Lenze E84AYCET User Manual

Accessories

EtherCAT®

Inverter Drives 8400

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

E84AYCET

Communication Manual EN

Ä.KôVä

13429553

L

Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 4

1.1 Document history _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6

1.2 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7

1.3 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8

1.4 Notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 9

2Safety instructions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 10

2.1 General safety and application notes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 10

2.2 Device- and application-specific safety instructions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11

2.3 Residual hazards _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11

3 Product description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12

3.1 Application as directed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12

3.2 Identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12

3.3 Product features _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 13

3.4 Terminals and interfaces _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14

4 Technical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15

4.1 General data and operating conditions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15

4.2 Protective insulation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16

4.3 Protocol data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19

4.4 Communication time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19

4.5 Dimensions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20

5Installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21

5.1 Mechanical installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22

5.1.1 Mounting for standard devices 0.25 kW and 0.37 kW _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22

5.1.2 Mounting for standard devices from 0.55 kW onwards _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23

5.1.3 Replacing the communication module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24

5.2 Electrical installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25

5.2.1 EMC-compliant wiring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25

5.2.2 Network topology _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26

5.2.3 EtherCAT connection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27

5.2.4 Specification of the Ethernet cable _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29

5.2.5 External voltage supply _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31

6 Commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33

6.1 Before initial switch-on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33

6.2 Configuring the Controller (EtherCAT master) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34

6.2.1 Installing device description files _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34

6.2.2 Automatic device identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35

6.2.3 Configuring process data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35

6.2.4 Determining the cycle time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35

6.3 Address allocation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36

6.4 Synchronisation with "Distributed Clocks" (DC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37

6.4.1 DC configuration in the master _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 38

6.4.2 DC configuration in the Inverter Drive 8400 (slave) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 38

6.4.3 Response of the Lenze EtherCAT nodes during start-up _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39

6.5 Establishing an online connection with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 40

6.5.1 Gateway Controller -> configure EtherCAT _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 41

6.5.2 Gateway Controller -> configure EtherCAT ADS (Beckhoff) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43

6.6 EtherCAT ADS communication parameters in »TwinCAT« and »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ 45

6.6.1 Example: Structure without a Beckhoff Controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45

6.6.2 Example: Structure with a Beckhoff DIN rail IPC CX1020 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 49

6.7 Initial switch-on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 53

2 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

Contents

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7 Data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54

7.1 EtherCAT-Frames _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55

7.2 EtherCAT datagrams _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 56

7.3 EtherCAT state machine _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57

8 Process data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 59

8.1 Accessing process data / PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 60

8.2 Preconfigured port interconnection of the process data objects (PDO) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 61

8.3 Free configuration of the port interconnection of the process data objects (PDO) _ _ _ _ _ _ _ _ _ 62

8.4 CiA402 PDO mapping in case of Inverter Drive 8400 TopLine P _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 66

9 Parameter data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 68

9.1 Establishing a connection between master and slave _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 68

9.2 Reading and writing parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 69

9.2.1 Reading parameters (SDO upload) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 70

9.2.2 Writing parameters (SDO download) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 74

9.3 Implemented CoE objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79

9.4 EtherCAT objects of the communication module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80

9.5 SDO abort codes (Abort codes) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 81

10 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82

10.1 Interruption of EtherCAT communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82

10.2 Sync frame failure detection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83

10.3 Interruption of internal communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83

11 Diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 84

11.1 LED status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 84

11.1.1 Module status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85

11.1.2 Fieldbus status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 86

11.1.3 Status displays at X246 and X247 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 88

11.2 Diagnostics with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 89

11.3 Emergency requests / Emergency messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 90

11.3.1 Structure of the Emergency message _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 90

11.3.2 Emergency messages (overview) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 91

12 Error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 92

12.1 Short overview of the EtherCAT error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 92

12.2 Possible causes and remedies _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 93

13 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 96

13.1 Communication-relevant parameters of the standard device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 96

13.2 Parameters of the communication module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 97

13.3 Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103

Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 105

Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 108

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 3

1 About this documentation

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1 About this documentation

Contents

This documentation only contains descriptions for the E84AYCET communication module
(EtherCAT®).

 Note!

