Lenze 2175 Operating Instructions Manual

EDB2175EN

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00423117

Operating Instructions

Fieldbus module type 2175

DeviceNet / CANopen

These Operating Instructions are valid for fieldbus modules with the following nameplates:

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2175IB Vx. 0x

In connection with the unit series as from nameplate data:

820X E. 2x. 1x. (8201 - 8204)
820X E./C. 2x. 1x. Vxxx (8201 - 8204)
821X E. 2x. 2x. (8211 - 8218)
821X E./C. 2x. 2x. Vxxx (8211 - 8218)
822X E. 1x. 1x. (8221 - 8225)
822X E. 1x. 1x. Vxxx (8221 - 8227)
824X E. 1x. 1x. (8241 - 8246)

824X E./C. 1x. 1x. Vxxx (8241 - 8246)
82EVxxxxxBxxxXX Vx 1x 8200 vector
82CVxxxxxBxxxXX Vx 1x 8200 vector, cold plate

93XX E./C. 2x 1x (9321 - 9332)

93XX Ex 2x 1x (Servo PLC 9300)

Important:
These Operating Instructions are only valid together with the corresponding Instructions for
82XX, 82XX; 8200 vector, 93XXand 9300 Servo PLC controllers. C

What is new / w hat hasbeen changed ?

Material no. Edition Important Contents

423117 2.0 07/01 TD02 1st edition

E 2001 Lenze GmbH & Co KG

No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze GmbH & Co KG.

All information givenin thisonline documentationhas been carefully selected and testedfor compliance with the hardware and software described.Neverthe­less, discrepancies cannot be ruled out. We do not accept any responsibility or liability for any damage that may occur. Required corrections will be included
in updates of this documentation.

Contents

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1 Preface and general information 1-1...........................................

1.1 How to use these Operating Instructions 1-1................................................

1.1.1 Terminology used 1-1.........................................................

1.1.2 Conventions used 1-1.........................................................

1.2 Items supplied 1-1...................................................................

1.2.1 Legal regulations 1-2..........................................................

2 Safety information 2-1......................................................

2.1 Persons responsible for safety 2-1.......................................................

2.2 General safety information 2-1..........................................................

2.3 Layout of the safety information 2-2......................................................

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Contents

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CANopen

3 Technical data 3-1.........................................................

3.1 General information 3-1...............................................................

3.2 Features 3-1.......................................................................

3.3 General data and application conditions 3-2................................................

3.4 Rated data 3-2......................................................................

3.5 Dimensions 3-2.....................................................................

3.5.1 Communication times 3-3......................................................

3.5.1.1 Processing times in the controller 3-3....................................

3.5.1.2 Telegram time 3-4..................................................

4 Installation 4-1............................................................

4.1 Components of the fieldbus module 4-1...................................................

4.2 Mechanical installation 4-2.............................................................

4.3 Electrical installation 4-3..............................................................

4.3.1 Assignment of the plug/socket connector 4-3........................................

4.3.2 Voltage supply 4-4............................................................

4.3.3 Wiring to a host 4-4...........................................................

4.4 Structure of a CAN bus system (Example) 4-5...............................................

4.4.1 CAN bus wiring 4-6...........................................................

5 Commissioning 5-1........................................................

5.1 Communication profile setting 5-1.......................................................

5.2 Controller address setting 5-2...........................................................

5.3 Baud rate setting 5-3.................................................................

5.4 Initial switch-on 5-4..................................................................

5.5 Drive enable via 2175 fieldbus module 5-5.................................................

5.5.1 Protection against uncontrolled restart 5-5..........................................

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6 Parameter setting 6-1......................................................

6.1 Structure of a CAN data telegram 6-2.....................................................

6.1.1 Identifiers 6-2...............................................................

6.1.2 Network management (NMT) 6-3.................................................

6.1.2.1 Node/life guarding 6-4...............................................

6.2 Parameter data channel 6-5............................................................

6.2.1 Structure of a parameter data telegram 6-7.........................................

6.2.2 Examples 6-10...............................................................

6.2.2.1 Parameter reading 6-10...............................................

6.2.3 Write parameter 6-11..........................................................

6.2.4 Read block parameters 6-12.....................................................

6.3 Process data channel 6-13..............................................................

6.3.1 Setpoint source selection 6-13....................................................

6.3.2 Process data transfer 6-14.......................................................

6.3.3 Process-data assignments for 82XX 6-16............................................

6.3.4 Process-data assignment for 8200 vector 6-18........................................

6.3.4.1 Control word for 82XX and 8200 vector 6-20................................

6.3.4.2 Status word for 82XX and 8200 vector 6-21................................

6.3.5 Process-data assignment for 93XX 6-22.............................................

6.3.5.1 Control word for 93XX 6-23............................................

6.3.5.2 Status word for 93XX 6-26.............................................

6.4 Implemented CANopen objects 6-28.......................................................

6.4.1 Description of implemented objects 6-30............................................

6.4.1.1 1000hex: Device type 6-30.............................................

6.4.1.2 1001hex: Error register 6-30............................................

6.4.1.3 1003hex: Pre-defined error field 6-30.....................................

6.4.1.4 1005hex: Identifier sync message 6-31....................................

6.4.1.5 1006hex: Communication cycle period 6-31................................

6.4.1.6 1008hex: Manufacturer’s device name 6-31................................

6.4.1.7 100Ahex: Manufacturer’s software version 6-32.............................

6.4.1.8 100Chex: Guard time 6-32.............................................

6.4.1.9 100Dhex: Life time factor 6-32..........................................

6.4.1.10 1010hex: Store parameters 6-32.........................................

6.4.1.11 1011hex: Restore default parameters 6-33.................................

6.4.1.12 1014hex: COB-ID emergency object 6-35..................................

6.4.1.13 1015hex: Inhibit time emergency 6-35....................................

6.4.1.14 1018hex: Identity object 6-35...........................................

6.4.1.15 1200hex / 1201hex: Server SDO parameters 6-36............................

6.4.1.16 1400hex: Receive PDO1 communication parameter 6-37.......................

6.4.1.17 1401hex: Receive PDO2* communication parameter 6-37......................

6.4.1.18 1402hex: Receive PDO3* communication parameter 6-38......................

6.4.1.19 1600hex: Receive PDO1 mapping parameter 6-39............................

6.4.1.20 1601hex: Receive PDO2* mapping parameter 6-39...........................

6.4.1.21 1602hex: Receive PDO3* mapping parameter 6-40...........................

6.4.1.22 1800hex: Tr ansmit PDO1 parameter 6-41..................................

6.4.1.23 1801hex: T ransmit PDO2* parameter 6-41..................................

6.4.1.24 1802hex: T ransmit PDO3* parameter 6-41..................................

6.4.1.25 1A00hex: Tr ansmit PDO1 mapping parameter 6-42...........................

6.4.1.26 1A01hex: T r ansmit PDO2* mapping parameter 6-42...........................

6.4.1.27 1A02hex: T r ansmit PDO3* mapping parameter 6-43...........................

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6.5 Communication-relevant Lenze codes 6-44..................................................

6.5.1 Overview 6-44................................................................

6.5.2 Description of communication-relevant Lenze codes 6-47................................

6.5.2.1 L-C1810: Software product code 6-47.....................................

6.5.2.2 L-C1811: Software date 6-47...........................................

6.5.2.3 L-C1850/L-C2350: Node address 6-47....................................

6.5.2.4 L-C1851/L-C2351: Baud rate 6-48.......................................

6.5.2.5 L-C1852/L-C2352: Master/slave operation 6-48.............................

6.5.2.6 L-C1853/L-C2353: CAN-INx/CAN-OUTx addressing 6-49.......................

6.5.2.7 L-C1854/L-C2354: Selective CAN-IN/CAN-OUT addressing 6-50..................

6.5.2.8 L-C1855/L-C2355: Display of resulting identifiers 6-50........................

6.5.2.9 L-C1856/L-2356: Boot-up and cycle times 6-51.............................

6.5.2.10 L-C1857/L-C2357: Monitoring time 6-52...................................

6.5.2.11 L-C1859/L-C2359: Display of DIP-switch position 6-52........................

6.5.2.12 L-C1860: Display of current DIP-switch position 6-53.........................

6.5.2.13 L-C1867/L-C2367: Sync Rx identifier 6-53.................................

6.5.2.14 L-C1868/L-C2368: Sync Tx identifier 6-53.................................

6.5.2.15 L-C1873/L-C2373: Sync rate CAN-IN1 ... CAN-IN3 6-53........................

6.5.2.16 L-C1874/L-C2374: Sync rate CAN-OUT1 ... CAN-OUT3 6-54.....................

6.5.2.17 L-C1875/L-C2375: Tx mode CAN-OUT1 ... CAN-OUT3 6-55.....................

6.5.2.18 L-C1876/L-C2376: CAN-OUT1 masks 6-56.................................

6.5.2.19 L-C1877/L-C2377: CAN-OUT2 masks 6-56.................................

6.5.2.20 L-C1878/L-C2378: CAN-OUT3 masks 6-57.................................

6.5.2.21 L-C1882/L-C2382: Monitoring response 6-57...............................

6.5.2.22 L-C2120: AIF control byte 6-57..........................................

6.5.2.23 L-C2121: AIF status byte 6-58..........................................

6.6 Notes to be observed for paramater setting 6-59..............................................

6.6.1 8200 controllers 6-59..........................................................

6.6.2 8200 vector controllers 6-59.....................................................

6.6.3 9300 servo PLC 6-60...........................................................

7 Troubleshooting and fault elimination 7-1.......................................

7.1 No communication with the controller 7-1..................................................

8 Table of keywords 8-1......................................................

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DeviceNet

9 Technical data 9-1.........................................................

9.1 General information 9-1...............................................................

9.2 Features 9-1.......................................................................

9.3 General data and application conditions 9-2................................................

9.4 Rated data 9-2......................................................................

9.5 Dimensions 9-2.....................................................................

9.5.1 Communication times 9-3......................................................

9.5.1.1 Processing times in the controller 9-3....................................

9.5.1.2 Telegram time 9-5..................................................

9.5.1.3 Maximum bus length 9-5.............................................

10 Installation 10-1............................................................

10.1 Components of the fieldbus module 10-1...................................................

10.2 Mechanical installation 10-2.............................................................

10.3 Electrical installation 10-3..............................................................

10.3.1 Selection of the transmission cable 10-3............................................

10.3.2 Assignment of the plug/socket connector 10-3........................................

10.3.3 Voltage supply 10-4............................................................

10.3.4 Wiring to a host 10-4...........................................................

10.4 Features of the “thick” cable (according to DeviceNet Specification) 10-6...........................

10.5 Features of the “thin” cable (according to DeviceNet Specification) 10-7............................

11 Commissioning 11-1........................................................

11.1 Communication profile setting 11-1.......................................................

11.2 Controller address setting 11-2...........................................................

11.3 Baud rate setting 11-2.................................................................

11.4 Initial switch-on 11-3..................................................................

11.5 Drive enable via 2175 fieldbus module 11-4.................................................

11.5.1 Protection against uncontrolled restart 11-4..........................................

12 Parameter setting 12-1......................................................

12.1 Communication-relevant Lenze codes 12-6..................................................

12.1.1 Description of communication-relevant Lenze codes 12-6................................

12.1.1.1 L-C1810: Software product code 12-6.....................................

12.1.1.2 L-C1811: Software date 12-6...........................................

12.2 Notes to be observed for paramater setting 12-7..............................................

12.2.1 8200 controllers 12-7..........................................................

12.2.2 8200 vector controllers 12-7.....................................................

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13 Troubleshooting and fault elimination 13-1.......................................

13.1 No communication with the controller. 13-1.................................................

14 Appendix 14-1.............................................................

14.1 DeviceNet commissioning example 14-1....................................................

14.1.1 Integration of LENZE-EDS files into “RSNetWorx” 14-2..................................

14.1.2 Communication between PC and DeviceNet via “RSLinx” 14-5............................

14.1.3 Online connection between DeviceNet and “RSNetWorx“ 14-7.............................

14.1.4 Set scanner status 14-14.........................................................

14.1.5 Communication between PC and PLC 14-15...........................................

14.1.6 Starting of the “RSLogix 500 English” PLC program 14-17................................

14.2 Control program programming 14-19.......................................................

14.2.1 Hardware addressing 14-19.......................................................

14.2.2 Explicit messages 14-20.........................................................

14.3 Program components 14-21..............................................................

14.3.1 LAD 2-Main 14-22..............................................................

14.3.2 LAD 3 - DNET_MAIN 14-23.......................................................

14.3.3 LAD30 - LENZE_MAIN 14-24......................................................

14.3.4 LAD31 - LENZE_PIO 14-24........................................................

14.3.5 LAD32 - LENZE_EXP 14-25.......................................................

14.3.6 LAD33 - EXPL_BTW 14-26........................................................

14.3.7 LAD34 - EXPL_BTR 14-28........................................................

15 Table of keywords 15-1......................................................

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Preface and general information

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DeviceNet and CANopen

1 Preface and general information

1.1 How to use these Operating Instructions

• These Operating Instructions are intended for safety-relevant operation on and with the

module. They contain safety information which must be observed.

• All personnel working on and with the module must have these Operating Instructions

available and observe the information and notes relevant for them.

• These Instructions are only valid in combination with the Operating Instructions of the

corresponding controller. They must always be complete and in a perfectly readable state.

• These Operating Instructions describe the communication profiles CANopen and DeviceNet.

The chapter Preface and General Information and the Safety Instructions apply to both
communication profiles. Please see the header of each page.

1.1.1 Terminology used

Controller In the following, the term ”controller” is used for ”93XX servo inverters” or ”82XX frequency inverters”.
Drive system In the following the term ”drive system” is used for drive systems with fieldbus modules and other Lenze

Fieldbus module In the following text, the term ”fieldbus module” is used for the fieldbus module type 2175

L-Cxxxx Lenze code
Cxxxx/y Subcode y of code Cxxxx (e.g. C0410/3 = subcode 3 of code C0410)
Xk/y Terminal strip Xk/terminal y (e.g. X3/28 = terminal 28 on terminal strip X3)

(^xx-yyy) Cross reference (chapter - page)

1.1.2 Conventions used

The following conventions are used to differentiate between different types of information:

Type of information Printing Example

Names of dialog boxes, input
fields or selection lists

Buttons bold Click OK , to...
Menu commands bold Use the command Messages t o...

drive components.

DeviceNet/CANopen.

italics Dialog box Options

If the execution of a f unction requires several commands, the commands are separated
from each other by arrows:
Select File

WOpen , to...

1.2 Items supplied

Items supplied Important

• 1 2175 fieldbus module with housing (type of protection IP20)

•

• 1 5-pole connector for DeviceNet and CANopen

• 1 Mounting Instructions

• 1 floppy

After the delivery has received, check immediately whether the items

liability for deficiencies claimed subsequently.

• visible transport damage immediately to the forwarder

• visible deficiencies

representative.

incompleteness immediately to your Lenze

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Preface and general information

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DeviceNet and CANopen

1.2.1 Legal regulations

Labelling

Application as
directed

Nameplate CE-identification Manufacturer

Lenze 2175 fieldbus modules are
unambiguously identified by their nameplates.

2175 fieldbus module

Conforms to the EC Low-Voltage Directive Lenze GmbH & Co KG

Postfach 101352
D-31763 Hameln

• Operate the fieldbus module only under the conditions prescribed in these Operating Instructions.

• The fieldbus module is an accessory module and can be optionally attached to the following Lenze controllers: 820X, 821X, 822X, 8200

vector, 9300 servo 9300 servo PLC. The 2175 fieldbus module links Lenze controllers with the fast serial communication system CAN.

• The fieldbus module must be attached and electrically connected so that it complies with its function and does not cause any hazards when

attached and operated as instructed.

• Observe all notes given in chapter „Safety Instructions“ (^ 2-1) ).

• Please observe all information given in these Operating Instructions. This means:

– Read these Operating Instructions carefully before you start to work with the system.
– These Operating Instructions must always be available during operation of the fieldbus module.

Any other use shall be deemed inappropriate!

Liability • The information, data, and notes in these Instructions met the state of the art at the time of printing. Claims referring to drive systems

which have already been supplied cannot be derived from information, illustrations, and descriptions given in these Operating Instructions.

• The specifications, processes, and circuitry described in these Instructions 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.

• The indications given in these Operating Instructions describe the features of the product without warranting them.

• Lenze does not accept any liability for damage and operating interference caused by:

– disregarding these Instructions
– unauthorized modifications to the controller
– operating faults
– improper working on and with the controller

Warranty • Warranty conditions: see Sales and Delivery Conditions of Lenze GmbH & Co KG.

• Warranty claims must be made to Lenze immediately after detecting the deficiency or fault.

• The warranty is void in all cases where liability claims cannot be made.

Disposal

Material recycle dispose

Metal D ­Plastic D ­Assembled PCBs - D
Short Instructions/Operating Instructions D

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Safety information

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DeviceNet und CANopen

2 Safety informat ion

2.1 Persons responsible for safety

Operator

• An operator is any natural or legal person who uses the drive system or on behalf of whom the drive system is used.

• The operator or his safety personnel is obliged

– to ensure the compliance with all relevant regulations, instructions and legislation.
– to ensure that only skilled personnel works on and with the2102IB fieldbus module.
– to ensure that the personnel has the Operating Instructions available for all corresponding works.
– to ensure that all unqualified personnel are prohibited from working on and with the drive system.

Qualified personnel

Qualified personnel are persons who - because of their education, experience, instructions, and knowledge about corresponding standards and regulations, rules for
the prevention of accidents, and operating conditions - are authorized by the person responsible for the safety of the plant to perform the required actions and who are
able to recognize potential hazards.
(Definition f or qualified personnel to VDE 105 or IEC 364)

2.2 General safety information

• These safety notes do claim to be complete. In case of questions and problems please contact your Lenze representative.

• At the time of deliver y the fieldbus module meets the state of the art and ensures basically safe operation.

• The indications given in these Operating Instructions refer to the stated hardware and software versions of the fieldbus modules.

• The fieldbus module is hazardous if:

– unqualified personnel works on and with the fieldbus module.
– the fieldbus module is used inappropriately.

• The processing notes and circuit sections shown in these Operating Instructions are proposals which cannot be transferred to other applications without being

tested and checked.

• Ensure by appropriate measures that neither personal injury nor damage to property may occur in the event of failure of the fieldbus module.

• The drive system must only be operated when no faults occur.

• Retrofittings, modifications, or redesigns are basically prohibited.Lenze must be contacted in all cases.

• The fieldbus module is electrical equipment intended for use in industrial high-power plants. The fieldbus module must be tightly screwed to the corresponding

controller during operation. In addition, all measures described in the Operating Instructions of the used controller must be taken. Example: Fasten covers to ensure
protection against contact.

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Safety information

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DeviceNet und CANopen

2.3 Layout of the safety information

• All safety information has a uniform layout:

– The icon characterizes the type of danger.
– The signal word characterizes the severity of danger.
– The note text describes the danger and gives information how to prevent dangerous

situations.

Signal word

Note

Icons used Signal words

Warning of
damage to
persons

Warning of
hazardous electrical
voltage

Danger! Warns of impending danger.

Consequences if disregarded:
Death or severe injuries.

Warning of a general
danger

Warning of
damage to
material

Other notes Tip! This note designates general, useful notes.

Warning! Warns of potential, very hazardous situations.

Possible consequences if disregarded:
Death or severe injuries.

Caution! Warns of potential, hazardous situations.

Possible consequences if disregarded:
Light or minor injuries.

Stop! Warns of potential damage to material.

Possible consequences if disregarded:
Damage of the controller/drive system or its environment

If you observe it, handling of the controller/drive system is made
easier.

.

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3 Technical data

3 Technical data

3.1 General information

The internationally standardized CAN bus protocol, which had been developed for the European
Automobile Industry, is mainly characterized by:

• its resistance against interference and extreme temperatures

• short transfer times

• low connection expenses

These advantages have made CAN products interesting for other industries too.
The CANopen communication profiles is based on CAN technology.
The CANopen protocol has been specified by drive, control, and sensor manufacturers.
Theprotocolhasbeen developed bytheCiA(CON inAutomation)inconformity withtheCAL(CON

Application Layer). All mandatory parts of the CiA DS301 protocol, version 4.01 have been
implemented in the 2175 bus module.

3.2 Features

• Attachable module for the following Lenze controller series: 82XX , 8200 vector, 93XX 9300

servo PLC.

