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Lenze x750 Manual

Ethercat/can gateway
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x750
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  • Page 1 Manual x750 EtherCAT/CAN Gateway...

  • Page 2: Table Of Contents

    Inhalt Safety precautions ................3 Overview ....................7 Hardware Description ................8 Connections ..................8 LEDs..................... 9 3.2.1 LED Assignment ................... 9 Hardware Installation ................11 Configuration ..................12 Application Example ................12 Configuration Sequence ..............12 5.2.1 Step 1: Add Gateway ................. 13 5.2.2 Step 2: Add CANOpen Devices to the Project ........

  • Page 3: Safety Precautions

    Safety precautions Safety precautions This manual contains important information and instructions on safe and efficient handling of the product. Carefully read this manual before commencing any work and follow the instructions. The manual is a product component, please retain it for future use. Trademark Notices •...
  • Page 4 Safety precautions WARNING Warning statements indicate a hazardous situation that, if not avoided, could result in death or serious injury. CAUTION Caution statements indicate a hazardous situation that, if not avoided, could result in minor or moderate injury. NOTICE Notice statements are used to notify people on hazards that could result in things other than personal injury, like property damage.
  • Page 5 Conformity The x750 Gateway EtherCAT/CAN is an industrial product and meets the demands of the EU regulations and EMC standards printed in the conformity declaration. 5 / 48...
  • Page 6 Lenze does not take responsibility for any damage caused by the device if operated at any networks. It is the responsibility of the device's user to take care that necessary safety precautions for the device's network interface are in place.

  • Page 7: Overview

    Overview Figure 1: Block circuit diagram ® The x750 Gateway EtherCAT/CAN device connects an EtherCAT network with one CAN network. In this case the Gateway acts as an EtherCAT slave device according to „Module Profile Number 5000“of the „Modular Device Profile Description“(ETG.5001 documents).

  • Page 8: Hardware Description

    Hardware Description Hardware Description Connections EtherCAT EtherCAT CAN_GND CAN_L Shield CAN_H +24V Functional Earth (FE) Figure 2; Connections for operating condition NOTICE Read chapter “Hardware Installation” on page 11, before you start with the installation of the hardware! Please refer to page 39 ff. for signal assignment of the connectors. 8 / 48...

  • Page 9: Leds

    Hardware Description LEDs U (LED yellow): Universal E (LED red): EtherCAT ERROR indicate R (LED green): EtherCAT RUN indicate L (LED green): EEPROM loaded EtherCAT LED (green): Link/Activity EtherCAT OUT Port LED (yellow): Unused EtherCAT LED (green): Link/Activity EtherCAT IN Port LED (yellow): Unused Figure 3: Connectors and LEDs...
  • Page 10 Hardware Description Color Function LED Status Description No information available blinking Reserved flicker FoE firmware transfer is in progress yellow Universal FoE firmware transfer finished. Visible only for a few seconds – then actual firmware update is started Set by CoE object 0x2000.2, see 6.1.4.1. No error EtherCAT blinking...

  • Page 11: Hardware Installation

    Hardware Installation Hardware Installation For proper installation and setup please follow the recommended steps as shown here: Step Procedure page Read the safety instructions at the beginning of this document carefully before you start with the hardware installation! Danger Hazardous Voltage - Risk of electric shock due to unintentional contact with uninsulated live parts with high voltages inside of the system into which the Gateway is to be integrated.

  • Page 12: Configuration

    The following chapter describes the CAN configuration of the Gateway by the Lenze PLC Designer. INFORMATION The x750 Gateway EtherCAT/CAN works only with Controllers of the c5xx Series and their successor. For the Lenze Controller c3xx, c32xx, p3xx and p5xx please order the internal CAN Options.

  • Page 13: Step 1: Add Gateway

    All devices imported directly from the CANopen device description file (*.eds) can be used with the x750 CANopen Manager. • The EDS files for the Lenze devices can be found at the following link: https://www.lenze.com/en-de/go/akb/200413930/1/ • The CANopen devices 8400, 9400 (except CiA 402), i500 and Lenze Generic Drive available in PLC Designer are supported from PLC Designer version 3.26.