This documentation supplements the Mounting Instructions supplied with the
communication module and the "Inverter Drives 8400" Hardware Manual.

The features and functions of the communication module are described in detail.

Examples illustrate typical applications.

The theoretical concepts are only explained to the level of detail required to understand the
function of the communication module.

This documentation does not describe any software provided by other manufacturers. No warranty
can be given for corresponding data provided in this documentation. For information on how to use
the software, please refer to the control system documents (Controller, EtherCAT master).

All product names mentioned in this documentation are trademarks of their corresponding owners.

 Tip!

Detailed information about EtherCAT can be found on the website of the EtherCAT
Technology Group:

www.EtherCAT.org

4 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

1 About this documentation

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Target group

This documentation is intended for all persons who plan, install, commission and maintain the
networking and remote servicing of a machine.

 Tip!

Current documentation and software updates with regard to Lenze products can be found
in the download area at:

www.Lenze.com

Validity information

The information in this documentation applies to the following devices:

Extension module Type designation From hardware

version

EtherCAT communication module E84AYCET VC 01.00...03

1A 01.04/05

Screenshots/application examples

All screenshots in this documentation are application examples. Depending on the firmware
version of the communication module and the software version of the engineering tools installed
(e.g. »Engineer«), the screenshots in this documentation may differ from the actual screen
representation.

From software

version

02.00

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 5

1 About this documentation

1.1 Document history

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.1 Document history

Version Description

1.0 08/2009 TD17 First edition

2.0 10/2009 TD17 Amendment of the information on the synchronisation via the fieldbus and

3.0 04/2010 TD17 General revision

4.0 11/2010 TD17 Information about the EtherCAT register "AL Status Code

4.1 11/2012 TD17 EtherCAT® is a registered trademark by Beckhoff Automation GmbH,

5.0 05/2013 TD17 • Revision of firmware version V02.00

general revision

" ( 58)

supplemented.

Germany.

•New layout

6

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

1 About this documentation

1.2 Conventions used

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.2 Conventions used

This documentation uses the following conventions to distinguish different types of information:

Type of information Identification Examples/notes

Numbers

Decimal separator Point In general, the decimal point is used.

Example: 1234.56

Hexadecimal 0x[0 ... 9, A ... F] Example: 0x60F4

Binary

• Nibble

Text

Version information Text colour blue All pieces of information that only apply to or from a specific

Program name » « The Lenze PC software »Engineer«...

Window italics The message window... / The Options dialog box ...

Variable name Setting bEnable to TRUE...

Control element Bold The OK button ... / The Copy command ... / The Properties tab

Sequence of menu
commands

Hyperlink Underlined

Icons
Page reference ( 5) Optically highlighted reference to another page. Can be

Step-by-step instructions

In inverted commas

Point

Example: ’100’
Example: ’0110.0100’

software version of the inverter are highlighted accordingly
in this documentation.
Example: This function extension is available from software

version V3.0!

... / The Name input field ...

If several successive commands are required for executing a
function, the individual commands are separated from each
other by an arrow: Select the command File

Optically highlighted reference to another topic. Can be
activated with a mouse-click in this online documentation.

activated with a mouse-click in this online documentation.

Step-by-step instructions are marked by a pictograph.

 Open to...



Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 7

1 About this documentation

1.3 Terminology used

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.3 Terminology used

Term Meaning

Inverter Lenze inverters of the "Inverter Drives 8400" series

Standard device

Code Parameter which serves to parameterise and monitor the drive. In normal usage,

Subcode If a code contains several parameters, they are stored in so-called "subcodes".

CoE CANopen over EtherCAT

DC "Distributed clocks" for EtherCAT synchronisation

»Engineer« PC software from Lenze which supports you during engineering

»PLC Designer«

ESI EtherCAT slave information

EtherCAT master Control system (Controller)

HW Hardware

I-1600.8 CoE index (hexadecimal representation)

Lenze setting Settings with which the device is preconfigured ex works.

Standard setting

PDO Process data object

SDO Service data object

SW Software

»TwinCAT« Beckhoff PC software for EtherCAT configuration

the term is usually referred to as "Index".

This manual uses a slash "/" as a separator between code and subcode
(e.g. "C00118/3").

In normal usage, the term is also referred to as "Subindex".

