Lenze E84DGFCT User Manual

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Page 1

EDS84DMOTECAT 13422593

Ä.K:~ä

L-force Communication

Communication Manual

8400 motec

E84DGFCTxxx

EtherCAT® Communication Unit

Page 2

2 L EDS84DMOTECAT EN 2.1 - 11/2012

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Communication manual 8400 motec EtherCAT®

Contents

1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.1 Document history

1.2 Conventions used

1.3 Terminology used

1.4 Notes used

2 Safety instructions

2.1 General safety and application notes

2.2 Device and application-specific safety instructions

2.3 Residual hazards

3 Product description

3.1 Application

3.2 Features and variants

3.3 Connections and interfaces

4 Technical data

4.1 General data and operating conditions

4.2 Protocol data

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as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

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4.3 Communication time

5 Installation

5.1 Mechanical installation

5.2 Electrical installation

6 Commissioning

6.1 Before initial switch-on

6.2 Configuring the host (master)

6.3 Address allocation

6.4 Initial switch-on

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.2.1 Network topology

5.2.2 EtherCAT connection

5.2.3 External voltage supply

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6.2.1 Installing device description files

6.2.2 Automatic device identification

6.2.3 Configuring process data

6.2.4 Determining the cycle time

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Contents

7 Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

7.1 EtherCAT frame structure

7.2 EtherCAT datagrams

7.3 EtherCAT state machine

8 Process data transfer

8.1 Accessing process data / PDO mapping

8.2 Configuring the port interconnection of the process data objects (PDO)

9 Parameter data transfer

9.1 Establishing a connection between master and slave

9.2 Reading and writing parameters

9.2.1 Reading parameters (SDO Upload)

9.2.2 Writing parameters (SDO Download)

9.3 Implemented CoE objects

9.4 EtherCAT objects of the Communication Unit

9.5 SDO abort codes (Abort codes)

10 Monitoring

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10.1 Interruption of EtherCAT communication

10.2 Fault of the internal communication

11 Diagnostics

11.1 LED status displays

11.2 Diagnostics with the »Engineer«

11.3 Emergency requests / Emergency messages

12 Error messages

12.1 Short overview of EtherCAT error messages

12.2 Possible causes and remedies

13 Parameter reference

13.1 Communication-relevant parameters of the operating system

13.2 Parameters relevant for EtherCAT communication

13.3 Table of attributes

14 Index

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Communication manual 8400 motec EtherCAT®

1 About this documentation

Contents

This documentation exclusively contains descriptions of the EtherCAT bus system for the Inverter Drive 8400 motec.

 Note!

This documentation supplements the mounting instructions and the "Inverter Drives 8400 motec" hardware manual supplied with the controller.

The properties and functions of the EtherCAT for Inverter Drives 8400 motec are described in detail.

Examples illustrate typical applications.

This documentation also contains ...

About this documentation

 the most important technical data for EtherCAT communication;

 Information on the installation and commissioning of the EtherCAT network;  Information on the EtherCAT data transfer;

 information on monitoring functions and troubleshooting as well as fault elimination.

The theoretical concepts are only explained to the level of detail required to understand the function of the EtherCAT communication with Inverter Drives 8400 motec.

Depending on the software version of the controller and of the installed »Engineer« software, the screenshots in this documentation may vary from the »Engineer« depiction.

This documentation does not describe any software provided by other manufacturers. No liability can be accepted for corresponding data provided in this documentation. For information on how to use the software, please refer to the host (master) documents.

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

 Tip!

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

www.EtherCAT.org

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Communication manual 8400 motec EtherCAT®

About this documentation

Target group

This documentation is aimed at people involved in configuring, installing, commissioning, and maintaining the networking and remote maintenance of a machine.

 Tip!

Information and software updates for 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:

Product series Type designation Variant

Inverter Drives 8400 motec

EtherCAT Communication Unit

Features and variants

E84DGFCTxNx EtherCAT

E84DGFCTxJx EtherCAT + Safety

( 14)

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1.1 Document history

version Description

1.0 04/2011 TD17 First edition

2.0 11/2011 TD17 Information on the EtherCAT register "AL Status Code

2.1 11/2012 TD17 EtherCAT® is a registered trademark by Beckhoff Automation GmbH,

Your opinion is important to us!

These instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product.

Perhaps we have not succeeded in achieving this objective in every respect. If you have suggestions for improvement, please e-mail us to:

feedback-docu@Lenze.de

Communication manual 8400 motec EtherCAT®

About this documentation

Document history

" ( 36) has been

added.

Germany.

Thank you for your support.

Your Lenze documentation team

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Communication manual 8400 motec EtherCAT®

About this documentation Conventions used

1.2 Conventions used

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

Type of information Writing Examples/notes

Numbers

Decimal Standard notation Example: 1234

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

Binary

• Nibble

Decimal separator Point The decimal point is generally used.

Text

Program name » « PC software

Window Italics The Message window... / The Options dialog box...

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

Sequence of menu commands

Hyperlink Underlined

In inverted commas

Point

Example: ’100’ Example: ’0110.0100’

Example: 1234.56

Example: Lenze »Engineer«

Properties tab... / The Name input field...

If the execution of a command requires several commands in succession, the individual commands are separated by an arrow: Select the File command to...

Optically highlighted reference to another subject which is activated with a mouse-click.

Open

Symbols

Page reference ( 8) Optically highlighted reference to another page

Step-by-step instructions



which is activated with a mouse-click.