  • Page 14: Step 3: Configure The Gateway

    Parameter Description Network The network number of the x750 Gateway EtherCAT/CAN can be found in the variable m_usiNetId (corresponds to the order of the gateways in the project tree, starting at 0). Note: It should be noted that m_usiNetId must be incremented by1 if m_usiNetId is used as parameter Network in the CAA CiA405 library.
  • Page 15 Description CAN Sync Telegram Generation in the gateway (Cycle Time >0) The x750 Gateway EtherCAT/CAN can independently generate a highly accurate equidistant sync telegram for the CAN bus (cyclic telegram). In this case the SYNC reception must be activated at the x750_CANOpen_Manager.

  • Page 16: Ethercat Communication

    EtherCAT Communication EtherCAT Communication CAN Interface The CAN Interface is based on a modular device profile (Fieldbus Gateway, Profile No. 5000), and it supports one CAN module. This module includes one CAN Tx message queue in the output area and one CAN Rx message queue in the input area.

  • Page 17: Object Dictionary

    EtherCAT Communication 6.1.2 Object Dictionary The Gateway layer 2 implementation supports the following objects: Index Name 1000 Device type 1008 Device name 1009 Hardware version 100A Software version 1018 Identity 1600 RPDO-Map CAN interface 1A00 TPDO-Map CAN interface 1C00 Sync manager type 1C12 RPDO assign 1C13...

  • Page 18: Standard Objects (1000 H

    EtherCAT Communication 6.1.3 Standard Objects (1000 ...1FFF 6.1.3.1 Object 1000 Device Type Index Subindex Description Data Type Default 1000 Device Type UINT32 13881389 Variable Description Low Word: Used CoE profile (5001 High Word: Module Profile according to the modular device profile 5000 6.1.3.2 Object 1008 Device Name...
  • Page 19 UINT32 37500000 Revision UINT32 see below Serial number UINT32 see below Variable Description Gateway identification characteristics. Vendor ID Lenze Vendor-ID = 3B Product code Gateway product code Revision Revision number of the Gateway Serial number Serial number 6.1.3.6 Object 1C00...
  • Page 20 EtherCAT Communication 6.1.3.7 Object 1600 RPDO-Map CAN-Interface This object defines the CAN interface mapping into the EtherCAT input data. The first three sub-indexes contain the size of the Tx and Rx counters plus the number of Tx messages. The size of the CAN Rx message queue is configured through object 8000 Object 8000 is also used to define the CAN message ID mode, either 11-bit...
  • Page 21 EtherCAT Communication 6.1.3.8 Object 1A00 TPDO-Map CAN-Interface This object defines the CAN interface mapping into the EtherCAT output data. The first three sub-indexes contain the size of the Tx and Rx counters plus the number of Tx messages. The size of the CAN Tx message queue is configured through object 8000 Object 8000 is also used to define the CAN message ID mode, either 11-bit...

  • Page 22: Manufacturer Specific Objects

    EtherCAT Communication 6.1.3.9 Object 1C12 RPDO-Assign Object 1C12 assigns the mapping of the CAN interface RPDOs. Index SubIndex Description Data Type Default Number of sub-indexes UINT8 1C12 CAN-Interface RPDO UINT16 1600 6.1.3.10 Object 1C13 TPDO-Assign Object 1C13 assigns the mapping of the CAN interface TPDOs. Index SubIndex Description Data Type...
  • Page 23 EtherCAT Communication 6.1.4.2 Object 2002 Cyclic CAN Telegram Configuration of a cyclic CAN telegram with fixed contents. Index Subindex Name Data Type Default Number of sub-indexes UINT8 Cycle Time UINT32 2002 UINT32 (128 DLC (Data Length Code) UINT8 Data OCTET-STRING [8] 00000000 Parameter Description Cycle Time...
  • Page 24 EtherCAT Communication 6.1.4.3 Object 2010 Statistics Sub- Index Name Data Type Default Index Number of sub-indexes UINT8 Reset UINT32 Cyclic handler time (min.) UINT32 Cyclic handler time (max.) UINT32 Cyclic handler time (avg.) UINT32 CAN handler time (min.) UINT32 CAN handler time (max.) UINT32 CAN handler time (avg.) UINT32...
  • Page 25 EtherCAT Communication Parameter Description Parameter Description Reset When this object is written the statistics are reset. (Reading this value shows the time stamp of the last reset – milliseconds since device start up) Cyclic handler time (min.) For debugging purposes only. (Minimum time in application's cyclic handler within its last 10000 calls, in µs) Cyclic handler time (max.) For debugging purposes only.