(parameterisation, diagnostics, and configuration) throughout the entire life
cycle, i.e. from planning to maintenance of the commissioned machine.

(device description file in XML format)

EtherCAT® is a real-time capable Ethernet system with the highest performance.
EtherCAT® is a registered trademark and patented technology, licensed by
Beckhoff Automation GmbH, Germany.

In the example: index 0x1600, subindex 8

8

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

1 About this documentation

1.4 Notes used

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.4 Notes used

The following signal words and symbols are used in this documentation to indicate dangers and
important information:

Safety instructions

Layout of the safety instructions:

 Pictograph and signal word!

(characterise the type and severity of danger)

Note

(describes the danger and suggests how to prevent dangerous situations)

Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage



Danger! Danger of personal injury through a general source of danger



Stop! Danger of damage to material assets



Application notes

Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.

Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.

Reference to a possible danger that may result in damage to material assets
if the corresponding measures are not taken.

Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation



Tip! Useful tip for easy handling



Reference to other documentation



Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 9

2 Safety instructions

2.1 General safety and application notes

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

2 Safety instructions

 Note!

Always observe the specified safety measures to avoid severe injury to persons and
damage to property!

Always keep this documentation to hand in the vicinity of the product during operation.

2.1 General safety and application notes

 Danger!

If you ignore the following basic safety measures, severe injury to persons and damage
to material assets may result.

Lenze drive and automation components ...

• shall only be used as directed.

Application as directed

• must never be commissioned if they display any signs of damage.

• must never be technically modified.

( 12)

• must never be commissioned if they are not fully mounted.

• must never be operated without the covers required.

• during and after operation can have live, moving and rotating parts, depending on their degree
of protection. Surfaces can be hot.

For Lenze drive components ...

• only use the accessories approved.

• only use genuine spare parts supplied by the manufacturer of the product.

Observe all specifications contained in the enclosed documentation and related documentation.

• This is the precondition for a safe and trouble-free operation and for obtaining the product fea­tures specified.

Product features

• The specifications, processes, and circuitry described in this document are for guidance only and
must be adapted to your own specific application. Lenze does not take responsibility for the
suitability of the process and circuit proposals.

( 13)

10

All works on and with Lenze drive and automation components must only be carried out by qualified
personnel. According to IEC 60364 or CENELEC HD 384 these are persons who ...

• who are familiar with the installation, assembly, commissioning and operation of the product.

• who have the corresponding qualifications for their work.

• who know all regulations for the prevention of accidents, directives and laws applicable on site
and are able to apply them.

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

2 Safety instructions

2.2 Device- and application-specific safety instructions

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

2.2 Device- and application-specific safety instructions

• During operation, the communication module must be firmly connected to the stand ard device.

• With external voltage supply, always use a separate power supply unit, safely separated to EN
61800-5-1 in every control cabinet (SELV/PELV).

• Only use cables that correspond to the given specifications.

Specification of the Ethernet cable

( 29)

 Documentation for the standard device, control system, plant/machine

All the other measures prescribed in this documentation must also be implemented.
Observe the safety instructions and application notes stated in this manual.

2.3 Residual hazards

Protection of persons

If Inverter Drives 8400 are used on a phase earthed mains with a rated mains voltage of ≥ 400 V,
external measures need to implemented in order to provide reliable protection against accidental
contact.

Protective insulation

Device protection

The communication module contains electronic components that can be damaged or destroyed by
electrostatic discharge.

Installation

( 21)

( 16)

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 11

3 Product description

3.1 Application as directed

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

3 Product description

3.1 Application as directed

The communication module ...

• is an accessory module which can be used with the following standard devices:

Product series Type designation From software version

Inverter Drives 8400 StateLine E84AVSCxxxxx 03.00

Inverter Drives 8400 HighLine E84AVHCxxxxx 02.00

Inverter Drives 8400 TopLine E84AVTCxxxxx 01.00

Inverter Drives 8400 TopLine P (with CiA402) E84AVPCxxxxx 01.00

• is an item of equipment intended for use in industrial power systems.

• may only be operated under the operating conditions specified in this documentation.

• may only be used in EtherCAT networks.

Any other use shall be deemed inappropriate!