• The front DIP switch enables easy setting of

– Communication profile DeviceNet or CANopen
– Baud rate of 10, 20, 50, 125, 250 , 500 and 1000 kbit/s (depending on the communication

profile)

– Node address (max. 63 participants)

• Bus extension up to max. 5000m

• Topology: Line terminated at both ends (R= 120 Ohm)

• Easy connection because of pluggable screw terminals

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CANopen

Ambienttemperatur

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3 Technical data

3.3 General data and applicationconditions

For Values

Order name 33.2175IB
Communication media DIN ISO 11898
Baud rate [kbit/s] 10 20 50 125 250 500 1000
Maximum cable length [m] 5000 2500 1000 550 250 100 25
Ambient temperature

Permissible humidity Class 3K3 to EN 50178 (without condensation, average relative humidity 85%)
24-V-DC­Voltage supply

3.4 Rated data

For Values

Voltage supply 24 V DC ñ 10 %; max. 100 mA
Communication medium ISO 11898

Insulation voltages for

Pollution degree VDE0110, part 2, pollution degree 2

• PE 50VAC Electrical isolation

• External supply (term. 39/59) - No electrical isolation

• Power stage

• Control terminals:

• External bus systems 0VAC No electrical isolation

during operation: -20 °C to 60 °C
during transport: -25 °C to 70 °C
during storage -25 °C to 60 °C

• external supply only: 820X

• internal or external supply: 9300 servo PLC / 93XX / 821X / 822X / 8200 vector (see chapter 4.3.2)

Rated insulation voltage Type of insulation

– 820X / 821X 270 V AC Basic insulation
– 822X / 8200 vector 270 V AC Double insulation
– 93XX 270 V AC Double insulation

– 820X / 8200 vector

(with internal supply)

– 8200 vector

(with external supply)
– 821X 50 V AC Electrical isolation
– 822X 270 V AC Basic insulation
– 93XX 270 V AC Basic insulation

- No electrical isolation

100 V AC Basic insulation

3.5 Dimensions

62

DeviceNet
CANopen

75

18

36

Fig. 3-1 Dimensions: 2175 fieldbus module (all dimensions in mm)

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3 Technical data

3.5.1 Communication times

Note!

The CAN bus communication times depend on

• Processing time inthecontroller

• Baud rate

• Data priority

• Busload

More information about bus access control can be obtained from corresponding literature
specialised on Controller Area Networks.

3.5.1.1 Processing times in the controller

Processing times of 820X controllers

Theprocessing timesfor8200controllersdiffer from the timesforthe821X/822X/8200vectorseries.
In opposite to the 821X/822X/824X series, which have parallel process data processing, the 8200

series process process and parameter data sequentially. Therefore the time needed to respond
process data depends on previous actions.

Theprocessing time needed for telegrams also depends on the actual value conditioning (process
data from controller). If these data (status word, actual frequency) are not required, they can be
deactivated with the control word ”Bit 15” (PEinhibit).

The individual telegram times are:

Teleg ram Processing time

PE-inhibit = 0 PE-inhibit = 1
Parameters 62...140 ms 62...70 ms
Change of a process data value

to controller (*)
Change of both process data values to

controller *
Process data from controller * 108...140 ms not possible

Processing times of 821X/8200 vector/822X controllers:

Parameters 30...50 m s
Process data, 3...5 ms (*)

* The process data processing times refer to the sync telegram (^ 6-13)

27...105 ms 27...35 ms

62...140 ms 4...70 ms

Processing time of 93XX controllers

Parameter data and process data are independent of each other.

• Parameter data: approx. 30 ms + 20 ms tolerance (typically)

– Some codes require longer processing times ( seethe 9300 Manual).

• Process data: approx. 3 ms + 2 ms tolerance

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3 Technical data

3.5.1.2 Teleg ram time

Telegram times depend on the baud rate and telegram length:

Baud rate [kbit/s]

10 5.44 7.36 13.12
20 2.72 3.68 6.56
50 1.09 1.47 2.62
125 0.44 0.59 1.05
250 0.22 0.29 0.52
500 0.11 0.15 0.26
1000 0.05 0.07 0.13

Tab. 3-1 Maximum telegram time in [ms]

Thetelegram times indicated in thetable above are calculated according to the following equation.
This equation allows to calculate any intermediate value t

Data length [byte]

0 2 8

if necessary.

Tmax

54.4 + 9.6 ⋅

t

≤

T

d

L

D

Ü

tT= telegram time [ms]
L

= telegram length [byte]

D

d

= baud rate [kbit/s]

Ü

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connectionstatu

s

GRE

E

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4 Installation

4 Installation

4.1 Components of the fieldbus module

1

2

7

6 5

Pos. Designation Meaning Notes

OFF 2175 fieldbus module is not supplied with voltage; controller or external voltage supply is switched off.

Controller
connection status

1

(two-colour LED)

Bus connection
status

(two-colour LED)

2

Green and red drive

3

LEDs (drive)

Fixing screw

4

5-pole plug-in connector

5

BLINKING 2175 fieldbus module is supplied with voltage but is not connected to the controller (controller is

GREE
N

ConstantlyON2175 fieldbus module is supplied with voltage and connected to the controller.

OFF • No communication with the fieldbus module

GREE

BLINKING Communication via the fieldbus has been set up

N
RED

ON Internal fault of the fieldbus module

Operating status of the following controllers: 82XX, 8200 vector, 93XX and servo PLC 9300
(see Operating Instructions f or the controller)

switched off, in initialisation or not available).

• Fieldbus module is not supplied with voltage

3

4

Connection

6

PE shield cable

DIP switch For settings see chapter 5

7

Only for 820X and 821X:
If necessary use an additional PE shield cable which avoids EMC-related communication interference
in especially noisy environments.

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4 Installation

4.2 Mechanical installation

• Plug the fieldbus module onto the controller (here: 8200 vector)

• Tighten the fixing screw (^ 4-1) Pos. 4)

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4 Installation

4.3 Electrical installation

Note!

The communication of 820X and 821X controllers can be interfered by electromagnetic
interferences.

If necessary, use an additional PE shield cable at position 6

4.3.1 Assignment of the plug/ socket connector

The 2175 fieldbus module is connected to the bus througha5poleplug/socketconnector.

54321

(^ 4-1)

2175

120R

Termi nal Designation Explanation

1 V- GND; reference for external voltage supply
2 CAN_L Data cable / input for terminating resistance of 120 Ohm
3 SHIELD Shield
4 CAN_H Data cable / input for terminating resistance of 120 Ohm
5 V+ External voltage supply; see notes in chapter 10.3.3

cc

DC

DC

+V

+Vcc

3

5

1

4

8

7

6

2

+V
CAN+
Shield
CAN-

-V

Fig. 4-1 Terminal assignment

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4 Installation

4.3.2 Volta ge supply

Ifnecessary,supply the2175 fieldbusmoduleviatheplug-in contactsV+/V- (^ 4-3) using a separate
voltagesupplyof24VDC

820X controllers always require a separate voltage supply.
Use a separate supply unit in every control cabinet if the distance between the control cabinets is

larger than normal.

Controller External voltage supply

820X always required
821X / 822X / 824X and 93XX Only necessary if the mains which supply the corresponding controllers is to be switched off but

8200 vector see below

Chapter 4.4 describes how to connect the 2175 fieldbus module to the bus system.

Note!

Internal voltage supply of the fieldbus module connected to a 8200 vector

(only applies to controllers as of nameplate data 82EV 1x 1x)
Controllers with anextended AIFinterface ( front of the 8200 vector)can be internally supplied. The

part of the drawing highlighted in grey shows the jumper position.
With Lenze setting, the fieldbus module is not

For internal voltage supply, put the jumper in the position indicated below.

± 10 %.

communication must not be interrupted.

internally supplied.

(only external voltage supply)

4.3.3 Wiring to a host

Warning!

An additional electrical isolation is required if

• a 820X, 821X or 8200 vector controller is connected to a host

• a safe electrical isolation (double basic insulation) to VDE0160 is required.

For this, you can use an interface module for the host with an additional electrical isolation
(seethe corresponding manufacturer’s information).
For wiring, t he elect rical isolation of the supply voltage must be taken into account. The supply
voltage is assigned to the same potential as the data bus.

Lenze setting

Internal voltage supply

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4 Installation

4.4 Structure of a C AN bus system (Example)

TheCAN bus system is designed as 2 conductor type (twisted pair) shielded with additional mass
and termination at both ends of the line (see

Data can be send and received as follows:

• Max. 3 process data channels (PDO= Process Data Object)

– Process data are send via the process data channel and are used for high-speed and

high-priority control tasks. Typical process data are, for instance, setpoints and actual
values for a controller .

• 2 parameter data channels(SDO = Service Data Object)

– Parameters are transferred at lower priority than process data. Parameters are set or

changed during, for instance, commissioning or changing the product.

– Parameters are accessed via the parameter data channel of the 2175 fieldbus module to

the Lenze controller codes or corresponding CANopen objects (detailed description in
chapter CANopen parameter setting).

– 2 masters can be connected to the controllers because of the 2 parameter channels. Thus,

parameters can be changed directly at the controller during operation of a machine or
system networked via PLC, using a PC (e.g. with the user software Global Drive Control) or
a keypad. The second parameter data channel can be accessed with an offset of 64 via the
address set (switch or L-C0009). For instance, if a PLC addresses the controller with
address 1 and a second commanding unit address 65, the same controller will be
addressed. Please note that the last telegram determines a parameter when it is accessed
by two units ( see “Server SDO Parameters”

(^ 4-6) ).

(^ 6-35) ).

Note!

Please note that the last telegram determines a parameter when it is accessed by two units.
See chapter 5, if you do not use the front switch to enter baud rate and address.

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4 Installation

4.4.1 CAN bus wiring

CAN

HIGH

LOW

V- V +

CAN_L

SHLD

CAN_H

2175

120 R

Please observe our recommendations for signal cables:

Totallengthupto300m

Cable type LIYCY2x2x0.5mm2(twisted in pairs with shield)
Cable resistance ≤ 40 Ω/km
Capacitance per unit length ≤ 130 nF/km

Total length up to 1000 m

Cable type CYPIMF2x2x0.5mm2(twisted in pairs with shield)
Cable resistance ≤ 40 Ω/km
Capacitance per unit length ≤ 60 nF/km

120 R

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5 Commissioning

5 Commissioning

Tip!

Settings using GDC or a keypad

Controller address and baud rate can be set using GDC or a keypad. For this, the DIP-switches S1
to S6 must be set to OFF.

Codes L-C0009 (controller address) and L-C0125 (baud rate) are not active if one or several
switches have been set to ON before a restart.

Please see the descriptions for

• Node address L-C1850/2350 (^ 6-46)

• Baud rate L-C1851/2351 (^ 6-47).

The DIP switch on the front of the 2175 fieldbus module can be used for the following settings:

• Controller address S1 - S6

• Baud rate S7 - S9

• Communication profile S10

Tip!

In default setting all switches are OFF.
The controller address and baud rate set using DIP switches will only be active after a restart.
Only the combinations shown in the following tables are defined:

5.1 Communication profile setting

1234 5678910

Communication profile S10

DeviceNet OFF
CANopen ON

OPEN

OFF
ON

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5 Commissioning

5.2 Controller address setting

Tip!

Please ensure that the addresses are not the same when using several controllers.

OFF
ON

5

Address

dec

=

OPEN

1234 5678910

0

S

⋅ 2

+

6

1

S

⋅ 2

+

5

2

S

⋅ 2

+

4

3

S

⋅ 2

+

3

4

S

⋅ 2

+

S

2

1

⋅ 2

Theaddress calculation (decimal number)is based on thepositions of switches S1... S6 (’0’=OFF
and ’1’ = ON). The numbers must be entered into the equation above.

The equation also indicates the valency of a switch. The sum of valencies results in the controller
address to be set:

Switch valencies:

Switch S1 S2 S3 S4 S5 S6
Valency 32 16 8 4 2 1

Example:

Switch S1 S2 S3 S4 S5 S6
Switch position ON ON ON OFF OFF OFF

Address (= 56) 32 16 8 0 0 0

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5 Commissioning

5.3 Baud rate setting

Tip!

Please ensure that the baud rate is the same for all controllers and the host.

OPEN

OFF
ON

1234 5678910

Baud rate [kbit/s] S7 S8 S9

10 ON ON OFF
20 ON OFF ON
50 OFF ON ON
125 OFF ON OFF
250 OFF OFF ON
500 OFF OFF OFF
1000 ON OFF OFF

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5 Commissioning

5.4 Initial switch-on

Please do not change the switch-on sequence explained below!

Stop!

Prior to initial switch-on of the controller , check the wiring for

• completeness

• short-circuit

• earth fault

1. Switch on the controller and, if necessary, the external supply of the 2175 fieldbus module.
– One of the operating status LEDs of the controller

this is not the case, see chapter ”Troubleshooting”

– The green LED (”Controller connection status”) must be on, too (^ 4-1) (pos. 1). If this is not

the case, see chapter ”Troubleshooting”

2. It should now be possible to communicate with the drive:
– All parameters can be read and written
– All SDO parameters except process data, such as frequency setpoint or control word, can

be overwritten.

– For more information about the communication phases of the CAN network see

(^ 4-1) , pos. 3 must com e on or blink. If

(^ 7-1)

(^ 7-1) .

(^ 6-3) .

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5 Commissioning

5.5 Drive enable via 2175 fieldbus module

Tip!

If the 2175 module is plugged onto a different controller during operation, an undefined operating
status might occur.

82XX /
8200 vector

93XX

1. Set the Lenze parameter Operating Mode (L-C0001) from 0 to 3 to enable the driva via the 2175 fieldbus module. The parameter can be set
using the keypad or directly via CANopen.

Examples for write (L-C0001=3):

– Index = 5FFE

(results from 5FFF
– Subindex: 0
– Value: 30000

2. Terminal 28 (controller enable) is always active and must be set to HIGH during CANopen operation (see the corresponding Operating
Instructions for the controller). The controller can also be enabled via CANopen.

– With 821X, 8200vector and 822X, t he function QSP (quick stop) is always active. If QSP is assigned t o an input terminal (factory setting: not

assigned), this terminal must be at HIGH level during CANopen operation (see the corresponding Operating Instructions).

The controller now accepts parameter and process data.

1. For drive control via CANopen set the Lenze parameter Signal Configuration (L-C0005) to xxx3. These changes can be made using the 9371BB
keypad or directly via CANopen. For first commissioning, select signal configuration 1013.

Examples for write (L-C0005=1013):

– Index = 5FFA

(results from 5FFF
– Subindex: 0
– Value: 10130000

2. Set the parameter L-C0142 to 0. Please see chapter “Protection against uncontrolled restart“.

3. Terminal 28 (RFR = controller enable) is always active and must be set to HIGH during CANopen operation (see the Operating Instructions for
93XX). The controller can also be enabled via CANopen.

– With the signal configuration L-C0005=1013, the function QSP (quick stop) and the CW/CCW changeover are assigned to the digital input

terminals E1 and E2 and thus they are always active. For CANopen operation E1 must be set to HIGH level (see Operating Instructions for
93XX).

The controller now accepts parameter and process data.

hex

− (L-C0001)

hex

(results fro m: L-C0001 = 3 x 10000)

dec

hex

− (L-C0005)

hex

(results fro m: L-C0005 = 1013 x 10000)

dec

With the signal configuration L-C0005=xx13, terminal A1 is switched as voltage output.
Connect the following terminals:

• X5.A1 with X5.28 (ctrl. enable)

• X5.A1 with X5.E1 (CW/QSP)

; see Lenze Codes, Addressing, chapter 6.2 ^ 6-5 )

hex

; see chapter 6.2 ^ 6-5 )

hex

5.5.1 Protection against uncontrolled restart

Tip!

After a fault (e.g. short-term mains failure)a restart of the drive is not always wanted.

• By setting L-C0142 = 0, the drive can be inhibited if

– the corresponding controller sets a “ Message“ fault
– the fault is active for more than 0.5 s

Parameterfunction:

• L-C0142 = 0

– Controller remains inhibited

(even if the fault is no longer active)

– The drive restarts in a controlled mode: LOW-HIGH edge at one of the inputs for “Controller

inhibit“ (CINH, e.g. at terminal X5/28)

and

• L-C0142 = 1

– Uncontrolled restart of the controller possible

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6 Parameter setting

6 Parameter setting

Master and slave communicate with each other by sending data telegrams via the CAN bus. The
user data range of a data telegram contains either network management data, parameter data
process data.

Different communication channels are assigned to parameter and process data in the controller.

Telegram type Communication channel
Parameter data

(SDO,
ServiceDataObjects)

Process data,

(PDO,
Process Data Objects)

.

These are, for instance,

• operating parameters

• diagnostics information

• motor data

In general, the parameter transfer is not as
time-critical as the tranfer of process data.

These are, for instance,

• Setpoints

• Actual values

Exchange between host and controller
required as fast as possible. Small amounts
of data which can be transferred cyclically.

Parameter data channel

(Chapter 6.2)

Process data channel

(chapter 6.3)

• Enables access to all Lenze codes and

the CANopen index.

• Parameter changes are automatically

stored in t he controller (take L-C0003
into account).

• The controller can be controlled using

process data.

• The host has direct access to process

data.
In the PLC the data are, for instance,
directly assigned to the I/O area.

• Process data are

– not stored in the controller.
– cyclically transferred between host

and controller to ensure a continuous
exchange of current input and output
data.

or

Tab. 6-1 Division of parameter data and process data in different communication channels

The following regulations for a communication protocol only describe what is related to Lenze
controller networkds.

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6 Parameter setting

6.1 Structure of a C AN data telegram

Start

Identifier

1bit

Description in chapter 6.1.1 Three different data types are transported in this field:

Fig. 6-1 Structure of a CANdata telegram

11 bit 1 bit 6 bit

The data relevant for programming the bus module (identifiers and user data) will be described in
detailinthe correspondingchapters.

All other signals refer to the transfer features of the CAN telegram. These Instructions do not
describe them in detail. For more information please see the homepage of “CAN in Automation
(CiA)”: www.can-cia.de.

RTR bi t

Control field

• Network management telegrams (NMT) (Description in chapter 6.1.2 )

• Parameter data (SDO) (Description in chapter 6.2.1 )

• Process data (PDO) (Description in chapter 6.3 )

CRC delimit.

CRC sequence

User data

• Network management

• Parameter data

• Process data,

– NMT user data hold information about the communication structure via

CAN bus.

– The user data are for parameter setting.

– The process data in the user data are used for fast, mainly frequent

processes (e.g. speed setpoint and actual speed value).

0 ... 8 byte

15 bit 1 bit1bit1bit

ACK slot

ACK delimit.

End

7bit

6.1.1 Identifiers

The CAN bus system is message-oriented. One of the most important components of a data
telegram is the identifier. Except for the network management (see chapter 6.1.2) and the sync
telegram (see chapter 6.3) the identier contains the controller address.

With CANopen the controller address is used for a participant-oriented message addressing.
Theidentifier assignment is determined in the CANopen protocol. The basic identifier is default set

as described in the following:

Network manager (NMT) 0 0
Sync telegram 128 80

Process data channel 1

Process data channel 2

Process data channel 3

Parameter data channel 1

Parameter data channel 2

Node guarding 1792 700

Identifier=basic identifier+controller address

Direction Basic identifier

from the

controller

X 384 180

X 640 280

X 896 380

X 1408 580

X 1472 5C0

to the

controller

X 512 200

X 768 300

X 1024 400

X 1536 600

X 1600 640

dec hex

+ Controller

address

No

yes

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“Resetnode”

)

Initial

i

,yp

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6 Parameter setting

6.1.2 Network mana gement (NMT)

The telegram used for network management contains an identifier (see chapter 6.1.1) and the
command which is part of the user data and consists of command byte and controller address.

User data

1. byte: command

01, 02, 80, 81 or 82

Identifier

0000000000

User data (2 byte)

1. byte: command

2. byte: controller address

2. byte: controller address

Controller address: xx

”xx” in the table means:

• xx = 00

hex

With this assignment, all controllers connected are addressed by the telegram. All
controllers can change their status at the same time.

• xx = Con troller address

If a certain address is indicated, the status will only be changed for the controller
addressed.