  • Page 26: Profile Specific Objects (6000 -Ffff )

    EtherCAT Communication 6.1.5 Profile Specific Objects (6000 -FFFF These objects are identical for all EtherCAT Slave devices supporting the profile number 5000 (“CAN Interface”). 6.1.5.1 Object 6000 CAN Rx Message Queue Relationship of message queues (here according to the default configuration of queue sizes) n…...
  • Page 27 EtherCAT Communication Parameter Description Parameter Description Tx Counter Gateway The Tx counter is increased by the Gateway to indicate that the CAN Tx messages were copied from the output data to the local CAN send queue (see Figure 12). Rx Counter Gateway The Rx counter is increased by the Gateway every time when new CAN Rx data arrived and the Rx Counter Gateway (6000 , sub-index 02) is identical with Rx Counter...
  • Page 28 EtherCAT Communication Example Sequence Rx-Counter EtherCAT – Master x750 Gateway EtherCAT/CAN EtherCAT-Master transmits The Rx-Counters are equal if no Frames cyclically frames received transmitted Rx Counter Application Rx Counter Application RX Counter Gateway Rx Counter GateWay Receive CAN Frame After reception of a CAN frame...
  • Page 29 EtherCAT Communication 6.1.5.2 Object 6001 CAN Rx Extended Message Queue Index Subindex Name Data Type Number of sub-indexes UINT8 Tx Counter Gateway UINT16 Rx Counter Gateway UINT16 Number of Rx Messages UINT16 Tx Transaction Number UINT16 Rx Message 1 OCTET-STRING [14] Rx Message m-4 OCTET-STRING [14] 6001...
  • Page 30 EtherCAT Communication 6.1.5.3 Object 7000 CAN Tx Message Queue Relationship of message queues (here according to the default configuration of queue sizes) N … Number of Tx messages, which are accumulated at the moment of test / comparison of the Tx counter“(Number of Tx Messages, Index 7000 , Subindex 3 but maximum 16 (Default, Tx queue size Index 8000...
  • Page 31 EtherCAT Communication Parameter Description Parameter Description This counter must be increased when or after writing the CAN Tx message to the Tx Counter Application output data (see Figure 12). This counter must be increased by the EtherCAT Master application for each CAN Rx message list it has received and read.
  • Page 32 EtherCAT Communication Example Chronological Sequence Tx-Counter EtherCAT – Master x750 Gateway EtherCAT/CAN EtherCAT-Master transmits The Tx-Counters are equal if no frames received Frames cyclically transmitted Tx Counter Application Tx Counter Application Tx Counter Gateway Tx Counter GateWay Master send CAN frames...
  • Page 33 EtherCAT Communication 6.1.5.4 Object 7001 CAN Tx Extended Message Queue NOTICE The following CoE objects (Index, Sub-Index) can only be written in Pre- Operational state: Index: 7001 , Sub-Index 4...m Index SubIndex Name Data Type Number of sub-indexes UINT8 Tx Counter Application UINT16 Rx Counter Application UINT16...
  • Page 34 EtherCAT Communication 6.1.5.5 Object 8000 CAN Interface Configuration Sub- Index Name Data Type Default Index Number of sub-indexes UINT8 Node Address UINT16 0000 Flags UINT16 0000 8000 Rx queue size UINT8 Tx queue size UINT8 Local Rx queue size UINT16 (128 Local Tx queue size UINT16...
  • Page 35 EtherCAT Communication 6.1.5.6 Object 8001 CAN Rx Filter Table Index SubIndex Name Data Type Number of sub-indexes UINT8 Identifier Area 1 UINT64 8001 Identifier Area m UINT64 This object assigns the CAN identifier areas, which are filled into the Rx queue and are transmitted with the EtherCAT input data.
  • Page 36 EtherCAT Communication 6.1.5.8 Object F108 CAN Status Index SubIndex Name Data Type Default Max. sub-index UINT8 Bus OFF (Read from CAN controller status byte) BOOL 0, false Warning Limit reached BOOL 0, false (Read from CAN controller status byte) Rx overflow BOOL 0, false (Read from CAN controller overrun counter)

  • Page 37: General Technical Data

    Technical Data Technical Data General Technical Data Nominal voltage: typ. 24V/DC, (min.: 18V, max.: 32V) Power supply voltage Current consumption (24V, 20 °C): typ. 150mA 24V-power supply voltage (X1, 4-pin. COMBICON connector, spring-cage connection) Connectors CAN Bus interface (X2, 5-pin Phoenix Contact MC 1,5/5-GF-3,81) IN/OUT EtherCAT interface (X3A/B, 2x RJ45 socket) Temperature range...