3.2 Identification

The type designation as well as the hardware and software version of the communication module
are specified on the nameplate:

[3-1] Identification data

8400

Type:

HW:

Ser.No.:

HW:

SW:

SW:

1 Type designation (type)

E84 Product series

AVersion

Y Module identification: Extension module

C Module type: Communication module

ET EtherCAT

V/S V: Coated version

S: Standard version

2 Hardware version (HW)

3 Software version (SW)

E84YCPM001E

12

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

3 Product description

3.3 Product features

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3.3 Product features

• Interface module for the EtherCAT communication system to the expansion slots of the Inverter
Drives 8400

• The communication module can be supplied internally by the standard device and externally via
a separate voltage source.

• Supports the "Distributed Clocks" (DC) functionality for synchronisation via the fieldbus

•Cycle times:

• 1 ms or an integer multiple of 1 ms

• max. 15 ms if "Distributed Clocks" (DC) are used

• PDO transfer with CoE (CANopen over EtherCAT)

• Up to 16 process data words (16 bits/word) per direction can be exchanged.

• Access to all Lenze parameters with CoE (CANopen over EtherCAT)

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 13

3 Product description

3.4 Terminals and interfaces

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3.4 Terminals and interfaces

X245 External voltage supply of the communication

module
2-pole plug connector with spring connection

[3-2] E84AYCET communication module (EtherCAT)

E84YCET001C

External voltage supply

X246 EtherCAT input (IN)

X247 EtherCAT output (OUT)

• RJ45 sockets according to IEC/EN 60603-7

• with 2 LED status displays each for
diagnostics

Network topology
EtherCAT connection
Status displays at X246 and X247

5 LED status displays for diagnostics

MS

Module status displays

ME

BS

Fieldbus status displays

BE
DE

( 31)

( 26)

( 27)

( 88)

( 85)

( 86)

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Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

4Technical data

4.1 General data and operating conditions

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4 Technical data

4.1 General data and operating conditions

Area Values

Order designation E84AYCET

Communication profile EtherCAT

Supported device profile and mailbox
protocol

Communication medium S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT 5e

Interface for communication RJ45: Standard Ethernet (in accordance with IEEE 802.3), 100Base-TX (Fast

Network topology Line, switch

Bus device type EtherCAT slave

Number of nodes Max. 65535 ( in the entire network )

Max. cable length between two
EtherCAT nodes

Vendor ID [hex] 0x3B

Product ID Depending on the standard device used (see chapter Automatic device

Revision ID Depending on the software version of the communication module (see

Baud rate 100 Mbps, full duplex

Cycle times 1 ms or an integer multiple of 1 ms,

Voltage supply External supply via a separate power supply unit

Conformity, approvals CE

CANopen over EtherCAT (CoE)

Ethernet)

100 m (typically)

identification ( 35)).

chapter Identification

max. 15 ms if "Distributed clocks" (DC) are used

• "+": V = 24 V DC (20.4 V - 0 % ... 28.8 V + 0 %), I = 140 mA

• "-": Reference potential for external voltage supply

UL
(see hardware manual "Inverter Drives 8400")

( 12)).

 "Inverter Drives 8400" Hardware Manual

Here you can find the ambient conditions and information on the electromagnetic
compatibility (EMC) which also apply to the communication module.

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 15

4Technical data

4.2 Protective insulation

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4.2 Protective insulation

 Danger!

Dangerous voltage

If Inverter Drives 8400 are used on a phase earthed mains with a rated mains voltage
≥ 400 V, external measures need to be implemented in order to provide reliable
protection against accidental contact.

Possible consequences:

Death or severe injury

Protective measures:

If protection against accidental contact is required for the control terminals of the
inverter and the connections of the plugged device modules, ...

• a double isolating distance must be available.

• the components to be connected must be provided with a second isolating distance.

 Note!

The protective insulation provided in Inverter Drives 8400 is realised in accordance with
EN 61800-5-1.

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Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

4Technical data

4.2 Protective insulation

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The following illustration ...

• shows the arrangement of the terminal strips and the separate potential areas of the inverter.

• serves to determine the decisive protective insulation between two terminals located in
differently insulated separate potential areas.