Initialisation (1):

Initialisation starts automatically when the mains is switched
ON or the hardware is reset (1).
The drive does not take part in the data transfer. Various
initialisation activities are carried out. This status is reached
after the controller has been switched on. Furthermore it is
possible to restart the entire initialisation phase or parts of it
by transferring different telegrams. All parameters already set
are overwritten with their standard values. After initialisation
(2) has been completed the participant is automatically set to
the status ”Pre-operational”. From that moment on t he master
determines the controller communication. The master changes
a status for the whole network. A target address, which is part
of the command, selects the slaves.

Status

transfer

(1) Initialisation For description see above

(3), (6) 01 xx Operational Process and parameter data active

(2), (4), (7) 80 xx Preoperational Only parameter data active

(5), (8) 02 xx Stopped

(9)
(10)
(11)
(12)
(13)
(14)

Command

81 xx

82 xx Resets the drive, only communication-relevant parameters are reset

Network status

after change

sation

Effect on process and parameter data

Parameter and process data cannot be received. Network management
telegrams can be received.

Resets the drive, all parameters are overwritten with standard values (like
“

”

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6 Parameter setting

6.1.2.1 Node/life guarding

If you multiply guard time (chapter 6.4.1.8)and life time factor (chapter 6.4.1.9) the result is a time.
This time must not be exceeded

• when a request is sent to a slave

• a slave sends a response to a request from the master

If the master does not send a request, a “life guarding event” will be initialised.
If the slave does not send a response to a request from the master,a “node guarding event” will be

initialised.

Tip!

The response to a “life guarding event” is set under code L-C1882 / L-C2382.

NMT master

NMT slave

s = 4: STOPPED
s = 5: OPERATIONAL
s = 127: PREOPERATIONAL

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6 Parameter setting

6.2 Parameter data channel

Note!

• Lenze codes haveaLinfrontofthecode„L-Cxxxx“ so that they cannot be mixed up with

theCANopenindex.
– Example: ’L-C0001’ stands for Lenze code C0001.

• Please obtain the value range for Lenze codes from the corresponding Operating Instructions

(see ’Code list’).

Access to controller codes

When using fieldbus modules, a host (e.g. a PLC) can change the features and response
characteristics of any controller connected to the network.

In Lenze controllers, parameters to be changed are listed as codes .
Controller codes are addressed via the index when accessing the code through a 2175 fieldbus

module (see chapter 6.2.1).
The index for Lenze code numbers is between 16576 (40C0
Conversion formula:

)and 24575 (5FFF

hex

hex

).

Index[dec

] = 24575 −

Lenze code number

Example:

Lenze codes

• Addressing of Lenze codes via

offset:

– Example for operating

mode L-C0001

Index = 24575 - LENZE CODENO Index

Index = 24574 (= 24575 - 1) Index

dec hex

= 5FFF

hex

= 5FFE

hex

The parameter value is part of the telegram user data (see expamples (^ 6-10) ).

- LENZECODENO

hex

(= 5FFF

hex

hex

hex

-1)

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r

g

P

g

changed

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6 Parameter setting

Lenze parameter sets

Parameter sets are for special code saving which is necessary because of different configurations
for different application processes.

The following table informs about number and addressing of parameter sets for your controller:

82XX 8200 vector 93XX

The 82XX and 8200 vector have 2 and 4 parameter sets. The parameters can be directly addressed
via CAN.

They are addressed by means of a code-digit offset:

• Offset 0 addresses paramete r set 1 with Lenze codes L-C0000 to L-C1999

• Offset 2000 addresses paramete r set 2 with Lenze codes L-C2000 to L-C3999

No additional parameter sets available.

If a parameter is available only once (see Operating Instructions for 82XX or 8200 vector), use code
digit offset 0.

Example fo r L-C0011 (maximum field frequency):
L-C0011 in parameter set 1: Lenze code = 11
L-C0011 in parameter set 2: Lenze code = 2011

-

Parameter changes:
82XX: Automatic saving in the controller
8200 vector: Automatic saving as default setting (can be switched off with L-C0003)
Process data changes:
82XX, 8200 vector: no automatic saving

• Offset 4000 addresses paramete r set 3 with Lenze

codes L- C4000 to L-C5999

• Offset 6000 addresses paramete r set 4 with Lenze

codes L- C6000 to L-C7999

L-C0011 in parameter set 3: Lenze code = 4011
L-C0011 in parameter set 4: Lenze code = 6011

93XX controllers provide up to 4
parameter sets per technology variant to
save data in the EEPROM. Another
parameter set is in the user memory of
the controller. This is the current
parameter set.Only
set can be directly addressed via CAN. For
the codes, see the Operating Instructions
or the Manual for 93XX. Changes of the
current parameter set will be lost after
switching off the controller. Code C0003
is for saving the current parameter set.
After switching on the controller,
parameter set 1 is automatically loaded
into the current parameter set.

arameter sets2-4musthavebeen
activated before the parameters can be
chan

ed.

.

e currentparameter

Stop! (only for 8200 vector and 82XX)

Please take into account that cyclic writing of parameter data to the EEPROM is not permitted.
Only 8200 vector:

Configure code C0003 = 0 after every mains switching if you want to change parameter data
cyclically.

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Index

Sub

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LowbyteHighbyte

Writingno

t

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6 Parameter setting

6.2.1 Structure of a parameter data telegram

User data (up to 8 byte)

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

omman

Index Index

Low byte

High byte

Parameters can be set via two separate software channels which are selected by means of the
controller address (chapter 6.1.1).

Tip!

User data are displayed in the left-justified INTE Lformat.
For calculation examples see chapter 6.2.2.

Data 1 Data 2 Data 3 Data4

Low Word High Word

Low byte High byte Low byte High byte

Error message

Details about the
parameter data
telegram:

Details about the
parameter data
telegram:

1st byte

Command

The command contains the follwing information which must be entered if not already indicated:

Command

Write Request
(Send parameters to drive)

Write Response
(Controller response to write request (acknowledgement))

Read Request
(Request to read a parameter from the drive)

Read Response
(Response to the read request with an actual value)

Error response
(Controller indicates communication error)

2nd byte 3rd byte

Index

Low byte

Index

High byte

Access to Data 1 - Data 4

4bytedata

(5th - 8th byte)

hex hex hex hex

23 2B 2F

60 60 60

40 40 40 40

43 4B 4F 41

80 80 80 80

2bytedata

(5th + 6th byte)

1bytedata

(5th byte)

Block

(chapter 6.2.4)

Writing not

possible

Parametersand Lenze codes are selected with these two bytes according to the following formula:

Index

= 24575 − (

Example Calculation Index low/high byte

Code L-C0012 (acceleration time) in
parameter set 1 is to be addressed.

Code L-C0012 (acceleration time) in
parameter set 2 is to be addressed.

Lenze-code

24575 - 12 - 0 = 24563 = 5FF3

An offset of 2000 is t o be added because of
parameter set 2:
24575 - 12 - 2000 = 22563 = 5823

+ 2000 ⋅ (

parameter set

hex

hex

− 1))

According to the left-justified Intel data format
theentriesare(seechapter6.2.1):
Index low byte = F3
Index high byte = 5F

According to the left-justified Intel data format
theentriesare(seechapter6.2.1):
Index low byte = 23
Index high byte = 58

hex

hex

hex

hex

L BA2175 EN 2.0

6-7

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Explanationforthe

parameterdata

000

0

tel

Explanationforthe

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6 Parameter setting

Details about the
parameter data
telegram:

Explanation for the

parameter data

telegram

Explanation for the

parameter data

telegram

Explanation for the

parameter data

egram

4th byte

Subindex

Table position of a parameter value using the index.
Example:

L-C0465 (function block processing list)
Entry of subcode: 1 ... 50 (dez)bzw. 1 ... 32 (hex)

5th byte 6th byte 7th byte 8th byte

Parameter value (length 1) 00 00 00

5th byte 6th byte 7th byte 8th byte

Parameter value (length 2)

Low byte High byte

5th byte 6th byte 7th byte 8th byte

Parameter value (length 4)

Low Word High Word

Low byte High byte Low byte High byte

Depending on the data format (see ’Attribute list’ in the Manual) the parameter value needs 1 to 4
bytes.

Explanation for the
parameter data
telegram

Tip!

Lenzeparameters are mainly FIX32data (32 bit valuewith signal, decimal with four decimalcodes,
see the Attribute Table in the corresponding Manual).Integers arethe result of a multiplication of a
parameter value by 10000.

Parameters C0135 and C0150 must be transferred as bit code and without factor.

• Error messages in the parameter data telegram

1st byte 2nd byte 3rd byte 4t h byte 5th byte 6th byte 7th byte 8th byte

Command

Index

Low byte

Byte 1:
The Command byte shows in cod e 128

Byte 2, 3 and 4:
The index byte and the subindex contain index and subindex of the faulty code.

Byte5-8:
Indata bytes5. - 8. the error code will be entered.

Index

High byte

Subindex Error code

dec

or 80

that an error has occured.

hex

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6 Parameter setting

The error code is displayed inverse to the direction of reading.
Example:Errorcode06040041

41 00 04 06

5th byte 6t h byte 7th byte 8th byte

Low word High word

Low byte High byte Low byte High byte

The following table lists explanations for the error numbers:

Error code (hex) Explanation
0503 0000 Toggle bit not changed
0504 0000 SDO protocol expired
0504 0001 Invalid or unknown client/server command specifier
0504 0002 Invalid block size (only block mode)
0504 0003 Invalid processing number (only block mode)
0504 0004 CRC error (only block mode)
0504 0005 Not enough memory
0601 0000 Object access not supported
0601 0001 Try to read writeable object
0601 0002 Try to write readable object
0602 0000 Object not listed in object organiser
0604 0041 Object not transferrable to PDO
0604 0042 Number and length of objects to be transferred longer than PDO
0604 0043 General parameter incompatibility
0604 0047 General internal controller incompatibility
0606 0000 Access denied because of hardware error
0607 0010 Inappropriate data type, service parameter length
0607 0012 Inapproriate data type, service parameter length exceeded
0607 0013 Inapproriate data type, service parameters not long enough
0609 0011 Subindex does not exist
0609 0030 Parameter value range exceeded
0609 0031 Parameter values too high
0609 0032 Parameter values too low
0609 0036 Maximum value falls below minimum value
0800 0000 General error
0800 0020 Data cannot be transferred/stored for application
0800 0021 Because of local control data cannot be transferred/stored for application
0800 0022 Becaue of current controller status data cannot be transferred/stored for application
0800 0023 Dynamic generation of object directory not successful or no object directory available (e.g. object directory generated

from file, generation not possible because of a file error)

and representation of the error code:

hex

Direction of reading the error code

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6 Parameter setting

6.2.2 Examples

6.2.2.1 Parameter reading

The heatsink temperature (43 °C) C061 is to be read from the controller using address 5 and
parameter channel 1.

• Identifier calculation

Identifier parameter channel 1 to controller = 1536 + controller address
Identifier = 1536 + 5 = 1541

• Command read request (request to read a parameter from the drive

Command =40

hex

• Index calculation

Index = 24575 - code number - 2000 (PS - 1) Index = 24575 - 61 - 2000 ú 0 = 24514 = 5FC2

Telegram to drive:

Identifier Command Index Low

1541 40

hex

Byte

C2

hex

Telegram from drive
Identifier:

Parameter channel 1 of controller (=1408)+ controller address = 1413
Command:

Read response to read request with the current value of 43
Index of read request

5FC2

hex

Subindex:
0

Data1toData4:
43 °C

S 10.000 = 430.000 = 00 06 8F B0

Index High

Byte

5F

hex

Subindex Data 1 Data 2 Data 3 Data4

00 00 00 00 00

hex

hex

Identifier Command Index Low

1413 43

hex

Byte

C2

hex

6-10

Index High

Byte

5F

hex

BA2175 EN 2.0

Subindex Data 1 Data 2 Data 3 Data4

00 B0

hex

8F

hex

06

hex

00

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6 Parameter setting

6.2.3 Write paramet er

Theacceleration time C0012 (parameter set 1)of the controller with address 1 is to be changed to
20 s via parameter channel 1.

• Identifier calculation

Identifier parameter channel 1 to controller = 1536 + controller address
Identifier = 1536 + 1 = 1537

• Command write request ( send parameter to drive)

Command =23

hex

• Index calculation

Index = 24575 - code number - 2000 (PS - 1) Index = 24575 - 12 - 2000 V 0 = 24563 = 5FF3

hex

• Subindex: 0

• Calculation of the acceleration time

Acceleration-time value 20 s ú 10.000 = 200.000 = 00 03 0D 40

hex

• Telegram to drive

Identifier Command Index Low

1537 23

hex

Byte

F3

hex

Response of the controller when no fault occurs

Identifier Command Index Low

1409 60

hex

Byte

F3

hex

Identifier parameter channel 1 from controller = 1408 + controller address = 1409
Command = write response (controller response (acknowledgement))= 60

Index High

Byte

5F

hex

Index High

Byte

5F

hex

Subindex Data 1 Data 2 Data 3 Data4

00 40

Subindex Data 1 Data 2 Data 3 Data4

00 00 00 00 00

hex

0D

hex

hex

03

hex

00

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6 Parameter setting

6.2.4 Read block parameters

Thesoftware product code (code L-C0200) of a Lenze product is to be read from parameter set 1.
Theproduct codehas 14alphanumericalcharacters.Theyaretransferredasblock parameters.The
transfer of block parameters uses the entire data width (2nd - 8th byte).

During transfer, the command byte (1st byte) contains entries

hex

or 41

hex

)to
– indicatethe end of a b lock transfer
– request the next block

• Code L-C0200 - request

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

40

hex

1st byte: 40 read request (request to read a parameter from the controller)
2nd/3rd byte: Index Low/High Byte: 24575 - 200 - 0 = 24375 = 5F37

37

hex

5F

hex

00 00 00 00 00

hex

• Response including the block length (14 characters)

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

41

hex

1st byte: 41 read response. The entry 41
2nd/3rd byte: see above
5th byte: 0E (=14

37

hex

) data length 14 characters (ASCII format)

dec.

5F

hex

implies that it is a block telegram.

hex

00 0E

hex

00 00 00

• First data block - request

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

60

hex

1st byte: 60
Write response (acknowledgement) with access to bytes 2 - 8.
Note:
The individual blocks are toggled one after the other*, i.e. the request with command 60
(=0111 0000
stopped by command 11
*Toggle bit = bit 4 (counting starts with 0)

hex

bin

00 00 00 00 00 00 00

) and fo llowed by 60

(bit 0 is set, see below).

hex

(=0110 0000

again, etc. The response is sent accordingly. It is alternating because of a toggle bit. This process is

hex

hex

) is before command 70

bin

hex

6-12

• Response

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

00 33

2nd-8thbyte,ASCIIformat:33S9300

hex

33

hex

53

hex

39

hex

33

hex

30

hex

• Second datablock - request

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

70

hex

1st byte: 70

hex

00 00 00 00 00 00 00

(toggle) write response (acknowledgement) with access to all 4 data bytes

• Second data block - response with over-detection

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

11

hex

1st byte: 11 last transfer of the data block
2nd-8thebyte:M_20003
Result of data block transfer: 33S9300M_20003

4D

hex

5F

hex

BA2175 EN 2.0

32

hex

30

hex

30

hex

30

hex

L

30

hex

33

hex

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6 Parameter setting

6.3 Process data channel

6.3.1 Setpoint source selection

82XX / 8200 vector controllers

The setpoint source is selected under code L-C0001 (5FFE
When using AIF fieldbus modules, code L-C0001 (setpoint source selection) must be set to 3 to

evaluate process data.
With L-C0001 = 3 the process data channel which describes the frequency setpoint (L-C0046)and

the control word (L-C0135) is used as setpoint source (see the corresponding Operating
Instructions).

Setpoint source L-C0001 Read and write parameters Parameter L-C0046 Process data,

Process data channel of an
AIF fieldbus module

3 yes no yes

hex

).

Note!

• Please ensure that the setpoint source (L-C0001) must be set identically for all parameter

sets.

93XX controllers

With 93XXcontrollers it is not possible to select a setpoint source which can be set using just one
code. On the other hand, these controllers can be adapted to drive tasks without special
programming knowledge, since it uses preconfigured function blocks.

Thefunction blocks can becombined and connected by the user himself. It is however safer to use
the preconfiguration provided by Lenzewhichisstored inthecontroller.Thispreconfiguration(code
C0005) determines the source (terminal, keyboard, fieldbus module) for frequency setpoint and
controlword.

For operation with CAN bus code C0005 must be set to “xxx3” (x = space for selected
preconfiguration).

More information can be obtained from the corresponding Manual and Operating Instructions.

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6 Parameter setting

6.3.2 Process data transfer

Process data telegrams between host and controllers are distinguished as follows:

• Process data telegrams to drive

• Process data telegrams from drive

Process data telegram to

drive

The process data telegram includes an indentifier which holds the address (93XX series). This
telegram has a user data length of 8 byte (see example below).

The CAN bus is connected to the automation interface X1.
Function AIF-IN is connected to X1. Here the user data for more function blocks are converted into

corresponding signal types. Thecontrol word is especially important for the drive. Byte 1 and byte
2 of the user data contain the controller setpoint.

AIF1-IN

Control word

Byte 1,2 =

Byte 3,4

X1

Byte 5,6Byte 7,8

Identifier

Byte 1

Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Tab. 6-2 Example: 93XX series

Process data telegram from drive

The function block to be used for cyclic process data telegrams from

the drive is called AIF-OUT.
Thestatusword(byte1and b yte2) of the processdatatelegram is transferred to theCANbusvia
this function block and then sent to the master (see also chapter 6.3.5).

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6 Parameter setting

To ensure that the process data to the controller are accepted, a special telegram, the sync
telegram, is required (see chapter 6.1.1).

For cyclic data processing, the sync telegram must be generated accordingly.

Process data synchronisation

The sync telegra is the trigger point for

• accepting data by the controller

• starting the sendingp rocess fromthecontroller

Sync-telegram

PDO to Controller

Fig. 6-2 Synchronisation of cyclic PDOs (seen from the bus participant’sview)

Note for Fig. 6-2: At t1all PDOs accept process data as soon as a sync telegram is received.

PDO from controller PDO to controller

t

1

Tip!

SDOsor event-controlled PDOsareasynchronouslyaccepted by controllers,i.e.aftertransmission
has been completed.

Asynchronous data have not been taken into account for the figure above.

Sync-telegram

t

t

1

L BA2175 EN 2.0

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CANopen

Thefrequencysetpoin

t,whichcanalsobewrittenasparameterunderC046,isenteredhereasprocessdatawor

d

Telegra

m

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6 Parameter setting

6.3.3 Process-data assignments for 82XX

Process data telegram to controller

User datalength: 8 byte

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

More information
about process data

Identifier

Control word

L-C0135

Low byte

Byte 1 Bits 0 to 7 of the control word under C0135 are entered here

Byte 2

Byte 3
Byte 4

Bits 8 to 15 of the control word under C0135 are entered here (see chapter 6.3.4.1).
The bit description can be obtained from the Code Table.

The frequency setpoint, which can also be written as parameter under C046, is entered here as process data word.
The normalisation differs from the setting under C046. It is a signed value, 24000 = 480 Hz.

Byte 5
Byte 6
Byte 7

No evaluation of these data, anything possible

Byte 8

Control word

L-C0135
High byte

Setpoint
L-C0046
Low byte

Setpoint
L-C0046
High byte

xx xx xx xx

.

Control word: see chapter 6.3.4.1.

0

.B0
.B1

.B2
.B3
.B4

...
...
...

Control
word

16 bit

AIF

16 bit

.B8

.B9
.B10
.B11
.B12

.B13
.B14
.B15

Fig. 6-3 Access to control word and frequency setpoint in 82XX(fixed, see (^ 6-20) )

011

0101

QSP

CINH
TRIP-SET
TRIP- RESET

C0046

JOG/

C046

PAR

DCB

CW/CCW

2141LON010

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Actualfrequencyvaluewithsignednormalisation(LC0050)

dat

telegram:

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6 Parameter setting

Process data telegram from controller

User datalength: 8 byte

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

More information
about the process

a

Identifier

Status word

L-C0150

Low byte

Status word

L-C0150
High byte

Actual value

L-C0050

Low byte

Byte 1 Bits 0 to 7 of the status word under L-C0150 are entered here

Byte 2

Byte 3
Byte 4

Bits 8 to 15 of the status word under L-C0150 are entered here (seen chapter 6.3.4.2).
The bit description can be obtained from the Code Table.

