State Description green A physical EtherCAT connection is available. flickering 50 ms Data are being exchanged via EtherCAT. This LED is not used. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 89: Diagnostics With The "Engineer

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11.2 Diagnostics with the »Engineer« In the »Engineer«, the Diagnostics tab displays various pieces of EtherCAT diagnostic information. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 90: Emergency Requests / Emergency Messages

    • Bytes 5 ... 8 contain the error code.  Software manual/online help for the Inverter Drive 8400 Here you will find detailed information on the error codes. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 91: Emergency Messages (Overview)

    0x1000 General error 0x01bc8131 Operational status quit [0x01bc8131] ( 95) 0xA000 Synchronisation error 0x01bc8265 Sync telegram failure [0x01bc8700] ( 95) 0x0000 Error reset Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 92: Error Messages

    Invalid module configuration 1: Fault 0x01bc8131 33073 "Operational" status quit 0: No response C13880/1 0x01bc8700 34560 Sync telegram failure 0: No response C13880/2 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 93: Possible Causes And Remedies

    Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Communication module is defective. Send communication module with error description to Lenze. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 94 Quick stop by trouble Warning locked Warning Information Cause Remedy • Faulty module configuration. Check and correct module configuration/sync settings. • Incorrect sync settings. Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 95 • Check the EtherCAT master / DC master settings. • The sync source setting is faulty. • Check the settings in C01120 of the standard device (selection of the sync source). Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 96: Parameter Reference

    • Response to an incompatible communication module or module not in slot Read access Write access CINH PLC-STOP No transfer Scaling factor: 1 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 97: Parameters Of The Communication Module

    Display area (min. value | unit | max. value) 65535 Subcodes Info C13852/1 C13852/16 Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 98 1 Init 2 Pre-operational 3 Bootstrap Is not supported. 4 Safe-operational 8 Operational Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 99 0: No response Response to sync telegram failure Sync frame failure detection ( 83) Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 100 1 PDOs are set to the value '0' The process data contents is set to the value '0'. Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 101 The code contains a string with a length of 20 bytes. The creation date ("MM DD YYYY") and the time ("hh:mm:ss") of the software are output here. Example: "Mar 21 2005 12:31:21" Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 102 The code contains a string with a length of 5 bytes. The firmware version is output here. Example: "01.00" Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 103: Table Of Attributes

    Access Read access Reading permitted Write access Writing permitted CINH Controller inhibit (CINH) required Writing only possible if the controller is inhibited (CINH) Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 104 10676 29B4 UNSIGNED_16 C13900 Firmware product type 10675 29B3 VISIBLE_STRING C13901 Firmware compilation date 10674 29B2 VISIBLE_STRING C13902 Firmware version 10673 29B1 VISIBLE_STRING Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 105: Index

    C13887 | Suppress emergency message in case of C13899 | Station alias C13900 | Firmware product type C13901 | Firmware compilation date C13902 | Firmware version Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 106 Number of Tx PDOs (C13859) Firmware compilation date (C13901) Firmware product type (C13900) Operating conditions Firmware version (C13902) Operational status quit (error message) Frame structure Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...
  • Page 107 Switch topology Sync frame failure detection Sync signal source (C01120) Sync telegram failure (error message) Synchronisation with "Distributed Clocks" (DC) System error messages Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17...

  • Page 108: Your Opinion Is Important To Us

    Perhaps we have not succeeded in achieving this objective in every respect. If you notice this, please send your suggestions and points of criticism in a short e-mail to: feedback-docu@Lenze.de Thank you for your support. Your Lenze documentation team...
  • Page 109 E84AYCET communication module (EtherCAT) · Communication Manual · EDS84AYCET · 13429553 · DMS 5.0 EN · 05/2013 · TD17  Lenze Automation GmbH Hans-Lenze-Str. 1 D-31855 Aerzen Germany +49 (0)51 54 / 82-0 +49 (0)51 54 / 82-28 00 Lenze@Lenze.de www.Lenze.com...

This manual is also suitable for:

Ethercat 8400

Table of Contents