Bus

Ext. DC

X106X106X106X101

X100X100

MCI

X6

X6

X3

X3

X5

X4

X4

X5

X105X105

X106X106X106X106

[4-1] Protective insulation in accordance with EN61800-5-1

X1X1

Reinforced insulation

Basic insulation

Functional insulation

MMI

E84YCXX007

Terminal strip Connection

X100 Mains / DC bus connection

X101 Relay contact

X105 Motor/brake resistor

X106 Motor PTC

X1 System bus (CAN)

X3 Analog inputs/outputs

X4 Digital outputs

X5 Digital inputs

X6 Diagnostics

MCI Slot for communication module

MMI Slot for memory module

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 17

4Technical data

4.2 Protective insulation

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Example

Which type of protective insulation is used between the bus terminal of the device module in slot
MCI and the mains terminal X100?

The separate potential area with the better protective insulation is decisive.

• The separate potential area of the bus terminal of the device module has a "basic insulation".

• The separate potential area of the mains terminal has a "reinforced insulation".

Result: The insulation between the X100 mains terminal and the bus terminal is of the "reinforced
insulation" type.

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Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

4Technical data

4.3 Protocol data

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4.3 Protocol data

Area Values

Process data words 1 ... 16 process data words per direction

(max. 32 bytes, 16 bits/word)

Parameter data (mailbox size for CoE
transfer)

4.4 Communication time

The communication time is the time between the start of a request and the arrival of the
corresponding response.

The communication times in the EtherCAT network depend on the ...

• processing time in the inverter;

• telegram runtime (baud rate / telegram length).

Max. 128 bytes

processing time within the inverter

Data Processing time

Process data for synchronised
operation

Process data for non-synchronised
operation

Parameter data approx. 30msProcessing time

0.2 ms Processing time in the module

+ 1 ... x ms Runtime of the application task of the technology

application used (tolerance)

2 ms Processing time in the module

+ 1 ... x ms Runtime of the application task of the technology

application used (tolerance)

+ 20 ms Tolerance (typical)

Some codes may require a longer processing time (see
software manual/online help for the Inverter Drive 8400).

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 19

4Technical data

4.5 Dimensions

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4.5 Dimensions

E84YCET001B

[4-2] Dimensions

Type Dimensions [mm]

a b c c1

E84AYCET 67 50 57 8

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Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

5 Installation

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5 Installation

 Stop!

Electrostatic discharge

Electronic components in the communication module can be damaged or destroyed by
electrostatic discharge.

Possible consequences:

• The communication module is defective.

• Fieldbus communication is faulty or not possible.

Protective measures:

Before touching the module, make sure that you are free of electrostatic charge.

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 21

5 Installation

5.1 Mechanical installation

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5.1 Mechanical installation

The communication module can be plugged into the MCI slot or removed while the frequency
inverter is switched on. When the module is plugged in, it is recognised automatically and checked
for plausibility regarding its function and version.

5.1.1 Mounting for standard devices 0.25 kW and 0.37 kW

E84YCPM002D

[5-1] Mounting for standard devices 0.25 kW and 0.37 kW

Mounting steps

1. Use a screwdriver to lever out the cover of the MCI slot of the standard device and remove
it (1, 2).

2. Loosen the securing screw for the communication module at the standard device (3).

3. Insert the communication module into the MCI slot of the standard device (4).

4. Tighten the securing screw again (5).

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Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

5 Installation

5.1 Mechanical installation

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5.1.2 Mounting for standard devices from 0.55 kW onwards

E84YCPM002A

[5-2] Mounting for standard devices from 0.55 kW onwards

Mounting steps

1. Slightly impress the pressure surface of the top side of the MCI slot cover of the standard
device (1).

2. Bend the cover forward and remove it from the standard device (2).

3. Loosen the securing screw for the communication module at the standard device (3).

4. Insert the communication module into the MCI slot of the standard device (4).

5. Tighten the securing screw again (5).

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 23

5 Installation

5.1 Mechanical installation

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5.1.3 Replacing the communication module

E84YCPM002B

[5-3] Replacing the communication module

Mounting steps

1. Loosen the securing screw for the communication module at the standard device (1).

2. Remove the communication module from the MCI slot of the standard device (2).

3. Insert the new communication module into the MCI slot of the standard device (3).

4. Tighten the securing screw again (4).

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Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

5 Installation

5.2 Electrical installation

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5.2 Electrical installation

 Documentation for the standard device, control system, plant/machine

Observe the notes and wiring instructions stated.