Actual frequency value with signed normalisation (L-C0050)
24000 = 480 Hz is provided here.

Byte 5
Byte 6
Byte 7

No evaluation of these data, anything possible

Byte 8

Status word: see chapter 6.3.4.2.

Actual value

L-C0050

High byte

xx xx xx xx

PAR

IMP

Imax

-/fd=fdset

fd=fdset/RFG

Qmin

fd>0

Ctrl. inhib it

Controller
status

T

Ugmax

CW/CCW

RDY

C0050

ü

.B0
.B1
.B2
.B3
.B4
.B5
.B6
.B7
.B8
.B9
.B10
.B11
.B12
.B13
.B14
.B15

Status
word

16 bit

AIF

16 bit

+/-24.000 = +/- 480Hz

Fig. 6-4 Read access to status word and actual frequency value in 82XX (fixed, see (^ 6-21) )

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6 Parameter setting

6.3.4 Process-data assignment for 8200 vect or

A change of code L-C0001 to 3 starts the preconfiguration of process data words in the controller
(seechapter 6.3.1). .

Tip!

• Frequency and speed values are normalised with 24000 ≡480 Hz.

Process data telegram to drive

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Control word

Low byte

Control word: see chapter 6.3.4.1.
AIF-IN.Wx is parameterised under code L-C0412.

Control word

High byte

AIF-IN.W1

Low byte

AIF-IN.W1

High byte

AIF-IN.W2

Low byte

AIF-IN.W2

High byte

xx xx

DCTRL

...
...
...

DCTRL

...
...
...

AIF-IN

AIF-IN.W1

AIF-IN.W2

L-C0410/x = 10
L-C0410/x = 11

L-C0410/x = 12

L-C0410/x = 22

L-C0410/x = 25

L-C0412/x = 10

L-C0412/x = 11

...
...

...
...
...
...

...
...
...

...

...
...

AIF

AIF-CTRL

16 bit

16 bit

16 bit

.B0

.B1

.B2

.B3

.B4

.B8

.B9

.B10

.B11

.B12

.B15

QSP

...
...
...

CINH
TRIP-SET
TRIP- RESET

...
...
...

Fig. 6-5 Function block AIF-IN in 8200 vector (freely programmable assignment, for default setting see (^ 6-20) )

Note:
Asubcode(“ x” in figure) determines the bit or word meaning (see 8200 vector Operating Instructions)

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6 Parameter setting

Process data telegram from drive

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Status word

Low byte

Status word: see chapter 6.3.4.2.
AIF-OUT.Wx is parameterised under code L-C0421.

Status word

High byte

AIF-OUT.W1

Low byte

AIF-OUT.W1

High byte

AIF-OUT.W2

Low byte

AIF-OUT.W2

High byte

xx xx

AIF-OUT

AIF-STAT

16 bit

16 bit

16 bit

AIF

C0417/1

DCTRL1-IMP

C0417/3
C0417/4
C0417/5
C0417/6

DCTRL1-NOUT=0

DCTRL1-CINH
DCTRL1-STAT*1
DCTRL1-STAT*2
DCTRL1-STAT*4
DCTRL1-STAT*8

DCTRL1-OH-WARN

DCTRL1-OV

C0417/15
C0417/16

C0421/1

C0421/2

AIF-OUT.W1

AIF-OUT.W2

STA T 1

.B0
.B1
.B2
.B3
.B4
.B5
.B6
.B7
.B8

.B9
.B10
.B11
.B12
.B13
.B14
.B15

.B0
.B1
.B2
.B3
.B4
.B5
.B6
.B7
.B8

.B9
.B10
.B11
.B12
.B13
.B14
.B15

Fig. 6-6 Function block AIF-OUT in 8200 vector (freely programmable assignment, for default setting see (^ 6-21) )

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AIFCTRL

820X821x,822x

00,

01JOG1activeinC0037

01NSET1JOG1(C0037)activ

e

ygy

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6 Parameter setting

6.3.4.1 Control word for 82XX and 8200 vector

AIF-CTRL 820X 821x,822x
.Bxx

00 = C0046 active

00,
01

02 CW/CCW (CW rotation/CCW rotation)

03 QSP (quick stop)

04 Reserved RFG stop (stop of the ramp function

05 Reserved RFG zero (deceleration along T

06 Reserved UP function for motor potentiometer

07 Reserved DOWN function for motor

08 Reserved Reserved Freely configurable by user
09 Ctrl. inhibit (controller inhibit)

10 Reserved Reserved AIF-CTRL-TRIP-SET

11 Reserved TRIP reset

12 PAR1 (Parameter set changeover)

13 Reserved Reserved DCTRL1-PAR3/4

14 DC brake (DC injection brake)

15 Reserved Reserved Freely configurable by user

01 = JOG1 active in C0037
10 = JOG2 active in C0038
11 = JOG3 active in C0039

0 = CW rotation
1 = CCW rotation

0 = QSP not active
1=QSPactive

0 = controller not inhibited
1 = controller inhibited

0 -> 1 = Parameter set
1 -> 0 = Parameter set

0 = DC brake not active
1 = DC brake active

00 = C0046 active
01 = JOG1 active in C0037
10 = JOG2 active in C0038
11 = JOG3 active in C0039

CW/CCW (CW rotation/CCW rotation)
0 = CW rotation
1 = CCW rotation
QSP (quick stop)
0 = QSP not active
1=QSPactive

generator)
0 = RFG stop not active
1=RFGstopactive

ramp C0013)
0 = RFG zero not active
1=RFGzeroactive

0=UPnotactive
1=UPactive

potentiometer
0 = DOWN not active
1 = DOWN active

Ctrl. inhibit (controller inhibit)
0 = controller not inhibited
1 = controller inhibited

0 -> 1 = Edge from 0 to 1
PAR1 (Parameter set changeover)

0 -> 1 = Parameter set
1 -> 0 = Parameter set

DC brake (DC injection brake)
0 = DC brake not active
1 = DC brake active

if

Default setting:

C0001=3 if C0007 < 52

00 = C0046 active
01 = NSET1-JOG1 (C0037) active
10 = NSET1-JOG2 (C0038) active
11 = NSET1-JOG3 (C0039) active

DCTRL1-CW/CCW
0=notactive
1=active

NSET1-RFG1-STOP
0=notactive
1=active

NSET1-RFG1-0
0=notactive
1=active

MPOT1-UP
0=notactive
1=active
MPOT1-DOWN
0=notactive
1=active

DCTRL1-PAR2/4
0=notactive
1=active

0=notactive
1=active
MCTRL1-DCB
0=notactive
1=active

8200vector

C0001=3 if C0007 > 51

Freely configurable by user

AIF-CTRL-QSP
0=notactive

1=active

Freely configurable by user

AIF-CTRL-CINH
0=notactive
1=active

0=notactive
1=active

AIF-CTRL-TRIP-RESET

0 -> 1 = Edge from 0 to 1

Freely configurable by user

Default setting:

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6 Parameter setting

6.3.4.2 Status word for 82XX and 8200 vector

820X 821x,822x 8200vector default setting

0 Actual parameter set

0=Parameterset1or3active
1=Parameterset2or4active

1 IMP (pulse inhibit)

0 = Pulses for power stage enabled
1 = Pulses for power stage inhibited

2 I

3 not assigned fd=f

4 fd=f

5 Qmin (f

6 fd+ 0 (act. frequency = 0)

7 Ctrl. inhibit (controller inhibit)

8...11 !controller status

(current limit reached)

max

0 = Current limit not reached
1 = current limit reached

dset

0=f

≠ f

d

dset

1=fd=f

dset

≤ f

)

d

0 = Qmin not active
1=Qminactive

0=f
1=f

0 = controller not inhibited
1 = controller inhibited

0 = Controller initialization
8=Erroractive

dQmin

≠ 0

d

+0

d

Actual parameter set
0=Parameterset1or3active
1=Parameterset2or4active

IMP (pulse inhibit)
0 = Pulses for power stage enabled
1 = Pulses for power stage inhibited

I

(current limit reached)

max

0 = Current limit not reached
1 = current limit reached

dset

0=f

≠ f

d

dset

1=fd=f

dset

RFG on = RFG off
0=RFGon
1 = RFG on = RFG out

Qmin (f
0 = Qmin not active
1=Qminactive

fd+ 0 (act. frequency = 0)
0=f
1=f

Ctrl. inhibit (controller inhibit)
0 = controller not inhibited
1 = controller inhibited

!controller status

0 = Controller initialization
1 = Switch on inhibit
3 = Operation inhibited
4 = Flying-restart circuit active
5 = DC brake active
6 = Operation enabled
7 = Message active
8 = Error active

≠ RFG off

≤ f

dQmin

)

d

≠ 0

d

+0

d

DCTRL-PAR-B0

DCTRL1-IMP

MCTRL1-IMAX

MCTRL1-RFG1=NOUT

NSET1-RFG1-I=0

PCTRL1-QMIN

DCTRL1-NOUT=0

DCTRL1-CINH

!controller status

0 = Controller initialization
1 = Switch on inhibit
3 = Operation inhibited
4 = Flying-restart circuit active
5 = DC brake active
6 = Operation enabled
7 = Message active
8 = Error active

12 Overtemperature warning

0=Nowarning
1=Warning

13 U

14 Direction of rotation

15 Ready

(DC-bus over voltage)

Gmax

0 = No overvoltage
1 = overvoltage

0 = CW rotation
1 = CCW rotation

0 = not ready for operation
1 = ready f or operation

Overtemperature warning
0=Nowarning
1=Warning

U

(DC-bus over voltage)

Gmax

0 = No overvoltage
1 = overvoltage

Direction of rotation
0 = CW rotation
1 = CCW rotation

Ready
0 = not ready for operation
1 = ready f or operation

DCTRL1-OH-WARN

DCTRL1-OV

DCTRL1-CCW

DCTRL1-RDY

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6 Parameter setting

6.3.5 Process-data assignment for 93XX

With 93XXcontrollers, the process data assignment can be changed by reconfiguring the function
blocks AIF-IN and AIF-OUT.

Process data telegram to

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Control word
Low byte

Control word
High byte

drive

AIF-IN.W1
Low byte

AIF-IN.W1
High byte

AIF-IN.W2
Low byte

AIF-IN.W2
High byte

AIF-IN.W3
Low byte

AIF-IN.W3
High byte

Control word: see chapter 6.3.5.1.
AIF-IN.W1 to AIF-IN.W3 depend on the signal configuration selected under L-C0005.
For detailed description of the 93XX signal configuration see the Operating Instructions for 93XX

(only the main configurations: 1000, 4000, 5000, etc.)or the Manual for 93XX.
Other controller signals can be assigned to AIF-IN.W1 to AIF-IN.W3. For this, the function-block

configuration - described in the 93XX Manual - is used. The AIF-IN function block determines the
input data of the controller as data interface for the 2175 fieldbus module.

For more detailed information about the AIF-IN function block, see the 93XXManual.

Signal configuration (L-C0005) AIF-IN.W1 AIF-IN.W2 AIF-IN.W3 AIF-IN.D1

Speed control 1003 / 1013 /

1113

Torque control 4003 / 4013 /

4113

DF master 5003 / 5013 /

5113

DF slave bus 6003 / 6013 /

6113

DF slave cascade 7003 / 7013 /

7113
Cam profiler 1xxx3 YSET1-FACT
Positioning 2xxx3 not assigned
vector control 1xx3 / 2xx3 / 3xx3

/ 5xx3 / 100x3
vector control 4xx3 NCTRL-MADD
vector control 6xx3 DFSET-A-TRIM DFSET-N-TRIM
vector control 7xx3 / 8xx3 / 9xx3 DFSET-VP-DIV DFSET-A-TRIM
vector control 100x3 NLIM-IN1
vector control 110x3 not assigned

NSET-N
Speed setpoint

100 % = 16383
MCTRL-MADD
Torque setpoint

100 % = 16383
NSET-N
Speed setpoint

100 % = 16383
DFSET-A-TRIM
Phase t rimming
DFSET-VP-DIV
DF factor

NLIM-IN1

not assigned

DFSET-N-TRIM
Speed trimming
DFSET-A-TRIM
Phase t rimming

not assigned

not assigne

not assigned not assigned

6-22

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6 Parameter setting

6.3.5.1 Control word for 93XX

9300 9300 Servo 9300

C0005 1xx3 4xx3 5xx3 6xx3,7xx3 2xxx3 xxx3 1xxx, 2xxx,

0 NSET-JOG*1 not assigned NSET-JOG*1 not assigned not assigned CSEL1-CAM*1 NSET-JOG*1 not assigned not assigned
1 NSET-JOG*2 not assigned NSET-JOG*2 not assigned not assigned CSEL1-CAM*2 NSET-JOG*2 not assigned not assigned
2 NSET-N-INV NSET-N-INV NSET-N-INV NSET-N-INV not assigned CSEL1-CAM*4 NSET-N-INV not assigned not assigned
3 AIF-CTRL.QSP AIF-CTRL.QSP AIF-CTRL.QSP AIF-CTRL.QSP AIF-CTRL.QSP AIF-CTRL.QSP AIF-CTRL.QSP AIF-CTRL.QSP AIF-CTRL.QSP
4 NSET-RFG-STOPNSET-RFG-STOPNSET-RFG-STOPNSET-RFG-STOPPOS-PRG-START CSEL1-EVENT NSET-RFG-STOPNSET-RFG-STOPnot assigned

5 NSET-RFG-0 NSET-RFG-0 NSET-RFG-0 NSET-RFG-0 POS-PRG-S TOP CDATA-CYCLE NSET-RFG-0 NSET-RFG-0 not assigned
6 not assigned not assigned not assigned not assigned not assigned CSEL1-LOAD not assigned not assigned not assigned
7 not assigned not assigned not assigned not assigned POS-PRG-RESET CSEL1-LOAD not assigned not assigned not assigned
8 not assigned not assigned not assigned not assigned not assigned not assigned not assigned not assigned not assigned
9 AIF-CTRL.CINH AIF-CTRL.CINH AIF-CTRL.CINH AIF-CTRL.CINH AIF-CTRL.CINH AIF-CTRL.CINH AIF-CTRL.CINH AIF-CTRL.CINH AIF-CTRL.CINH
10 AIF-CTRL.TRIP-

SET

11 AIF-CTRL.TRIP-

RESET
12 DCTRL-PAR*1 DCTRL-PAR*1 DCTRL-PAR*1 DCTRL-PAR*1 POS-PS-CANCEL not assigned DCTRL-PAR*1 DCTRL-PAR*1 DCTRL-PAR*1
13 DCTLR-PAR-LOADDCTLR-PAR-LOADDCTLR-PAR-LOADDCTLR-PAR-LOADPOS-PARAM-RD not assigned DCTLR-PAR-LOADDCTLR-PAR-LOADDCTLR-PAR-LO

14 NSET-Ti*1 NSET-JOG*1 REF-ON REF-ON POS-LOOP-ONH not assigned NSET-Ti*1 NSET-JOG*1 not assigned
15 NSET-Ti*2 NSET-JOG*2 NSET-Ti*1 not assigned POS-STBY-STP not assigned NSET-Ti*2 NSET-JOG*2 not assigned

AIF-CTRL.TRIP­SET

AIF-CTRL.TRIP­RESET

AIF-CTRL.TRIP­SET

AIF-CTRL.TRIP­RESET

AIF-CTRL.TRIP­SET

AIF-CTRL.TRIP­RESET

Positioning

controller

AIF-CTRL.TRIP-SETAIF-CTRL.TRIP-SETAIF-CTRL.TRIP-

AIF-CTRL.TRIP-RE
SET

9300

Cam profiler

AIF-CTRL.TRIP-RE
SET

3xxx, 5xxx,
10xxx, 11xxx

SET
AIF-CTRL.TRIP-

RESET

9300 Vector

4xx3 6xx3,7xx3

AIF-CTRL.TRIP­SET

AIF-CTRL.TRIP­RESET

AIF-CTRL.TRIP­SET

AIF-CTRL.TRIP­RESET

AD

Tip!

The single bit control commands of the control word depend on other bit positions.

L BA2175 EN 2.0

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6 Parameter setting

A I F - I N *

)

A I - " # $ ˇ B 3

A I - " # $ ˇ B )

A I - " # $ ˇ B /

A I - " # $ ˇ B 1
A I - " # $ ˇ B 1 1

B i t

1 6 B i t

* t ˘ +˘ r ˙ ˆ r t

B i t 1 ˜

B &t ˘ 3 ' %

X 1

B &t ˘ ˜ '6

B &t ˘ ( ')

1 6 B i t

1 6 B i t

1 6 B i t

" ) ˜ ˜ 01

1 6 B i n ä r ­s i g n a l ˘

" ) ˜ ˜ 02

1 6 B i n ä r ­s i g n a l ˘

1 6 B i t
ˇ ˆ ˙ W ˆ r ˝

1 6 B i t

˛ i g ° W ˆ r ˝

" ) ˜ 6 01

" ) ˜ 6 02

" ) ˜ 6 03

" ) ˜ (

Fig. 6-7 AIF-IN and AIF-IN function blocks

AIF-IN*)is available for the following controllers: 9300 servo, positioning controller and cam profiler as of software version

2.0. AIF-IN.D2 is new.

A I F - I N

D C T R L

, * -

! I * A B ˇ .

" I N ˛

#$ I - - * . #
#$ I - - $ . * . #

A I - " # $ ˇ B
A I - " # $ ˇ B 1
A I - " # $ ˇ B 2

A I - " # $ ˇ B %
A I - " # $ ˇ B ˜
A I - " # $ ˇ B 6

A I - " # $ ˇ B (
A I - " # $ ˇ B 1 2
A I - " # $ ˇ B 1 3
A I - " # $ ˇ B 1 %

A I - " # $ ˇ B 1 ˜

A I - I N W 1

A I - I N W 2

A I - I N W 3

A I - I N B
A I - I N B 2

A I - I N B 1 %
A I - I N B 1 ˜
A I - I N B 1 6

A I - I N B 1 (

A I - I N B 3
A I - I N B 3 1

A I - I N ! 1

*)

A I - " # $ ˇ B 3

A I - " # $ ˇ B )

A I - " # $ ˇ B /

A I - " # $ ˇ B 1
A I - " # $ ˇ B 1 1

B i t

1 6 B i t

* t ˘ +˘ r ˙ ˆ r t

B i t 1 ˜

" 1 3 6 03

B &t ˘ 3 ' %B &t ˘ ˜ '6

X 1

B &t ˘ ( ')

1 6 B i t

1 6 B i t

1 6 B i t

" ) ˜ ˜ 01

1 6 B i n ä r ­s i g n a l ˘

" ) ˜ ˜ 02

1 6 B i n ä r ­s i g n a l ˘

1 6 B i t
ˇ ˆ ˙ W ˆ r ˝

1 6 B i t
˛ i g ° W ˆ r ˝

1 6 B i t
ˇ ˆ ˙ W ˆ r ˝

1 6 B i t

˛ i g ° W ˆ r ˝

" ) ˜ 6 01

" 1 1 / (

" ) ˜ 6 02

" ) ˜ 6 03

" ) ˜ (

D C T R L

, * -

! I * A B ˇ .

" I N ˛

#$ I - - * . #
#$ I - - $ . * . #

A I - " # $ ˇ B
A I - " # $ ˇ B 1
A I - " # $ ˇ B 2

A I - " # $ ˇ B %
A I - " # $ ˇ B ˜
A I - " # $ ˇ B 6

A I - " # $ ˇ B (
A I - " # $ ˇ B 1 2
A I - " # $ ˇ B 1 3
A I - " # $ ˇ B 1 %

A I - " # $ ˇ B 1 ˜

A I - I N W 1

A I - I N ! 2

A I - I N W 2

A I - I N W 3

A I - I N B
A I - I N B 2

A I - I N B 1 %
A I - I N B 1 ˜
A I - I N B 1 6

A I - I N B 1 (

A I - I N B 3
A I - I N B 3 1

A I - I N ! 1

2111IBU003

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6 Parameter setting

Process data telegram from drive

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Status word
High byte

Status word: see chapter 6.3.5.2.
AIF-OUT.W1 to AIF-OUT.W3 depend on the signal configuration selected under L-C0005.
For detailed description of the 93XX signal configuration see the Operating Instructions for 93XX

(only the main configurations: 1000, 4000, 5000, etc.)or the Manual for 93XX.
Othercontroller signalscanbe assigned to AIF-OUT.W1toAIF-OUT.W3.For this,thefunction-block

configuration - described in the93XXManual - is used. TheAIF-OUTfunction block determinesthe
controller output data as data interface for the 2175 fieldbus module.