  • Page 38: Ethercat Interface

    The complete text of the license is contained in Chapter 10. License Terms. License information Lenze provides the complete bootloader-source code on request. Lenze strives to restore all changes on the bootloader into the official sources. The homepage of the U-Boot project is: http://www.denx.de/wiki/U-Boot...

  • Page 39: Interfaces And Connector Assignments

    Interfaces and Connector Assignments 8 Interfaces and Connector Assignments 8.1 24V-Power Supply Voltage The power supply voltage can be fed via connector X1. Device socket: Phoenix Contact MSTBO 2,5/4-G1L-KMGY Line connector: Phoenix Contact FKCT 2,5/4-ST, pitch, spring cage connection, Phoenix Contact order No.: 19 21 90 0 (included in the scope of delivery) Pin Position: Pin Assignment: Labelling of the CAN-EtherCAT...

  • Page 40: Can

    Interfaces and Connector Assignments The CAN bus signals are electrically isolated from the other signals via digital isolator and DC/DCconverter. Figure 14: CAN-Interface The CAN interface can be connected via CAN connector (X2). 8.2.1 CAN Connector Device connector: Phoenix Contact MC 1,5/5-GF-3,81 Line connector: Phoenix Contact...
  • Page 41 Interfaces and Connector Assignments Recommendation of an adapter cable from 5-pin COMBICON (here line connector FK-MCP1,5/5-STF_3,81 with spring-cage-connection) to 9-pin D-Sub: The assignment of the 9pin D-Sub-connector is designed according to CiA DS-102. The assignment of the 5-pin Mini- COMBICON is designed according to CiA DR-303 Part 1 41 / 48...

  • Page 42: Ethercat

    Interfaces and Connector Assignments EtherCAT Device connector: RJ45 socket, 8-pin, according to IEEE 802.3-2008, Table 25- 3 'UTP MDI contact assignment' The ports have an identical pin assignment. Pin Position: 1 2 3 4 5 6 7 8 Pin Assignment: Signal Meaning MDI0+ (TxD+)

  • Page 43: Conductor Connection/Conductor Cross Sections

    Interfaces and Connector Assignments Conductor Connection/ Conductor Cross Sections The following table contains an extract of the technical data of the cable plugs. Connector Type Characteristics Power Supply Voltage 24V CAN Connector Connector type plug component (Range of articles) FK-MCP 1,5/5-STF3,81 FKCT 2,5/...-ST KMGY Connection method spring-cage...

  • Page 44: Order Information

    Table 10: Order Information PDF Manuals Manuals are available in English and in German as well. Available manuals are listed on the Lenze website. Please download the manuals as PDF documents from our Lenze website www.Lenze.com for free. 44 / 48...

  • Page 45: License Terms

    License Terms d) You may charge a fee for the physical act of transferring a copy, and you may at your option offer warranty protection in exchange for a fee. License Terms Mere aggregation of another independent work with the Program (or its derivative) on a volume of a storage or distribution medium does not bring the other work under the scope of these terms.

  • Page 46: Gpl V2

    License Terms users may redistribute the program under these conditions, and telling the user how to 10.2 GPL V2 view a copy of this License. (Exception: if the Program itself is interactive but does not GNU GENERAL PUBLIC LICENSE normally print such an announcement, your work based on the Program is not required Version 2, June 1991 to print an announcement.) These requirements apply to the modified work as a whole.

  • Page 47: Openbsd License

    License Terms implemented by public license practices. Many people have made generous OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF contributions to the wide range of software distributed through that system in reliance SUCH DAMAGE. on consistent application of that system;...
  • Page 48 · · 03/2023 www.Lenze.com...

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