5.2.1 EMC-compliant wiring

In typical systems, standard shielding is sufficient for Ethernet cables.

However, in environments with a very high level of interference, EMC resistance can be improved
by earthing both sides of the cable shield as well.

For this purpose, observe the following notes:

1. Remove the plastic sheath of the cable on a length of 2 cm.

2. Fasten the cable shield to the shield support of the basic device.

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 25

5 Installation

5.2 Electrical installation

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5.2.2 Network topology

An EtherCAT frame is sent through a pair of wires from the master to the slaves. The frame is
forwarded from slave to slave until it has passed through all the devices. Finally, the last slave
returns the frame to the master through a second pair of wires. In this way, EtherCAT always forms
a logic ring topology, irrespective of the topology used.

Line topology

M = master

M

IN

INOUT

INOUT

SD = slave device

SD

[5-4] Line topology

The devices are interconnected successively.

In order to ensure trouble-free operation, it is required to assign and wire the EtherCAT inputs (IN)
and EtherCAT outputs (OUT) correctly.

The receiving line is plugged into socket X246 (IN), the forwarding line into socket X247 (OUT).

The direction of data transmission is from the master to the slaves.

SD

SD

E94AYCET006

 Tip!

Switch topology

The termination of the last EtherCAT node is effected automatically by the slave.

M = master

M

M

S

IN IN

S = switch

SD = slave device

[5-5] Switch topology

26

SD

The wiring can also be carried out in a star structure via an appropriate switch. For this, observe the
additional runtimes.

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

SD

E94AYCET007

5 Installation

5.2 Electrical installation

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5.2.3 EtherCAT connection

EtherCAT is connected via the RJ45 sockets X246 (IN) and X247 (OUT).

[5-6] EtherCAT connection

A standard Ethernet patch cable is suitable for connecting the communication module to the
EtherCAT fieldbus.

Specification of the Ethernet cable

( 29)

 Note!

In order to prevent damage to the RJ45 socket, plug or remove the Ethernet cable
connector straight (at a right angle) into/from the socket.

E84YCET001E

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 27

5 Installation

5.2 Electrical installation

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Pin assignment of the RJ45 sockets

RJ45 socket Pin Signal

1Tx +

2Tx -

3Rx +

4-

5-

6Rx -

E94AYCXX004C

7-

8-

 Tip!

The EtherCAT interfaces are provided with an auto MDIX function. This function adjusts the
polarity of the RJ45 interfaces so that a connection can be established irrespective of the
polarity of the opposite EtherCAT interface and irrespective of the type of cable used
(standard patch cable or crossover cable).

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Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

5 Installation

5.2 Electrical installation

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5.2.4 Specification of the Ethernet cable

 Note!

Only use cables that correspond to the given specifications.

Specification of the Ethernet cable

Ethernet standard Standard Ethernet (acc. to IEEE 802.3), 100Base-TX (Fast Ethernet)

Cable type S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT 5e

Damping 23.2 dB (for 100 MHz and 100 m each)

Crosstalk damping 24 dB (for 100 MHz and 100 m each)

Return loss 10 dB (100 m each)

Surge impedance 100 Ω

Structure of the Ethernet cable

[5-7] Structure of the Ethernet cable (S/FTP, CAT 5e)

E94YCEP016

A Cable insulation

B Braid

C Foil shielding

TP1

Twisted core pairs 1 ... 4

...

TP4

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 29

5 Installation

5.2 Electrical installation

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Colour code of the Ethernet cable

 Note!

Wiring and colour code are standardised in EIA/TIA 568A/568B.

The use of 4-pole Ethernet cables according to industrial standard is permissible. The
cable type only connects the assigned pins 1, 2, 3 and 6.

E94YCEI004A

[5-8] Ethernet plugs in accordance with EIA/TIA 568A/568B

Pair Pin Signal EIA/TIA 568A EIA/TIA 568B

3 1 Tx + white / green white / orange

2 Tx - green orange

2 3 Rx + white / orange white / green

1 4 blue blue

5 white / blue blue / white

2 6 Rx - orange green

4 7 white / brown white / brown

8brown brown

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Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17