For more detailed information about the AIF-OUT function block, see the 93XX Manual .

Status word
Low byte

AIF-OUT.W1
High byte

AIF-OUT.W1
Low byte

AIF-OUT.W2
High byte

AIF-OUT.W2
Low byte

AIF-OUT.W3
High byte

AIF-OUT.W3
Low byte

Signal configuration (L-C0005) AIF-OUT.W1 AIF-OUT.W2 AIF-OUT.W3 AIF-OUT.D1

Speed control 1003/1013/1113

Torque control 4003/4013/4113

DF master 5003/5013/5113

DF slave bus 6003/6013/6113

DF slave cascade 7003/7013/7113

Cam profiler 1xxx3

Positioning 2xxx3

vector control

vector control

vector control 110x3 not assigned not assigned not assigned

1xx3/4xx3/5xx3/
10xx3

6xx3/7xx3/8xx3/
9xx3

MCTRL-NACT

Actual speed
100 % = 16383
MCTRL-MSET2

Torque display

100 % = 16383

MCTRL-NACT

Actual speed
100 % = 16383

MCTRL-NACT

Actual speed
100 % = 16383

MCTRL-NACT

Actual speed
100 % = 16383

MCTRL-NACT

Actual speed
100 % = 16383

MCTRL-NACT

Actual speed
100 % = 16383

MCTRL-NACT

Actual speed
100 % = 16383

MCTRL-NACT

Actual speed
100 % = 16383

MCTRL-MSET2
Torque display
100 % = 16383

MCTRL-NACT

Act. speed in %

100 % = 16383
MCTRL-MSET2
Torque display
100 % = 16383

MCTRL-PHI-ACT

Actual phase

MCTRL-PHI-ACT

Actual phase

not assigned not assigned

not assigned not assigned

MCTRL-IACT

MCTRL-PHI-ANA

MCTRL-NSET2

Speed controller input

100 % = 16383
MCTRL-NSET2

Speed controller input

100 % = 16383
MCTRL-NSET2

Speed controller input

100 % = 16383

MCTRL-MSET2

Torque setpoint in %

100 % = 16383

MCTRL-MSET2

Torque setpoint in %

100 % = 16383

MCTRL-NSET2

Speed controller input

100 % = 16383

MCTRL-MSET2

Torque setpoint in %

100 % = 16383

not assigned

For more detailed information about the AIF-OUT function block, see the 93XX Manual .

L BA2175 EN 2.0

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6 Parameter setting

6.3.5.2 Status word for 93XX

9300 Servo Servo

C0005 1xx3 4xx3 5xx3 6xx3,7xx3 2xxx3 1xxx3 xxx, 2xxx,

0 DCTRL-PAR1-0 DCTRL-PAR1-0 DCTRL-PAR1-0 DCTRL-PAR1-0 not assigned CERR1-ERR DCTRL-PAR1-0 DCTRL-PAR1-0 DCTRL-PAR1-0
1 DCTRL-IMP DCTRL-IMP DCTRL-IMP DCTRL-IMP DCTRL-IMP DCTRL-IMP DCTRL-IMP DCTRL-IMP DCTRL-IMP
2 MCTRL-IMAX MCTRL-IMAX REF-OK REF-OK POS-REF-OK MCTRL-IMAX MCTRL-IMAX MCTRL-IMAX MCTRL-IMAX
3 MCTRL-MMAX not assigned MCTRL-MMAX not assigned not assigned MCTRL-MMAX MCTRL-MMAX MCTRL-IMAX

4 NSET-RFG-I=0 MCTRL-IMAX

negated
5 QMIN QMIN REF-BUSY REF-BUSY POS-IN-TARGET CDATA-X0 QMIN QMIN QMIN
6 DCTRL-NACT=0DCTRL-NACT=0DCTRL-NACT=0DCTRL-NACT=0DCTRL-NACT=0DCTRL-NACT=0DCTRL-NACT=0DCTRL-NACT=0DCTRL-NACT=

7 DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH
8 ... 11

12 DCTRL-WARN DCTRL-WARN DCTRL-WARN DCTRL-WARN DCTRL-WARN DCTRL-WARN DCTRL-WARN DCTRL-WARN DCTRL-WARN
13 DCTRL-MESS DCTRL-MESS DCTRL-MESS DCTRL-MESS DCTRL-MESS DCTRL-MESS DCTRL-MESS DCTRL-MESS DCTRL-MESS
14 DCTRL-CW/CCWDCTRL-CW/CCWDCTRL-CW/CCWnot assigned DCTRL-AIFL-QSPDCTRL-CW/CCWDCTRL-CW/CCWDCTRL-CW/CCWDCTRL-CW/CC

15 DCTRL-RDY DCTRL-RDY DCTRL-RDY DCTRL-RDY DCTRL-RDY DCTRL-RDY DCTRL-RDY DCTRL-RDY DCTRL-RDY

NSET-RFG-I=0 MCTRL-IMAX

negated

positioning

controller

MCTRL-MMAX
negated

Controller status:

0=

Unit initialisation

1=

Switch-on inhibit

3=

Operation inhibited

4=

Flying-restart circuit active

5=

DC injection braking active

6=

Operation enabled

7=

Message active

8=

Fault active

10 =

Fail-QSP (only 9300 servo positioning controller)

Servo cam

profiler

3xxx, 5xxx,

10xxx, 11xxx

DCTRL-TRIP NSET-RFG-I=0 NSET-RFG-I=0 NSET-QSP-OUT

vector

4xxx 6xxx, 7xxx,

8xxx, 9xxx

MCTRL-MMAX

negated

0

W

6-26

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6 Parameter setting

A I F - O U T *

" ) ˜ %

3

" ) ˜ 2

1
2

3

" ) ˜ 3

1
2

B i t 1 ˜

B i t 1 ˜

B i t

B i t 3 1

B i t

B i t

" 1 ˜ 6 01

" 1 ˜ 6 06
" 1 ˜ 6 0(

" ) ˜ 01

" ) ˜ 02

" ) ˜ 03

" 1 1 6 01

" 1 1 6 01 6
" 1 1 6 01 (

" 1 1 6 03 2

" ) ˜ 1

S T A T

* #A # B

! " #$ ˇ - I 3 -

* #A # B 1 %

* #A # B 1 ˜

" ) ˜ ) 01

" ) ˜ ) 02

" ) ˜ ) 03

! 1 -

! 1 - 1 ˜
! 1 - 1 6

! 1 - 3 1

A I - 1 2 # ! 1

" ) ˜ /

F D O

1 6 B i t

A I - 1 2 # W 1

A I - 1 2 # W 2

A I - 1 2 # W 3

1 6 B i t
ˇ ˆ ˙ W ˆ r ˝

1 6 B i t
˛ i g ° W ˆ r ˝

1 6 B i t
ˇ ˆ ˙ W ˆ r ˝

1 6 B i t

˛ i g ° W ˆ r ˝

" ) ˜ 2

1
2

" ) ˜ 3

1
2

A I F - O U T

B i t

B i t 1 ˜

B i t

B i t 1 ˜

B i t

B i t 3 1

S T A T

* #A # B

" 1 ˜ 6 01

! " #$ ˇ - I 3 -

* #A # B 1 %

" 1 ˜ 6 06

* #A # B 1 ˜

* t a t +s ˙ ˆ r ˝

B &t ˘ 3 ' %

X 1

B &t ˘ ˜ '6

B &t ˘ ( ')

" 1 ˜ 6 0(

" 1 1 / ˜

" ) ˜ 01

" ) ˜ 02

" ) ˜ 03

" 1 1 6 01

" 1 1 6 01 6
" 1 1 6 01 (

" 1 1 6 03 2

" ) ˜ 1

A I - 1 2 # ! 2

" 1 1 / 6

A I - 1 2 # W 1

" ) ˜ ) 01

" ) ˜ ) 02

" ) ˜ ) 03

! 1 -

! 1 - 1 ˜
! 1 - 1 6

! 1 - 3 1

A I - 1 2 # ! 1

" ) ˜ /

F D O

1 6 B i t

1 6 B i t
ˇ ˆ ˙ W ˆ r ˝

1 6 B i t
˛ i g ° W ˆ r ˝

A I - 1 2 # W 2

A I - 1 2 # W 3

1 6 B i t
ˇ ˆ ˙ W ˆ r ˝

1 6 B i t
˛ i g ° W ˆ r ˝

1 6 B i t
ˇ ˆ ˙ W ˆ r ˝

1 6 B i t
˛ i g ° W ˆ r ˝

)

* t a t +s ˙ ˆ r ˝

B &t ˘ 3 ' %

X 1

B &t ˘ ˜ '6

B &t ˘ ( ')

Fig. 6-8 AIF-OUT and AIF-OUT function blocks

AIF-OUT*)is available for the following controllers: 9300 servo, positioning controller and cam profiler as of software
version 2.0. AIF-OUT.D2 is new.

2111IBU002

*)

L BA2175 EN 2.0

6-27

CANopen

100

3

140

0

PDOcomm

.

140

1

PDOcomm

.

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6 Parameter setting

6.4 Implemented CANopen objects

Lenze controllers can be parameterised with Lenze codes (see (^ 6-43) ) and
manufacturer-independent “CANopen objects”. A completely CANopen-conform
can only be achieved by using CANopen objects for parameter setting. All CANopen objects
described inthese Instructions are defined according to the“CiADraft Standard 301/Version4.01”.

All CANopen objects can also be mapped by Lenze codes. The section “CANopen relation”
describes how a change of CANopen objects influences Lenze codes.

Tip!

Some of the terminology used here derives from the CANopen protocol.

Abbreviations

Authorisation

rw Write-read authorisation
wo Write-only authorisation
ro Read-only authorisation
const Read-only authorisation, constant value
Data type (see below)
U32 Unsigned integer 4 byte (= 32 bit)
U16 Unsigned integer 2 byte (= 16 bit)
U8 Unsigned integer 1 byte (= 8 bit)
Visible string {length} Character string with indicated {length}

communication

Overview

Index [hex] Subindex

[hex]
1000 0 Device type U32 ro
1001 0 Error register U8 ro

0 Recording numbers of error U8 rw

1 Standard error field U32 r0
1005 0 Identifier sync message U32 rw
1006 0 Communication cycle period U32 rw
1008 0 Manufacturer device name Visible string

100A 0 Manufacturer software version Vis. string

100C 0 Guard time U16 rw
100D 0 Life time factor U8 rw
1010 0 ... 3 Store parameters U32 ro/rw
1011 0 ... 3 Restore default parameters U32 rw/ro
1014 0 COB-ID emergency object U32 rw
1015 0 Inhibit time emergency U16 rw
1018 0 ... 3 Identity object Identity ro
1200/1201 0

1

2
1400

0 Number of entries

1 COB-ID used by PDO rw

2 Transmission type rw
1401

0 Number of entries

1 COB-ID used by PDO rw

2 Transmission type rw

Name Data type Authoris ation

const

const

ro

ro

Server SDO parameter
Identifier client
Identifier server
Receive PDO1 communication parameter

Receive PDO2* parameter

→ Server (rx)

→ Client (tx)

{9 characters}

{11 characters}

SDO param ro

PDO comm.

PDO comm.

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140

2

PDOcomm

.

160

0

PDOmappin

g

r

o

160

1

PDOmappin

g

r

o

160

2

PDOmappin

g

r

o

180

0

PDO

180

1

PDO

180

2

PDO

1A0

0

PDO

r

o

1A0

1

PDO

r

o

1A0

2

PDO

r

o

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6 Parameter setting

Index [hex] AuthorisationData typeNameSubindex

[hex]

1402

0 Number of entries
1 COB-ID used by PDO rw
2 Transmission type rw

1600

0 Number of mapped objects in PDOs
1 PDO mapping 1
2 PDO mapping 2
3 PDO mapping 3
4 PDO mapping 4

1601

0 Number of mapped objects in PDOs
1 PDO mapping 1
2 PDO mapping 2
3 PDO mapping 3
4 PDO mapping 4

1602

0 Number of mapped objects in PDOs
1 PDO mapping 1
2 PDO mapping 2
3 PDO mapping 3
4 PDO mapping 4

1800

0 Number of supported subindexes
1 PDO1 identifier
2 Transmission type rw

1801

0 Number of supported subindexes
1 PDO2* identifier
2 Transmission type rw

1802

0 Number of supported subindexes
1 PDO3* identifier
2 Transmission type rw

1A00

0 Number of mapped objects in PDOs
1 PDO mapping 1
2 PDO mapping 2
3 PDO mapping 3
4 PDO mapping 4

1A01

0 Number of mapped objects in PDOs
1 PDO mapping 1
2 PDO mapping 2
3 PDO mapping 3
4 PDO mapping 4

1A02

0 Number of mapped objects in PDOs
1 PDO mapping 1
2 PDO mapping 2
3 PDO mapping 3
4 PDO mapping 4

Receive PDO3* parameter

Receive PDO1 mapping parameter

Receive PDO2* mapping parameter

Receive PDO3* mapping parameter

Transmit PDO1 parameter

Transmit PDO2* parameter

Transmit PDO3* parameter

Transmit PDO1 mapping parameter

Transmit PDO2* mapping parameter

Transmit PDO3* mapping parameter

PDO comm.

PDO mapping

PDO mapping

PDO mapping

comm.

comm.

comm.

mapping

mapping

mapping

ro

ro

ro

ro

ro
rw

ro
rw

ro
rw

ro

ro

ro

*) not effective when using 82XX, 8200 vector and 93XX controllers

L BA2175 EN 2.0

6-29

CANopen

100

3

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6 Parameter setting

6.4.1 Description of implemented objects

6.4.1.1 1000

Reading of the device type and its functionality

Index [

1000 0 Device type U32 ro

Bit assignment in telegram data

LSB

6.4.1.2 1001

Reading of the error register

Index [

1001 0 Error register U8 ro

Bit assignment in telegram data byte (U8)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

:Devicetype

hex

] Subindex Name Data type Authorisation

hex

5th byte 6t h byte 7th byte 8th byte

Controller profile number

: Error register

hex

] Subindex Name Data type Authorisation

hex

0 0 0 0 0 0 0 0: No TRIP

U32

Additional information

1: Controller TRIP/ error in
CANopen module
For e rror analysis see L-C0161
in corresponding Operating
Instructions

MSB

6.4.1.3 1003

Error history

Index [

This object shows that errors occurred in the module and the basic unit.

• Subindex 0: Number of saved error messages

• Subindex 1: Error list

Error messages (U32)consis of a 16-bis error code and a 16-bit manufacturer-specific
information field.

Tip!

The “standard error field” (subindex 0) will be completely deleted if it is overwritten with “ 0”.

: Pre-defined error field

hex

] Subindex Name Data type Authorisation

hex

0 Recording numbers of error U8 rw

1 Standard error field U32 r0

6-30

BA2175 EN 2.0

L

CANopen

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6 Parameter setting

6.4.1.4 1005

This object ensures that

• sync telegrams can be created for a module.

• the identifier value can be written.

Index [hex] Subindex Name Data type Authorisation

1005 0 Identifier sync message U32 rw

Sync t elegram creation

Sync telegrams are created when bit 30 (see below) is set to 1.
Thetime between to sync telegrams can be set using adifferent object (index 1006

6.4.1.5).

Identifier writing

The default setting for receiving PDOs is 80
that all
If sync telegrams are only to be received by certain
values up to 7FF

0 10 11 - 28 29 30 31

: Identifier sync message

hex

seechapter

hex,

in bit 11 (also according to CANopen). This means

hex

modules are default set to the same sync telegram.

modules, their identifiers can be entered with

.

hex

5th byte 6t h byte 7th byte 8th byte

11 bit identifier 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0/1 X

U32

Bit no. Value Explanation

0-10 X Identifier (see chapter 6.1.1)
(11 - 28)* 0
29* 0
30 0

31 X Any

6.4.1.5 1006

Setting of sync telegram cycle time

Index [hex] Subindex Name Data type Authorisation

1006 0 Communication cycle period U32 rw

With the default setting of t = 0, sync telegrams are not created.
Cycle times can be entered as 1000 or an integer multiple of 1000. The unit of the entered time

µs].

is [

6.4.1.6 1008

Controller and module name and code

*

*)The extended identifier (29 bit) is not supported for the 2175 fieldbus.Any of these bits must be 0.

1

: C ommunication cycle pe riod

hex

: M anufacturer’s device name

hex

Device does not create SYNC t elegrams
Device creates SYNC telegrams

Index [hex] Subindex Name Data type Authorisation

1008 0 Manufacturer device name Visible string

{9 characters}

const

L BA2175 EN 2.0

6-31

CANopen

101

0

StoreparametersU32ro/rw

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6 Parameter setting

6.4.1.7 100A

Controller and module software version

Index [hex] Subindex Name Data type Authorisation

100A 0 Manufacturer software version Vis. string

6.4.1.8 100C

Monitoring time

Index [hex] Subindex Name Data type Authorisation

100C 0 Guard time U16 rw

The guard time is indicated in [ms].
If guarding is not to be supported, the default setting of 0 should not be changed.

6.4.1.9 100D

Index [hex] Subindex [hex] Name Data type Authorisation

100D 0 Life time factor U8 rw

If the guarding function, which results from guard time and life time factor , is not to be supported,
the default setting of 0 should not be changed. For further information see chapter 6.1.2.1.

: M anufacturer’s software version

hex

:Guardtime

hex

: Life time factor

hex

{11 characters}

const

6.4.1.10 1010

Parameterstorage intheEEPROM.

Index [hex] Subindex Name Data type Authorisation

1010

The subindexes 1, 2 and 3 are presently not supported.

Parameter storage

Errormessagesoccurwhen

• storage is incorrect (in bytes 5 ...8): 0606 0000

• the signature is wrong: 0800 0020

Tip!

For module parameter storing, the signature “save” must be in the telegram data.

Assignment of telegram data w ords for p arameter storing

Signature MSB LSB
ISO 8859 (ASCII) e v a s
hex 65 76 61 73

Bit assignment for reading right

0 1 2-31

0/1 0/1 0 0 0 .. 0 0 0

: Store parameters

hex

0

1 ... 3*

Store parameters U32 ro/rw

hex

hex

U32

6-32

BA2175 EN 2.0

L

CANopen

pyg

Thisfunctionisnot

g

1Allparameterscanbe

rwsupportedye

t

essageocc

urs

messageoccurs

0800002

0

h

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6 Parameter setting

SubindexRights

0 ro

1

2

3

6.4.1.11 1011

Download of default settings.

Tip!

With this function the subindex used depends on the controller type.

Index [hex] Subindex Name Data type Authorisation

1011 0 ... 3 Restore default parameters U32 rw/ro

Write Read

• The following error message occurs while

writing: 0601 0002

rw

• This function is not

supported yet

• The following error

message occurs while
writing:
0800 0020

: Restore default parameters

hex

Explanation

Supported subindex = 3

Reading of memory functions of all
parameters

Reading of memory functions of
communication parameters (objects
of the 2175 fieldbus module)

Reading of memory functions only
of manufacturer-specific
parameters
(range: 6000

hex

- 9FFF

hex

)

The following functions are possible
(depending on the controller) and
represented by reading the values
of bit positions 0 and 1:
Value0:Nosaving
Value 1: Saving on command
Value 2: Automatic saving
Value 3: Automatic saving and
saving on command

In addition to index and subindex, telgram data must include the signature“ load “ to start the
parameterd ownload (see table).

Signature MSB LSB

ISO 8859 (ASCII) d a o l

hex 64 61 6F 6C

Bit assignment for reading right

U32

0 1-31
0: Download not
possible
1: Download possible

Subindex Rights Write Read

0 ro

2

3

rw

4

5

6

7

0 0 0 .. 0 0 0

• The following error message occurs

while writing:
0601 0002

hex

Max. available subindex depends on controller type:

• 7: 8200 vector frequency inverter

• 5: 82XX frequency inverter

• 3: 93XX servo inverter

• This function is not

• The following error

m
while writing:
0800 0020

ex

All parameters can be
downloaded

Download of communication
parameters only (objects of the
2175 fieldbus module)
Download of
manufacturer-specific
parameters only (index 6000
9FFF

)

hex

Download of parameter set 1
possible
Download of parameter set 2
possible
Download of parameter set 3
possible
Download of parameter set 4
possible

hex

-

Function not available for

8200 vector 82XX 93XX

X X X

X X X

X X

X X

X

X

L BA2175 EN 2.0

6-33

CANopen

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6 Parameter setting

6.4.1.12 1014

Whenerrorsoccurinthe 2175 fieldbus module or controller (e.g. TRIP), the CAN bus sends an error
message. The telegram is sent once for every fault.

Index [hex] Subindex Name Data type Authrorisation

1014 0 COB-ID emergency object U32 rw

Data telegram assignment

0 10 11 - 28 29 30 31

Explanation

Bit no. Value Explanation

0-10 0/1 Identifier (see chapter 6.1.1)
(11 - 28)* 0
29* 0
30 0
31 0

The “emergency” telegram sent via CAN bus is structured as follows:

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

LENZE: Error code “10XX”

: COB-ID emergencyobject

hex

5th byte 6t h byte 7th byte 8th byte

11 bit identifier 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reserved

*)The extended identifier (29 bit) is not supported for the 2175 fieldbus.Any of these bits must be 0.

Reserved

Emergency error code

Error register

Object 1001

hex

U32

Field for manufacturer-specific error messages

6.4.1.13 1015

This object determines the time between an internal module error and the sending of the error
message via the bus (“COB-ID emergency object”, code: 1014

Onlyinteger multiples of ten areprocessed further.Thevalue entered ismultiplied by 100, theresult
isatimein[

Index [hex] Subindex Name Data type Authorisation

1015 0 Inhibit time emergency U16 rw

6.4.1.14 1018

Entry of vendor-ID

Index [hex] Subindex Name Data type Authorisation

1018 0 ... 3 Identity Object Identity ro

Theidentification number for this object has been determined by “Organisation CAN inAutomation
e. V.” and can be read out using this object:

Subindex Meaning

0 Highest subindex
1 Vendor ID
2 Product code
3 Version

: Inhibit time emergency

hex

µs].

: I dentity object

hex

hex

).

6-34

BA2175 EN 2.0

L

CANopen

1:R

i

d

ifi

ifi

)

Theextendedidentifier(29bit)isnotsupportedforthe2175fieldbu

s.Any

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6 Parameter setting

6.4.1.15 1200

ServerSDOscan beparameterised with twoobjects (CANparameter datachannel 1= 1200
CAN parameter data channel 2 = 1201

With index 1201 theidentifier can be written in sending and receiving direction, index 1200 has only
got reading access.

Index [hex] Subindex Name Data type Authorisation Explanation

1200 0

1201 0

Data telegram assignment

0 10 11 - 28 29 30 31

Explanation

Bit no. Valu e Explanation

0-10 0/1 Identifier (see chapter 6.1.1)
(11 - 28)* 0
29* 0
30 0 Reserved
31 0/1 0: SDO valid

/ 1201

hex

1
2

1
2

5th byte 6t h byte 7th byte 8th byte

11 bit identifier 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0/1

: Server SDO parameters

hex

).

hex

Server SDO Parameter
Identifier client
Identifier server
Server SDO parameter
Identifier client
Identifier server

→ Server (rx)

→ Client (tx)

→ Server (rx)

→ Client (tx)

hex

SDO Param ro

0: Max. supported subindex = 2

eceive

ent

er spec

SDO Param ro

rw
rw

U32

*)The extended identifier(29 bit)is not supported for the 2175 fieldbus.Any
of these bits must be 0.

1: SDO invalid

2: Send identifier specification

cation

and

L BA2175 EN 2.0

6-35

CANopen

(20

0

nodeID)^6-2

A

Acceptanceaso

f

(20

0

nodeID)^6-2

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6 Parameter setting

6.4.1.16 1400

Receipt of PDO1 communication parameters

Index [hex] Subindex Name Data type Authorisation Explanation

1400

Data telegram assignment

0 10 11 - 28 29 30 31

Explanation

Bit no. Valu e Meaning

10 - 0 (LSB) X Contains identifier (basic + controller address)
(11 - 28)* 0 *)The extended identifier (29 bit) is not supported for the 2175 fieldbus.

29* 0 *)The extended identifier (29 bit) is not supported for the 2175 fieldbus.

30 0

31 (MSB) 0

: Receive PDO1 communicationparameter

hex

0 Number of entries
1 COB-ID used by PDO rw
2 Transmission type rw

11 bit identifier 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0/1 0/1

1

1

PDO comm.

U32

Every bit must become 0!

Every bit must become 0!
RTR to this PDO possible (Lenze)

RTR to this PDO not possible (cannot be set)
RTR = remote transmission request

0: PDO a ctive
1: PDO not active

ro

Subindex 0: Max. supported subindex = 2
Subindex 1: Identifier setting for this PDO

+

hex

Subindex 2: Transfer type setting (see table)

-

6.4.1.17 1401

Tip!

*)Object not available for 82XX, 8200 vector and 93XXcontrollers.

Receipt of PDO 2 communication parameters

Index [hex] Subindex Name Data type Authorisation Explanation

1401

The further description of this object is the same as in chapter 6.4.1.16

PDO transmission

cyclic synchronous event-controlled

X X n= 1 ... 240 By entering value n, this PDO will be

: Receive PDO2* communication parameter

hex

0 Number of entries
1 COB-ID used by PDO rw
2 Transmission type rw

PDO comm.

cceptance as of

signal No. n

ro

Explanation

accepted by every n-th SYNC.

Subindex 0: Max. supported subindex = 2
Subindex 1: Identifier setting for this PDO

+

hex

Subindex 2: Transfer type setting (see table)

-

6-36

BA2175 EN 2.0

L

CANopen

(20

0

nodeID)^6-2

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6 Parameter setting

6.4.1.18 1402

Receipt of PDO 3 communication parameters

Tip!

*)Object not available for 82XX, 8200 vector and 93XXcontrollers.

Index [hex] Subindex Name Data type Rights Explanation

1402

The further description of this object is the same as in chapter 6.4.1.16

: Receive PDO3* communication parameter

hex

0 Number of entries
1 COB-ID used by PDO rw
2 Transmission type rw

PDO comm.

ro

Subindex 0: Max. supported subindex = 2
Subindex 1: Identifier setting for this PDO

+

hex

Subindex 2: Transfer type setting (see table)

-

L BA2175 EN 2.0

6-37

CANopen

Readrequestofthisobjectareresponded

bythevalue1

0

hex

.

Readrequestofthisobjectareresponded

bythevalue1

0

hex

.

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6 Parameter setting

6.4.1.19 1600

With this object, parameter data can be received as PDO1.

Tip!

At present this functionality is not available. Depending on the subindex, the following values are
returned when reading the object:

Subind. 0 : value 4
Subind. 1 - 4: value 10

Index [hex] Subindex Name Data type Authorisation Explanation

1600

6.4.1.20 1601

With this object, parameter data can be received as PDO2.

: Receive PDO1 mapping parameter

hex

hex

hex

0 Number of mapped objects in

1 PDO mapping 1
2 PDO mapping 2
3 PDO mapping 3
4 PDO mapping 4

: Receive PDO2* mapping parameter

hex

PDOs

PDO mapping

Subindex 0: Max. supported subindex = 4

ro

Read request of this object are responded
by the value 10

hex

.

Tip!

At present this functionality is not available. Depending on the subindex, the following values are
returned when reading the object:

Subind. 0 : value 4
Subind. 1 - 4: value 10
*)Object not available for 82XX, 8200 vector and 93XXcontrollers.

Index [hex] Subindex Name Data type Authorisation Explanation

1600

0 Number of mapped objects in

1 PDO mapping 1
2 PDO mapping 2
3 PDO mapping 3
4 PDO mapping 4

hex

hex

PDOs

PDO mapping

Subindex 0: Max. supported subindex = 4

ro

Read request of this object are responded
by the value 10

hex

.

6-38

BA2175 EN 2.0

L

CANopen

Readrequestofthisobjectareresponded

bythevalue1

0

hex

.

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6 Parameter setting

6.4.1.21 1602

With this object, parameter data can be received as PDO3.

Tip!

At present this functionality is not available. Depending on the subindex, the following values are
returned when reading the object:

Subind. 0 : value 4
Subind. 1 - 4: value 10
*)Object not available for 82XX, 8200 vector and 93XXcontrollers.

Index [hex] Subindex Name Data type Authorisation Explanation

1600

: Receive PDO3* mapping parameter

hex

hex

hex

0 Number of mapped objects in

PDOs
1 PDO mapping 1
2 PDO mapping 2
3 PDO mapping 3
4 PDO mapping 4

PDO mapping

Subindex 0: Max. supported subindex = 4

ro

Read request of this object are responded
by the value 10

hex

.

L BA2175 EN 2.0

6-39

CANopen

180

0

PDOComm

.

180

1

PDOComm

.

180

2

PDOComm

.

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6 Parameter setting

6.4.1.22 1800

Sending of process data

Index [hex] Subindex Name Data type Authoris

1800

Transfer typ e

1 - 240 X X With the entry of value n, this PDO is

254 X

6.4.1.23 1801

Sending of process data

Tip!

*)Object not available for 82XX, 8200 vector and 93XXcontrollers.

Index [hex] Subindex Name Data type AuthorisationExplanation

: Transmit PDO1 parameter

hex

ation

0 Number of supported subindexes ro Max. supported subindex = 2
1 PDO identifier
2 Transfer type

cyclic synchronous event-controlled

: Transmit PDO2* parameter

hex

PDO Comm.

PDO transfer

rw Identifier setting for this PDO (180
rw Transfer type setting (see table)

Explanation

sent at every n SYNC

Explanation

+nodeID)

hex

1801

Transfer typ e

1 - 240 X X With the entry of value n, this PDO is

254 X

6.4.1.24 1802

Sending of process data

Tip!

*)Object not available for 82XX, 8200 vector and 93XXcontrollers.

Index [hex] Subindex Name Data type AuthorisationExplanation

1802

0 Number of supported subindexes ro Max. supported subindex = 2
1 PDO identifier
2 Transfer type

cyclic synchronous event-controlled

: Transmit PDO3* parameter

hex

0 Number of supported subindexes ro Max. supported subindex = 2
1 PDO identifier
2 Transfer type

PDO Comm.

PDO transfer

PDO Comm.

rw Identifier setting for this PDO (280
rw Transfer type setting (see table)

sent at every n SYNC

rw Identifier setting for this PDO (380
rw Transfer type setting (see table)

Explanation

+nodeID)

hex

+nodeID)

hex

Transfer typ e

1 - 240 X X With the entry of value n, this PDO is

254 X

6-40

cyclic synchronous event-controlled

BA2175 EN 2.0

PDO transfer

Explanation

sent at every n SYNC

L

CANopen

1A0

0

PDOmappingr

o

1A0

1

PDOmappingr

o

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6 Parameter setting

6.4.1.25 1A00

With this object, parameter data can be sent as PDO1.

Tip!

At present this functionality is not available. Depending on the subindex, the following values are
returned when reading the object:

Subind. 0 : value 4
Subind. 1 - 4: Read requests of this object are responded by 10

Index [hex] Subindex Name Data type Authorisation

1A00

6.4.1.26 1A01

With this object, parameter data can be sent as PDO2.

: Transmit PDO1 mapping parameter

hex

(max. supported subindex)

hex

0 Number of mapped objects in PDOs
1 PDO mapping 1
2 PDO mapping 2
3 PDO mapping 3
4 PDO mapping 4

: Transmit PDO2* mapping pa rame ter

hex

.

hex

PDO mapping ro

Tip!

At present this functionality is not available. Depending on the subindex, the following values are
returned when reading the object:

Subind. 0 : value 4
Subind. 1 - 4: Read requests of this object are responded by 10
*)Object not available for 82XX, 8200 vector and 93XXcontrollers.

Index [hex] Subindex Name Data type Authorisation

1A01

0 Number of mapped objects in PDOs
1 PDO mapping 1
2 PDO mapping 2
3 PDO mapping 3
4 PDO mapping 4

(max. supported subindex)

hex

.

hex

PDO mapping ro

L BA2175 EN 2.0

6-41

CANopen

1A0

2

PDOmappingr

o

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6 Parameter setting

6.4.1.27 1A02

With this object, parameter data can be sent as PDO3.

Tip!

At present this functionality is not available. Depending on the subindex, the following values are
returned when reading the object:

Subind. 0 : value 4
Subind. 1 - 4: Read requests of this object are responded by 10
*)Object not available for 82XX, 8200 vector and 93XXcontrollers.

Index [hex] Subindex Name Data type Authorisation

1A02

: Transmit PDO3* mapping pa rame ter

hex

(max. supported subindex)

hex

0 Number of mapped objects in PDOs
1 PDO mapping 1
2 PDO mapping 2
3 PDO mapping 3
4 PDO mapping 4

.

hex

PDO mapping ro

6-42

BA2175 EN 2.0

L

CANopen

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6 Parameter setting

6.5 Communication-relevant Lenze codes

Thebehaviour of servo inverters and frequency inverters is determined by their parameters. Lenze
controllers can be parameterised by codes. These (Lenze)codes are exchanged between master
and 2175 fieldbus module as part of a telegram and via a CAN bus.

Depending on the Lenzeinverter,thefollowing codes are availablefor communication via CANbus:

• Codes ≥ L-C2350

For controllers with PLC operating system according to IEC1131 (e.g. 9300 servo PLC).
These codes are saved in the controller

• Modulecodes≥ L-C1850

For all other inverters (82X X, 8200 vector and 93XX ).
These codes are saved in the 2175 fieldbus module

Communication with the drive is only possible when the controller is know as system device. The
devices are detected while the modules are initialised.

Address and baud rate can be set in different ways (see

• Frontswitch1-6≠ OFF

Address and baud rate are determined by switch position.
The 2175 fieldbus module writes the front switch position to codes L-C1859 and L-C2359.

• Frontswitch1-6=OFF

Address and baud rate must be set under codes L-C0009 (address) and L-C0125 (baud rate).

.

.

(^ 5-1) ):

6.5.1 Overview

How to read t he table

Column Abbreviation Meaning

Code L-C1853 (Lenze) code C1853
Subcode 1

Index - Incidated as hexadecimal/decimal value
Lenze Code default setting
Selection 1[1%]99Minimum value [smallest step/unit] maximum value
Data type - VS: Visible string, indicated length

Subcode 1 of code C1853

2..3

Subcodes 2 t o 4 of code C1853

FIX32: 4 byte (= 32 bit) fixed value
U16: 2 byte (= 16 bit) unsigned integer

L BA2175 EN 2.0

6-43

CANopen

Dat

a

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6 Parameter setting

L-C18xx (for 82xx, 8200 vector and 93XX)

Possible settings

Code Subcode Index Lenze Selection

L-C1810 - 22765d= 58ED
L-C1811 - 22764d= 58EC
L-C1850 - 58C5h= 22725d1 1 [1] 63 FIX32 Node address
L-C1851 - 58C4h= 22724d0 0 = 500 kbit/s, 1 = 250 kbit/s

L-C1852 - 58C3h= 22723d0 0 = Slave operation

L-C1853

/1 ... /3

L-C1854 /1 ... /2

L-C1855 /1 ... /2

L-C1856 /1 ... /5 58BFh= 22719d/1:

L-C1857 /1 ... /4 58BEh= 22718d3000 ms 0 [1 ms] 65535 FIX32 Monitoring time
L-C1859 - 58BCh= 22716d- 0 [1] 1023 U16 DIP-switch position display
L-C1860 - 58BBh= 22715d- 0 [1] 1023 U16 Current DIP switch position

L-C1867 - 58B4h= 22708d128 0 [1] 2047 FIX32 Sync Rx identifier
L-C1868 - 58B3h= 22707d128 0 [1] 2047 FIX32 Sync Tx identifier
L-C1873 /1

L-C1874 /1

L-C1875

L-C1876 /1 ... /4 58ABh= 22699d65535 0 [ 1] 65535 FIX32 CAN-OUT1 HMIs
L-C1877 /1 ... /4 58AAh= 22698d65535 0 [ 1] 65535 FIX32 CAN-OUT2 masks
L-C1878 /1 ... /4 58A9h= 22697d65535 0 [ 1] 65535 FIX32 CAN-OUT3 masks
L-C1882 /1 ... /5 58A5h= 22693d0 0[1]2

/3* ... /6*

/3* ... /6*

/2*, /3*

/2*, /3*

/1
/2*, /3*

58C2h= 22722d0 0 = Addressing to CANopen

58C1h= 22721d/1: 129

58C0h= 22720d0 0 [1] 2047 FIX32 Resulting identifier display

58AEh= 22702d1 1 [1] 240 FIX32 CAN-IN1 ... CAN-IN3 sync

58ADh= 22701d1 0 [1] 240 FIX32 CAN-OUT1 ... CAN-OUT3

58ACh= 22700d/1: 0

- - VS Software product code

h
h

2=125kbit/s,3=50kbit/s
4 = 1000 kbit/s, 5 = 20 kbit/s
6=10kbit/s

1 = Master operation

1 = Addressing to L-C1854/L-C2354
2 = Addressing to LENZE system bus
3 = Addressing to CANopen index
14Xx

/18XX

h

/2: 1

0 [1] 1663 FIX32 CAN-IN/CAN-OUT selective

/3: 257*

/4: 258*

/5: 385*

/6: 386*

0 [1 ms] 65535 FIX32 Boot-up and cycle times

3000 ms

/2 .. /5:

0ms

0[1]3FIX32 CAN-OUT1 ... CAN-OUT3
/2: 1*
/3: 1*

0: No response

1: Controller inhibit

2: Quick stop

h

Data
type

VS Software date

FIX32 Baud rate

FIX32 Master / slave operation

FIX32 CAN-INx/CAN-OUTx

FIX32 Monitoring responses

Name

addressing

addressing

display

rate

sync rate

Tx mode

*) not effective when using 82XX, 8200 vector and 93XX controllers

6-44

BA2175 EN 2.0

L

CANopen

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6 Parameter setting

L-C23xx (for 9300 servo PLC)

Possible settings

Code Subcode Index Lenze Selection Data type Name

L-C1810 - 22765d= 58ED
L-C1811 - 22764d= 58EC
L-C2120 - 22455d= 57B7

L-C2121 - 22454d= 57B6
L-C2350 - 56D1h= 22225
L-C2351 - 56D0h= 22224

L-C2352 - 56CFh= 22223

L-C2353

/1 ... /3

L-C2354

/1 ... /6

L-C2355

/1 ... /6

L-C2356

/1 ... /5

L-C2357 /1 ... /4 56CAh= 22218d3000 ms 0 [1 ms] 65535 FIX32 Monitoring time
L-C2359 - 56C8h= 22216

L-C2367 - 56C0h= 22208d128 0 [ 1] 2047 FIX32 Sync Rx identifier
L-C2368 - 56BFh= 22207d128 0 [ 1] 2047 FIX32 Sync Tx identifier
L-C2373

/1 ... /3

L-C2374 /1 ... /3 56B9h= 22201

L-C2375

/1 ... /3

L-C2376 /1 ... /4 56B7h= 22199d65535 0 [1] 65535 FIX32 CAN-OUT1 masks
L-C2377 /1 ... /4 56B6h= 22198d65535 0 [1] 65535 FIX32 CAN-OUT2 masks
L-C2378 /1 ... /4 56B5h= 22197d65535 0 [1] 65535 FIX32 CAN-OUT3 masks
L-C2382 /1 ... /5 56B1h= 22193

56CEh= 22222

56CDh= 22221

56CCh= 22220

56CBh= 22219d1:

56BAh= 22202

56B8h= 22200d/1: 0

- - VS Software product code

h
h

0 0 = No command

h

h
d
d

d

d

d

d

3000 ms

d

d

d

d

1 = Code L-23XX update and CAN
re-initialisation
2 = Code L-C23XX update
10 = Reading of L-C2356/1...4
11 = Reading of L-C2357
12 = Reading of L-C2375
13 = Reading of L-C2376 ... L- C2378
14 = Reading of L-C2382

15 = Not assigned
0 0 [1] 255 FIX32 AIF status byte
1 1 [1] 63 FIX32 Node address
0 0 = 500 kbit/s, 1 = 250 kbit/s

2=125kbit/s,3=50kbit/s

4 = 1000 kbit/s, 5 = 20 kbit/s

6=10kbit/s
0 0 = Slave operation

1 = Master operation
0 0 = Addressing to CANopen

1 = Addressing to L-C1854/L-C2354

2 = Addressing to LENZE system bus

3 = Addressing to CANopen index

14Xx

h

0 [1] 1663 FIX32 CAN-IN/CAN-OUT

/1: 129

/2: 1
/3: 257
/4: 258
/5: 385
/6: 386

- 0 [1] 2047 FIX32 Resulting identifier

0 [1 ms] 65535 FIX32 Boot-up and cycle times

2..5:
0ms

- 0 [1] 1023 U16 DIP-switch position

1 1 [1] 240 FIX32 CAN-IN1 ... CAN-IN3 sync

1 1 [1] 240 FIX32 CAN-OUT1 ... CAN-OUT3

0[1]3FIX32 CAN-OUT1 ... CAN-OUT3
/2: 1
/3: 1

0 0[1]2

0: No response

1: Controller inhibit

2: Quick stop

/18XX

≡ Reset node

h

VS Software date
FIX32 AIF control byte

FIX32 Baud rate

FIX32 Master / slave operation

FIX32 CAN-INx/CAN-OUTx

FIX32 Monitoring responses

addressing

selective addressing

display

display

rate

sync rate

Tx mode

L BA2175 EN 2.0

6-45

CANopen

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6 Parameter setting

6.5.2 Description of communication-relevant Lenze code s

6.5.2.1 L-C1810: Softw are product code

Possible settings

Code Subcode Index Lenze Selection Data type

L-C1810 - 22765d= 58ED

During module initialisation the bus devices are defined by means of the product code.

6.5.2.2 L-C1811: Software date

Code Subcode Index Lenze Selection Data type

L-C1811 - 22764d= 58EC

This date is mainly needed for service.

- - VS

h

Possible settings

h

VS

6.5.2.3 L-C1850/L-C2350: Node address

Possible settings

Code Subcode Index Lenze Selection Data type

L-C1850 - 58C5h= 22725d1 1 [1] 63 FIX32
L-C2350 - 56D1h= 22225d1 1 [1] 63 FIX32

This code can be used to set the 2175 module address via the CAN bus.
Code L-C1850 maps code L-C0009 of the basic unit. Writing to L-C1850 has a direct effect on

L-C0009.

Note!

This code is only effective if the DIP switches S1-S6 have been switched OFF before mains
switching.
Anode address modification will onlybecome active afterpower-onofthe 2175module or sending
of the network management command
With 9300 servo PLCs it can also be modified by setting code C2120 ( AIF control byte) to 1.

Reset_nodeorReset_communication

via the CAN bus.

6-46

BA2175 EN 2.0

L

CANopen

3=50kbit/

FIX32

00Slaveoperatio

n

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6 Parameter setting

6.5.2.4 L-C1851/L-C2351: Baud rate

Possible settings

Code Subcode Index Lenze Selection Data type

L-C1851 - 58C4h= 22724

L-C2351 - 56D0h= 22224

This code can be used to set the baud rate for 2175 modules.

Note!

This code is only effective if the DIP switches S1-S6 have been switched OFF before mains
switching.

A baud rate modification will only become active after power-on of the 2175 module or sending of
the network management command

With 9300 servo PLCs it can also be modified by setting code C2120 ( AIF control byte) to 1.

0 0 = 500 k bit/s

d

d

1 = 250 kbit/s
2 = 125 kbit/s

s
4 = 1000 kbit/s
5=20kbit/s
6=10kbit/s

Reset_nodeorReset_communication

via the CAN bus.

Code L-C1851 maps code L-C0125 of the basic unit, i.e. writing to L-C1851 has a direct effect on
L-C0125.

6.5.2.5 L-C1852/L-C2352: Master/slave opera tion

Possible settings

Code Subcode Index Lenze Selection Data type

L-C1852
L-C2352 - 56CFh= 22223

- 58C3h= 22723

After power-on, the module sets PRE-OPERATIONA L status. With this status parameter data
(SDOs) can only be exchanged.

In slave operation, the module remains in this status until the network management command

Start_remote_node

is put into OPERATIONAL status.
With OPER ATIONAL status, parameter data (SDOs)and process data (P DO s)can be exchanged.
In master operation, the network management command

boot-up time set under L-C1856/1 and L-C2356/1). This command puts all nodes into
OPERATIONAL status.

Note:
Thenetwork management command

other nodes.

0 0 = Slave operation

d

d

1 = Master operation

Start_remote_node

FIX32

Start_remote_node

is sent after the

isa “broadcast” telegram addressing all

CANopenrelation

Bit 30 of the CANopen index 1005

“COB-ID SYNC message” has direct influence on this code.

h

Bit 30 = 1: Master operation
Bit 30 = 0: Slave operation
A modification of this code also changes the CANopen index 1005

.

h

L BA2175 EN 2.0

6-47

CANopen

/2CA

toCANopen

via

toCANopeninde

x

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6 Parameter setting

6.5.2.6 L-C1853/L-C2353: CAN-INx/CAN-OU Tx addressing

Possible settings

Code Subcode Index Lenze Selection Data type

L-C1853

L-C2353

/1 CAN-IN1/OUT1

N-IN2/OUT2

/3 CAN-IN3/OUT3

58C2h= 22722

56CEh= 22222

Thesource for the resulting addresses of CAN-INx/OUTx process data objects (P DO s)on the CAN
bus is selected under this code.

Note!

A source address modification in one or several subcodes will only become active after power-on
of the module or sending of the network managment command

Reset_Communication

With 9300 servo PLCs it can also be modified by setting code C2120 ( AIF control byte) to 1.

via the CAN bus.

0 0 = Addressing to CANopen

d

d

1 = Addressing to L-C1854/L-C2354
2=Addressing to LENZE system bus
3 = Addressing to CANopen index
14Xx

/18XX

h

h

FIX32

FIX32

Reset_Node

or

CANopenrelation

Theaddressing of the corresponding PDO pair and the subcode under code L-C1853 / L-C2353 is
changed to CANopen index 14XX
1402

, 1800h, 1801hor 1802hget new values.

h

/18XXh(see above: value 3), if CANopen index 1400h, 1401h,

h

Identifier calculation

PDO

to CANopen

CAN-IN1 512 + node address 384 + C1854/1 and

CAN-IN2 768 + node address 384 + C1854/3 and

CAN-IN3 1024 + node address 384 + C1854/5 and

CAN-OUT1 384 + node address 384 + C1854/2 and

CAN-OUT2 640 + node address 384 + C1854/4 and

CAN-OUT3 896 + node address 384 + C1854/6 and

via code L-1854/L-2354

384 + C2354/1

384 + C2354/3

384 + C2354/5

384 + C1854/2

384 + C1854/4

384 + C1854/6

Default setting

384 + 129 512 + node address Index 1400h, subindex 1

384 + 257 640 + node address Index 1401h, subindex 1

384 + 385 768 + node address Index 1402h, subindex 1

384 + 1 384 + node address Index 1800h, subindex 1

384 + 258 641 + node address Index 1801h, subindex 1

384 + 386 769 + node address Index 1802h, subindex 1

via to CANopen index

Lenze system bus

6-48

BA2175 EN 2.0

L

CANopen

/3CANIN

2

/3:25

7

/

/3CANIN

2

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6 Parameter setting

6.5.2.7 L-C1854/L-C2354: Selective CAN-I N/CAN-OUT addressing

Possible settings

Code Subcode Index Lenze Selection Data type

L-C1854

L-C2354

*) not effective when using 82XX, 8200 vector and 93XX controllers

Input and output PDO addresses can be set individually via 6 subcodes under L-C1854 (see
previous chaper).

The code becomes effective when 1 appears as subcode for code L-C1853/L-C2353 ( selective
addressing).

Note!

An address modification in one or several subcodes becomes effective

• when the module is switched on again or

• when a network management command is sent to the module via the CAN bus

–
–

/1 CAN-IN1
/2 CAN-OUT1
/3* CAN-IN2
/4* CAN-OUT2
/5* CAN-IN3
/6* CAN-OUT3

Reset_node

and L-C2120 = 1 or

Reset_communication

58C1h= 22721

56CDh= 22221

d

d

/1: 129
/2: 1
/3: 257*
/4: 258*
/5: 385*
/6: 386*

0 [1] 1663 FIX32

6.5.2.8 L-C1855/L-C2355: Display of resulting identifiers

Possible settings

Code Subcode Index Lenze Selection Data type

L-C1855

L-C2355

*) not effective when using 82XX, 8200 vector and 93XX controllers

/1 CAN-IN1
/2 CAN-OUT1

3* CAN-IN2
/4* CAN-OUT2
/5* CAN-IN3
/6* CAN-OUT3

58C0h= 22720

56CCh= 22220

The resulting PDO identifier can be read from the 6 subcodes of this code.

- 0 [1] 2047 FIX32

d

d

L BA2175 EN 2.0

6-49

CANopen

2..5

:

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6 Parameter setting

6.5.2.9 L-C1856/L-2356: Boot-up and cycle times

Possible settings

Code Subcode Index Lenze Selection Data typ e

L-C1856

L-C2356

/1 Boot-up time
/2 CAN/OUT1 cycle times
/3 CAN/OUT2 cycle times
/4 CAN/OUT3 cycle times
/5 Sync-Tx cycle time

58BFh= 22719

56CBh= 22219

The cycle time which indicates when PDOs are sent via the CAN bus (see L-C1875/L-C2375, “Tx
mode” for CAN-OUT1..3) can be indicated in event-controlled/cyclic operation.

Note!

A cycle time change becomes effective immediately.
0 deactivates cyclic PDO sending.

d

d

1:
3000 ms

2..5:
0ms

0 [1 ms] 65535

FIX32

FIX32

Sync-Tx cycle time ( C1856/5 and C2356/5)
The “Sync-Tx cycle time” is the interval time (time basis: ms)for SYNC telegram sending.

Note!

A sync-TX cycle time change becomes effective immediately.
0 in L-C1856/5 and L-C2356/5 deactivates cyclic sync telegram sending.

CANopenrelation

TheCANopenindex 1006
L-C1856/5 and L-C2356/5 (Zeitbasis:

Since the data processing rate of the 2175 module is 1000
is an integer multiple of 1000 µs gerundet und unter L-C1856/5 oder L-C2356/5 (abhängig vom
Antrieb)gespeichert. Wird der CANopen-Index 1006
in [

µs] als Antwort zurückgesendet.

Furthermore, writing of code (L-C1856/5) automatically sets bit 30 of the CANopen index 1005
(COB-ID Sync message).

With 9300 servo PLCs bit 30 of the CANopen index 1005
sending of syncs.

“communicationcycle period” corresponds to the settingsunder codes

h

µs).

µs,the input via CANopen index 1006

gelesen, so wird der Inhalt dieser Codestelle

h

must be set additionally to start cyclic

h

h

h

6-50

BA2175 EN 2.0

L

CANopen

/3CA

0[1]102

3

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6 Parameter setting

6.5.2.10 L-C1857/L-C2357: Monitoring t ime

Possible settings

Code Subcode Index Lenze Selection Data typ e

L-C1857

L-C2357

/1 CAN-IN1
/2 CAN-IN2

N-IN3
/4 BUS-OFF monitoring
time

58BEh= 22718

56CAh= 22218

Note!

0 deactivates the monitoring process.
A change of the monitoring time becomes effective immediately.The monitoring time starts when

the first telegram arrives.

Montoring time is the time when new process input data must arrive together with CAN-IN1..3
identifiers.If the time set is exceeded, a corresponding response can be set under L-C1882.

3000 ms 0 [1 ms] 65535

d

d

FIX32

FIX32

BUS-OFF (C1857/4 and C2357/4)
A response time can be set even if the device changes into a BUS-OFF status.

Monitoring response: see codes L-C1882 and L-C2382.

6.5.2.11 L-C1859/L-C2359: Display of DIP-switch position

Possible settings

Code Subcode Index Lenze Selection Data type

L-C1859 - 58BCh= 22716
L-C2359 - 56C8h= 22216

Indicated is the DIP-switch position when initialising the module.
Valency table:

Switch --- --- --- --- --- --- S1 S2 S3 S4 S5 S6 S7 S8 S9 S10

Valency 512 256 128 64 32 16 8 4 2 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Example for DIP-switch position:

• S10= ON (CANopencommunicationprofile)

• S4, S5= ON (address 6)

• S7, 8, 9 = OFF (baud rate 500kBit/s)

The table above helps to calculate the sum of valencies: 61
L-C1859 and L-C2359.

- 0 [1] 1023

d
d

h

U16
U16

(97d)indicated while reading codes

L BA2175 EN 2.0

6-51

CANopen

1280[1]2047

x

1280[1]2047

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6 Parameter setting

6.5.2.12 L-C1860: Display of current DIP-switc h position

Possible settings

Code Subcode Index Lenze Selection Data type

L-C1860

Byindicatingthe current DIP-switchpositionit is made easy to find out whetherthe switchpositions
for address, baud rate and the communication profile setting have been changed since the last
initialisation. For valencies see L-C1859.

6.5.2.13 L-C1867/L-C2367: Sync Rx identifier

Code Subcode Index Lenze Selection Data type

L-C1867
L-C2367 - 56C0h= 22208

The code contains the identifier used for receiving the telegram.
The module can send its process data objects to the CAN bus by sending sync telegrams. See

L-C1875 / L-C2375.

- 58BBh= 22715d- 0 [1] 1023 U16

Possible settings

- 58B4h= 22708

128 0 [1] 2047

d
d

FIX32
FIX32

Note!

An indentifier modification becomes effective immediately.

CANopenrelation

The CANopen index 1005
identifier of new value written in index 1005

“COB-ID SYNC message” has direct influence on this code. The

h

will also be accepted by code L-C1867/L-C2367.

h

The value saved in L-C1868/L-C2368 will be displayed while reading the CANopen index.

6.5.2.14 L-C1868/L-C2368: Sync Tx identifier

Code

L-C1868
L-C2368 - 56BFh= 22207

Subcode

- 58B3h= 22707

Inde

The code contains the identifier used for sending the sync telegram.
The sync is sent to the CAN bus with the identifier set under L-C1868/L-C2368 (see L-C1856 and

L-C2356, subcode 5).

Possible settings
Lenze Selection Data type

128 0 [1] 2047

d
d

Note!

An indentifier modification becomes effective immediately.

FIX32
FIX32

CANopenrelation

The CANopen index 1005
identifier of new value written in index 1005
value will be indicated when reading the index 1005

“COB-ID SYNC message” has direct influence on this code. The

h

will also be accepted by code L-C1868/L-C2368. The

h

.

h

6.5.2.15 L-C1873/L-C2373: Sync rate CAN-IN1 ... CAN-IN3

Theinput process data (CAN-INx)willonly be sent to thecontroller whena certain number of SYNC
telegrams has received.

6-52

BA2175 EN 2.0

L

CANopen

x

/1CANIN

1

x

/2*=CAN-OUT

2

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6 Parameter setting

Code

L-C1873

L-C2373

*) not effective when using 82XX, 8200 vector and 93XX controllers

Subcode

/1 CAN-IN1
/2* CAN-IN2
/3* CAN-IN3

Inde

58AEh= 22702

56BAh= 22202

Possible settings
Lenze Selection Data type

1 1 [1] 240

d

d

FIX32

FIX32

Example:
Selectionn = 23. Acceptance of input PDOs(toCAN-IN1... CAN-IN3)by the controller afterthe23rd

sync telegram has been received.
The sync rate can be individually set for every input PDO.

Note!

Only sync telegrams with the identifier set under L-C1867 / L-C2367 count as received telegrams.
A sync rate change becomes effective immediately.

CANopenrelation

The CANopen index 1400
subindex 2 (transmission type) are directly mapped to the subcodes of code L-C1873 / L-C2373.

, 1401hand 1402h(receive PDO communication parameter) with

h

Index 1400h, subindex 2 Code L-C1873 and L-C2373, subcode 1
Index 1401h, subindex 2
Index 1402h, subindex 2 Code L-C1873 and L-C2373, subcode 3

=

Code L-C1873 and L-C2373, subcode 2

If, for instance, index 1402his read, the response value comes from code L-C1873 or L-C2373
subcode 3. If a new value is written to index 1401

also code L-C1873 or L-C2373, subcode 2 will

h

be overwritten with this value.

6.5.2.16 L-C1874/L-C2374: Sync rate CAN-OUT1 ... CAN- OUT3

Code

L-C1874

L-C2374

*) not effective when using 82XX, 8200 vector and 93XX controllers

Subcode

/1 = CAN-OUT1

*

/3* = CAN-OUT3

Inde

58ADh= 22701

56B9h= 22201

The output process data (CAN-OUTx)will only be sent to the controller when a certain number of
SYNC telegrams has received.

The sync rate can be individually set for every output PDO.

Possible settings
Lenze Selection Data type

1 1 [1] 240

d

d

Note!

Only sync telegrams with the identifier set under L-C1867 / L-C2367 count as received telegrams.
A sync rate change becomes effective immediately.

CANopenrelation

The CANopen index “transmit PDO communication parameter” 1800
subindex 2, “ transmission type”) are directly written to the subcodes of codes L-C1874 and
L-C2374.

FIX32

FIX32

, 1801hand 1802h(with

h

L BA2175 EN 2.0

6-53

CANopen

x

/

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6 Parameter setting

Index 1800h, subindex 2 Code L-C1874 and L-C2374, subcode 1
Index 1801h, subindex 2
Index 1802h, subindex 2 Code L-C1874 and L-C2374, subcode 3

=

Code L-C1874 and L-C2374, subcode 2

If, for instance, index 1802his read, the response value comes from code L-C1874 / L-C2374,
subcode 3.If anew valueis writtento index 1801

alsocode L-C1874, subcode2 willbeoverwritten

h

withthisvalue.
Exception:

If value”254” is written via CANopen index 1800
L-C2374 of the corresponding subcode will be set zero

, 1801hor 1802hthe sync rate under l-C1874 and

h

. In addition the Tx modue under code
L-C1875 / L-C2375 of the corresponding subcode will be set to 2 (event control or cyclic control).
If ”254” is read via index 1800

, 1801hor 1802h, the settings under codes L-C1874 and L-C1875 or

h

L-C2374 and L-C2375, subcode 1, 2 or 3 apply.

6.5.2.17 L-C1875/L-C2375: Tx mode CAN-OU T1 ... CAN- OUT3

Thiscode contains aselection which indicates when CAN-OUT1 .. CAN-OUT3PDO are to besent.
The selection can be made for every output PDO by subdivision into subcodes.

Code

L-C1875

L-C2375

Subcode

/1 CAN-OUT1

2* CAN-OUT2

/3* CAN-OUT3

Inde

58ACh= 22700d/1: 0

56B8h= 22200d/1: 0

Possible settings
Lenze Selection Data type

0[1]3FIX32
/2: 1
/3: 1

/2: 0
/3: 0

FIX32

*) not effective when using 82XX, 8200 vector and 93XX controllers

• Value = 0

– Output PDOs are sent when a sync telegram is received.
– Only sync telegrams with the identifier set under L-C1867 / L-C2367 count as received

telegrams. L-C1874 / L-C2374 can also be used for setting a number of sync telegrams (n =
1 ... 240) after which output PDO are to be sent.

• Value = 1

– Output PDOs are not
– This selection deactivates the sending of CAN-OUT1..CAN-OUT3.

This deactivation should be used for 82XX, 8200 vector and 9300 controllers which can
exchange a max. of 4 words of control and status information via the AIF. Use just one input
and output PDO because every PDO contains 4 information words (default setting).
Thus unnecessary CAN load can be avoided.

sent.

• Value = 2

– The output PDO is either event-controlled or cyclically sent if this value is entered in one of

the three available subcodes.

– The output PDO will be cyclically sent if a cycle time is input for the same CAN-OUT1..3

under code L-C1856 or L-C2356 ( depending on the drive). If the cycle time is zero, it will be
sent when an event occurs, i.e. bit change in CAN-OUT object.

• Value = 3

– The output PDO is sent either event-controlled or cyclically , which means that the object is

sent according to the time set under L-C1856 and L-C2356.

– The object is also sent when one or several bits in the CAN-OUT object change.

6-54

BA2175 EN 2.0

L

CANopen

/2CANOUT1.W

2

x

/2CANOUT2.W

2

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6 Parameter setting

Note!

A Tx mode modification becomes active immediately.
With event-controlled sending (evenwith cyclic overlay),the objects can be masked using codes

L-C1876 to L-C1878 or with 9300 servo PLC certain bits can be skipped using codes L-C2376 to
L-C2378 and achieve that the CAN-OUT object will not be sent when a bit is changed.

6.5.2.18 L-C1876/L-C2376: CAN-OUT1 masks

This mask is used to skip one or several bits of the CAN-OUT1 output PDO.

Possible settings

Code Subcode Index Lenze Selection Data type

L-C1876

L-C2376

Event-controlled sending of a CAN-OUT object can depend on a single bit, if necessary.Seecode
L-C1875 / L-C2375.

Example:
Themask in word 3 of the CAN-OUT 1 process data object is set to 20 hex under code L-C1876/3

(see “MASK“). Please observe the field highlighted in grey.
1st cycle
Result after 1st cycle: PDO is sent

/1 CAN-OUT1.W1
/2 CAN-OUT1.W2
/3 CAN-OUT1.W3
/4 CAN-OUT1.W4

58ABh= 22699

56B7h= 22199

65535 0 [1] 65535

d

d

CAN-OUT 1.W3

FIX32

FIX32

MASK 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0
Data 1 1 1 1 1 1 1 1 0 1 1 0 0 0 1 0
Result 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0

2nd cycle
New data is written to CAN-OUT1 after the 2nd cycle.
Result after 2nd cycle: PDO not sent because of bit change

MASK 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0
Data 1 1 1 1 1 1 1 1 0 1 0 0 0 0 1 0

Result 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Note!

A mask change for the CAN-OUT1 output PDO becomes active immediately.

6.5.2.19 L-C1877/L-C2377: CAN-OUT2 masks

This mask is used to skip one or several bits of the CAN-OUT2 output PDO.

Code

L-C1877

L-C2377

Subcode

/1 CAN-OUT2.W1
/2 CAN-OUT2.W2
/3 CAN-OUT2.W3
/4 CAN-OUT2.W4

Inde

58AAh= 22698

56B6h= 22198

Possible settings
Lenze Selection Data type

65535 0 [1] 65535 FIX32

d

d

CAN-OUT 1.W3

L BA2175 EN 2.0

6-55

CANopen

x

/2CANOUT3.W

2

x

/3CANIN3respons

e

0:Norespons

e

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6 Parameter setting

See L-C1876 / L-C2376.

6.5.2.20 L-C1878/L-C2378: CAN-OUT3 masks

This mask is used to skip one or several bits of the CAN-OUT3 output PDO.

Code

L-C1878

L-C2378

Subcode

/1 CAN-OUT3.W1
/2 CAN-OUT3.W2
/3 CAN-OUT3.W3
/4 CAN-OUT3.W4

Inde

58A9h= 22697

56B5h= 22197

See L-C1876 / L-C2376.

6.5.2.21 L-C1882/L-C2382: Monitoring response

Possible settings
Lenze Selection Data type

65535 0 [1] 65535 FIX32

d

d

Code

L-C1882

L-C2382

Subcode

/1 CAN-IN1 response
/2 CAN-IN2 response
/3 CAN-IN3 response
/4 BUS-OFF response
/5 Life guarding event
response

Inde

58A5h= 22693

56B1h= 22193

Possible settings
Lenze Selection Data type

0 0[1]2

d

0: No response

d

1: Controller inhibit
2: Quick stop

FIX32

FIX32

Setting of the response after the monitoring time (see L-C1857/L-C2357) has been exceeded.

Note!

A monitoring response change becomes effective immediately.

CANopenrelation

The CANopen indexes 100C
for the node guarding p. The node guarding protocol has been developed for monitoring the
master/slave connection. A time in milliseconds can be entered in CANopen index 100C
time”. Index 100D

“life time factor” saves a factor. The monitoring time (time in which the master

h

sends a certain telegram to the slave/2175 IB)results from multiplying the two indexes. If one of the
indexes is set to zero, the monitoring time is zero too and thus deactivated. The slave sends a
telegram with its current NMT status to the master. The status can be preoperational, operational
orstopped.

Ifthe monitoring timeisexceeded, theslave respondswithalife guarding event and the master with
a node guarding event.

The node guarding protocol must be programmed and started in the master. The 2175IB module
supports the node guarding protocol, a response can only be entered under this code.

“guard time” and 100Dh“life time factor” canbeusedtosetatime

h

“guard

h

6.5.2.22 L-C2120: AIF control byte

Possible settings

Code Subcode Index Lenze Selection Data type

L-C2120 - 22455d= 57B7

6-56

BA2175 EN 2.0

0 0 = No command

h

1 = Code L-23XX update and CAN
re-initialisation
2 = Code L-C23XX update
10 = Reading of L-C2356/1...4
11 = Reading of L-C2357
12 = Reading of L-C2375
13 = Reading of L-C2376 ... L- C2378
14 = Reading of L-C2382
15 = Not assigned

FIX32

≡ Reset node

L

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6 Parameter setting

The AIF control byte is used to read the codes saved in a 9300 servo PLC by the 2175 fieldbus
module. This process can be started by writing a value which is indicated in the table in the AIF
control byte.

6.5.2.23 L-C2121: AIF status byte

Possible settings

Code Subcode Index Lenze Selection Data type

L-C2121 - 22454d= 57B6

TheAIFstatusbyteprovidesinformationfrom the2175fieldbusmodulefor the 9300 servo PLC.The
status of the2175fieldbus modulecan be monitored from the 9300servo PLC byreading the status
byte. The user can take measures against this process.

AIF status byte Description

Bit 0 CE11 error, CAN-IN1 monitoring time exceeded
Bit 1 CE12 error, CAN-IN2 monitoring time exceeded
Bit 2 CE13 error, CAN-IN3 monitoring time exceeded
Bit 3 CE14 error, module in BUS-OFF status
Bit 4 Operational status
Bit 5 Preoperational status
Bit 6 Warning status
Bit 7 Internally assigned

0 0 1 255 FIX32

h

Note!

Writing of value 2 to the AIF control byte however re-reads all codes L-C23XX, but L-C2350 ...
L-C2355 need a new CAN initialisation to activate new value and their functions.

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6 Parameter setting

6.6 Notes to be observed for paramater setting

6.6.1 8200 controllers

The following applies to the 8200 inverter series:

Caution!

Parameter setting (codes except C046, C0135) is only possible when the controller is inhibited.
Parameters are accepted when the controller is enabled, but they are not saved.
After havingset aparameter,thecontroller must not beaddressed for approx. 50ms; otherwisethe
command will be ignored.

After parameter setting, the controller needs up to approx. 70 ms to set the status ’enabled’
(terminal, C040, C0135).

TheTRIPreset function is activated by inhibiting the controller and enabling it again under C040 or
C0135.

The TRIPreset function initializes the 8200 inverter and the 2175 fieldbus module. Therefore the
TRIPreset command is not acknowledged for the master.

6.6.2 8200 vector controllers

Digital and analog input and output signals can be freely configured (see Operating Instructions;
codes C0410, C0412, C0417 and C0421)

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6 Parameter setting

6.6.3 9300 servo PLC

AIF control / status byte

Controller and fieldbus module can exchange control and status information. For this, the AIF
protocol providesso- called c ontrol b ytes and status b ytes.

Thanks to “Drive PLCDeveloper Studio” (DDS)theusercandirectlyaccessthestatusb yteviathe
control configuration of the AIFmodule. The 2175 fieldbus module writes its error messages to this
byte.

The PLC programmer must ensure that these error messages are indicate by means of an
error-warning-messagefirmware module.

Assignment of the C2121 AIF status byte for the 2175 fieldbus module

AIF status bit Function

0 CE11 error
1 CE12 error
2 CE13 error
3 CE14 error
4 Operational
5 Pre-operational
6 Warning
7 Internally assigned

Thecontrol byte is used to send messages and commands from the controller to the 2175 fieldbus
module.

Thecontrol byte can be accessed via code C2120. The commands are defined as numbers. Some
of the command numbers apply to all fieldbus modules, others only apply to certain modules.
Altogether up to 16 commands can be used.

Order number
in C2120, bit0..3

0 No command
1 New initialisation of optional module all
2 Update of all relevant codes for the current optional module. No new init. all
10 XCAN-OUT cycle times or boot-up time accepted C2356
11 Monitoring times accepted C2357
12 TX mode accepted C2375
13 HMIs accepted C2376-C2378
14 CE error configuration accepted C2382

Function R/W code

AIFcontrol byte assignment for the 2175 fieldbus module
C2120 is automatically reset to 0 after the command has been transferred to the optional module,

i.e.toggle bits arenot required. The command itself is written t o the 4 last bits of the controlbyte,
i.e. 4 bits are available for future entries.

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6 Parameter setting

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7 Troubleshooting and fault elimination

7 Troubleshooting and fault elimination

7.1 No communication w ith the controller

Possible causes Diagnostics Remedy

Is the controller switched on? The operation status LED of the basic

Is the fieldbus module supplied with
voltage?

Does the controller receive telegrams The LED “Bus connection status“ on the

unit must be on

^ 4-1 Point 3.

The green LED for “Controller
connection status” on the fieldbus
module

^ 4-1 must be on (Remedy 1) or

blinking (Remedy 2)

fieldbus

^ 4-1 must be blinking in green

when the device is communicating with
the host.

Supply controller with voltage (see Operating Instructions for the basic unit)

With supply from the basic unit check the connection. With external supply check
the 24 V voltage at terminals 39 and 59.
A voltage between 24 V +10 % must be applied.

The fieldbus module has not been initialised with the controller yet.
Possibility 1: Controller not switched on (see fault possibility 1).
Possibility 2: Check the connection to the controller

Check whether the connection corresponds to the instructions given in chapter
”CAN bus wiring“, page.
Check whether host sends telegrams and uses the appropriate interface.

CAN controller address (L-C0009 / DIP switch) and baud ra t e (L-C0125 / DIP
switch) can be set differently for controller and host. Ensure that the addresses
are identical.

The controller address (L-C0009) must be different for all connected devices.
Check whether some addresses are used twice and correct them if necessary.
Check the wiring to your host.

^ 4-1 .

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7 Tr oubleshooting and fault elimination

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8 Table of keywords

8 Table of keywords

8200 inverter series, 6-59

8200 vector

Control word, 6-20

Status word, 6-21

82XX, Status word, 6-21

82XX

Control word, 6-20

Status word, 6-21

93XX

Control word, 6-23

Status word, 6-26

A

Address setting, 5-2

AIF-IN, Function block, 6-24

AIF-OUT, Function block, 6-27

Application, as directed, 1-2

Application as directed, 1-2

C

CAN bus, Wiring, 4-6

CAN bus system, Assembly, 4-5

Code numbers, Access via the fieldbus module, 6-5

Code numbers / index, Conversion, 6-5

Codes, Lenze, 6-5

Commissioning, 5-1

Communication medium, 3-2

Communication profile, 5-1

Communication profile setting, 5-1

Communication times, 3-3

Connection

Connections of the fieldbus module, 4-3
Plug-in terminal (5 pole), 4-3

Control word, 6-13

8200 vector, 6-20
82XX, 6-20
93XX, 6-23, 6-26

Controller

Application as directed, 1-2
Labelling, 1-2

D

Definitions, 1-1

Dimensions, 3-2

DIP switch settings / CANopen, 5-1

Disposal, 1-2

Application conditions, 3-2

E

Assignment of the plug/socket connector, 4-3

B

Basic insulation, 4-4

Baudrate,3-2,3-3

Baud rate setting, 5-3

Electrical isolation, 4-4

Example

Read block parameters, 6-12
Read parameter, 6-10
Write parameter, 6-11

F

Fault elimination, 7-1

Fieldbus module, Connections, 4-3

Frequency setpoint, 6-13

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8 Table of keywords

I

Index, Conversion, 6-5

Installation

Mechanical, 4-2
Wiringtoahost, 4-4

Items supplied, 1-1

L

Labelling, Controller, 1-2

Legal regulations, 1-2

Lenze codes, 6-5

Liability, 1-2

M

Manufacturer, 1-2

N

Network management (NMT), 6-3

O

Operator, 2-1

R

Rated data, 3-2

S

Safety information, 2-1

Layout, 2-2

Other notes, 2-2
Warning of damage to material, 2-2
Warning of damage to persons, 2-2

Operating Instructions, 1-1

Setpoint source, 6-13

T

Technical data, 3-1

Technicaldata

Dimensions, 3-2

General data/Application conditions, 3-2

P

Parameter channel, 4-5

Parameter sets, 6-6

Lenze, 6-6

Parameter setting, 6-1

Parameters

Control word (C0135), 6-13
Frequency setpoint (C0046), 6-13
L-C0142, 5-5

Personnel, qualified, 2-1

Plug-in terminal for external supply, Connections, 4-3

Plug/socket connector, Assignment, 4-3

Process data channel, 4-5

Process data telegram

from controller, 6-17
to controller, 6-16

Process data transfer, 6-14

Processing times

8210, 3-3
8200, 3-3
in the controller, 3-3

Tel egram time, 3-4

Troubleshooting, 7-1

U

User data, 6-7

V

Voltage supply, 4-4

Voltage supply, external, 4-3

W

Warranty, 1-2

Wiring, to a host, 4-4

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9 Technical data

9 Technical data

9.1 General information

The internationally standardized CAN bus protocol, which had been developed for the European
Automobile Industry, is mainly characterized by:

• its resistance against interference and extreme temperatures

• short transfer times

• low expenditure for connection

These advantages have made CAN products interesting for other industries too.
The DeviceNet communication profile is based on CAN technology.
A DeviceNet network enables communication between control systems and industry components

such assensors (e.g.initiators)and actuators (e.g.electromagnetically actuated pneumatic valves),
frequency inverters and servos.

The units are directly connected to the network. This means reduced costs for installation,
commissioning, maintenance, tests and upgrading of the system.

The2175 fieldbus module with the communication profile DeviceNet is a ’ONLY-SER VER ’ module
of group 2.

9.2 Features

• Attachable module for the following Lenze controller series: 820X, 821X, 82X, 8200 vector,

93XXand 9300 servo PLC.

• The front DIP switch enables easy setting of

– Communication profile DeviceNet or CANopen
– Baud rates of 125, 250 and 500 kbit/s
– Node address (max. 63 participants)

• Bus extension up to max. 500m

• Topology: Line terminated at both ends (R= 120 Ohm)

• Easy connection because of pluggable screw terminals

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DeviceNet

bussystem

s

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9 Technical data

9.3 General data and applicationconditions

For Values

Order name 33.2175IB
Communication media DIN ISO 11898
Baud rate [kBit/s] 125, 250, 500

Ambient temperature during operation: -20 °Cto 60°C

Permissible humidity Class 3K3 to EN 50178 (without condensation, average relative humidity 85%)
24-V-DC-

Voltage supply

9.4 Rated data

For Values

Voltage supply 24 V DC ñ 10 %; max. 100 mA
Communication medium ISO 11898

Insulation voltages for

Pollution degree VDE0110, part 2, pollution degree 2

during transport: -25
during storage -25

• external supply only: 820X

• internal or external supply: 93XX / 9300 servo PLC / 821X / 822X / 8200 vector (see chapter 4.3.2)

• PE 50VAC Electrical isolation

• External supply (term. 39/59) - No electrical isolation

• Power stage

– 820X / 821X 270 V AC Basic insulation
– 822X / 8200 vector 270 V AC Double insulation
– 93XX 270 V AC Double insulation

• Control terminals:

– 820X / 8200 vector

(with internal supply)

– 8200 vector

(with external supply)
– 821X 50 V AC Electrical isolation
– 822X 270 V AC Basic insulation
– 93XX 270 V AC Basic insulation

• External bus systems 0VAC No electrical isolation

°Cto 70°C
°Cto 60°C

Rated insulation voltage Type of insulation

- No electrical isolation

100 V AC Basic insulation

9.5 Dimensions

62

DeviceNet
CANopen

75

18

36

Fig. 9-1 Dimensions: 2175 fieldbus module (all dimensions in mm)

9-2

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9 Technical data

9.5.1 Communication times

Note!

The CAN bus communication times depend on the following:

• Processing time inthecontroller

• Baud rate

• Data priority

• Busload

More information about bus access control can be obtained from corresponding literature
specialised on Controller Area Networks.

9.5.1.1 Processing times in the controller

Processing times for 820X controllers

Theprocessing timesfor8200controllersdiffer from the timesforthe821X/822X/8200vectorseries.
In opposite to the 821X/822X/824X series, which have parallel process data processing, the 8200

series process process and parameter data sequentially. Therefore the time needed to respond
process data depends on previous actions.

Theprocessing time needed for telegrams also depends on the actual value conditioning (process
data from controller). If these data (status word, actual frequency) are not required, they can be
deactivated with the control word ”Bit 15” (PEinhibit).

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9 Technical data

The individual telegram times are:

Teleg ram Processing time

Parameters 62...140 ms 62...70 ms
Change of a process data value

to controller (*)
Change of both process data values to

controller *
Process data from controller * 108...140 ms not possible

* The processing times for process data refer to the sync telegram (chapter 6.3 (^ 6-13) )

Processing times for 821X/8200 vector/822X controllers:

Parameters 30...50 m s
Process data, 3...5 ms (*)

Processing time for 93XX

PE-inhibit = 0 PE-inhibit = 1

27...105 ms 27...35 ms

62...140 ms 4...70 ms

Parameter data and process data are independent of each other.

• Parameter data: approx. 30 ms + 20 ms tolerance (typically)

– Some codes require longer processing times ( seethe 9300 Manual).

• Process data: approx. 3 ms + 2 ms tolerance

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9 Technical data

9.5.1.2 Teleg ram time

Telegram times depend on baud rate and telegram length:

Baud rate [kbit/s]

10 5.44 7.36 13.12
20 2.72 3.68 6.56
50 1.09 1.47 2.62
125 0.44 0.59 1.05
250 0.22 0.29 0.52
500 0.11 0.15 0.26
1000 0.05 0.07 0.13

Tab. 9-1 Maximum telegram time in [ms]

0 2 8

Thetelegram times indicated in thetable above are calculated according to the following equation.
This equation allows to calculate any intermediate value t

9.5.1.3 Maximum bus length

Depending on the baud rate and the cable used the following bus lengths are possible:

Baud rate [Kbit/s] Thin cable Thick cable

125 500 m
250 100 m 250 m
500 100 m

54.4 + 9.6 ⋅

t

≤

T

Data length [byte]

if necessary.

Tmax

L

D

d

Ü

tT= telegram time [ms]
L

= telegram length [byte]

D

d

= baud rate [kbit/s]

Ü

When using both, thick and thin cable types (see(^ 10-6) and (^ 10-7) )the maximum cable lengths
are to be selected according to the baud rate:

• 125 kbit/s:

• 250 kbit/s:

• 500 kbit/s:

L

=

L

max

L

=

max

L

=

max

thick

L

thick

L

thick

+ 5 ⋅
+ 2.5 ⋅

+

L

thin

L

thin

L

thin

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9 Technical data

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1

t

i

GRE

E

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10 Installation

10 Installation

10.1 Components of the fieldbus module

1

2

7

6 5

Pos. Designation Meaning Notes

Status of the
controller

1

connec

on

(two-colour LED)

Connection status

2

(two-colour LED)

Green and red drive

3

LEDs (drive)

Fixing screw

4

5-pole plug-in connector (see chapter 10.3.2)

5

OFF 2175 fieldbus module is not supplied with voltage; controller or external voltage supply is switched off.

BLINKING 2175 fieldbus module is supplied with voltage but is not connected to the controller (controller is

GREE
N

ConstantlyON2175 fieldbus module is supplied with voltage and is connected to the controller.

OFF • No connection with the master

GREE

BLINKING Dup_Mac_ID testing. Still no connection to the master.

N
GREE

ON DeviceNet connection built up.

N
RED

BLINKING No communication because time limit exceeded

RED

ON Internal fault of the fieldbus module

Operating status of the following controllers: 82XX, 8200 vector, 93XX and servo PLC 9300
(see Operating Instructions f or the controller)

switched off, in initialization or not available).

• Fieldbus module is not supplied with voltage

3

4

Connection

6

PE shield cable

DIP switch For settings see chapter 11

7

Only for 820X and 821X:
If necessary use an additional PE shield cable which avoids EMC-related communication interference
in especially noisy environments.

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10 Installation

10.2 Mechanical installation

• Plug the fieldbus module onto the controller (here: 8200 vector)

• Tighten the fixing screw (^ 10-1) Pos. 4)

10-2

BA2175 EN 2.0

L