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

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1.3 Terminology used

Term Meaning

Controller Lenze controller of the "Inverter Drives 8400 motec" product series

Standard device

Drive Unit Communication Unit Wiring Unit

»Engineer« PC software from Lenze which supports you in "engineering" (parameter setting,

»PLC Designer«

»TwinCAT« Beckhoff PC software for EtherCAT configuration

Code Parameter which serves to parameterise and monitor the controller. In normal

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

Lenze setting These are settings with which the device is preconfigured ex works.

Basic setting

HW Hardware

SW Software

ESI "EtherCAT Slave Information"

CoE CANopen over EtherCAT

I-1600.8 CoE index (hexadecimal representation)

TA Technology application

PDO Process data object

SDO Service data object

"Hot connect" This feature provides for removing and connecting slave nodes during operation.

Communication manual 8400 motec EtherCAT®

About this documentation

Terminology used

EtherCAT® is a real-time capable Ethernet system with top performance. EtherCAT® is a registered trademark and patented technology, licensed by

Beckhoff Automation GmbH, Germany.

The controller 8400 motec consists of the following modules: "Drive Unit", "Communication Unit" and "Wiring Unit".

• The Drive Unit is available in various power classes.

• The Communication Unit is available in the following versions: –No fieldbus –AS-i option –CANopen option –PROFIBUS option –PROFINET option –EtherCAT option

• The Wiring Unit provides flexible connection options for an easy integration into the power supply of the machine.

diagnosing, and configuring) during the entire life cycle, i.e. from planning to maintenance of the commissioned machine.

usage, the term is usually referred to as "Index".

In the documentation the forward slash "/" is used as a separator between the designation of the code and the subcode (e.g. "C00118/3").

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

(device description file in XML format)

• In the example: index 0x1600, subindex 8

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Communication manual 8400 motec EtherCAT®

About this documentation 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

Structure of the safety instructions:

 Pictograph and signal word!

(characterise the type and severity of danger)

Note

(describes the danger and gives information about 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

Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation

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.



Tip! Useful tip for simple handling



Reference to another documentation



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Communication manual 8400 motec EtherCAT®

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!

Safety instructions

General safety and application notes

Disregarding the following basic safety measures may lead to severe personal injury and damage to material assets.

 Lenze drive and automation components ...

– may only be used as directed.

Application as directed

– must never be commissioned if they display any signs of damage. – must never be technically modified. – must never be commissioned if they are not fully mounted. – must never be operated without the required covers. – can - depending on their degree of protection - have live, movable or rotating parts

during operation and after operation. Surfaces can be hot.

 For Lenze drive components ...

– use only the accessories approved. – use only original spare parts from the manufacturer.

 Observe all specifications given in the attached and associated documentation.

– This is the precondition for safe and trouble-free operation and for achieving the

specified product features.

Features and variants

– The procedural notes and circuit details described in this document are only

proposals. It is up to the user to check whether they can be adapted to the particular

applications. Lenze does not take any responsibility for the suitability of the

procedures and circuit proposals described.

( 13)

( 14)

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Communication manual 8400 motec EtherCAT®

Safety instructions Device and application-specific safety instructions

 Only qualified personnel may work with and on Lenze drive and automation

components. In accordance with IEC 60364 and CENELEC HD 384, these are persons ... – who are familiar with installing, mounting, commissioning, and operating the

product. – who have the qualifications necessary for their occupation. – who know all regulations for the prevention of accidents, directives and laws

applicable on site and are able to apply them.

2.2 Device and application-specific safety instructions

 During operation, the Communication Unit must be connected to the Wiring Unit and

the Drive Unit.

 In case of external voltage supply, always use a separate power supply unit, safely

separated in accordance with EN 61800-5-1 in every control cabinet ("SELV" / "PELV").

 Documentation for "Inverter Drives 8400 motec", control system, system/

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

Device protection

 The Communication Unit contains electronic components that can be damaged or

destroyed by electrostatic discharge.

Installation

( 19)

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3 Product description

3.1 Application as directed

The EtherCAT Communication Unit ...

 is a unit that can only be used in conjunction with the following modules:

Product series Type designation

Inverter Drives 8400 motec

Drive Unit

Inverter Drives 8400 motec

Wiring Unit

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

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

Communication manual 8400 motec EtherCAT®

Product description

Application as directed

E84DGDVxxxxxxxx

E84DGVNxx

 may only be used in EtherCAT networks.

 can also be used without being connected to the EtherCAT network.

Any other use shall be deemed inappropriate!

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Communication manual 8400 motec EtherCAT®

Product description Features and variants

3.2 Features and variants

The EtherCAT Communication Unit is available in the following versions:

Product series Type designation Features

Inverter Drives 8400 motec

EtherCAT Communication Unit

 The EtherCAT Communication Unit is ...

– mounted to the Wiring Unit (E84DGVNxx); – supplied internally via the Drive Unit (E84DGDVxxxxxxxx) or externally via a

separate voltage source.

E84DGFCTANP zzz

E84DGFCT9NP zz z

E84DGFCTAJP zzz z

E84DGFCT9JP zz zz

Enclosure

IP 65

EtherCAT

M12

I/O: Terminal

I/O: M12

Safety

 The I/O connections can be brought into the device via M12 connectors or cable glands.  Devices without an integrated safety system (safety option) have no analog input and

no relay output.

 The integrated safety system of the E84DGFCTxJx Communication Units can be used

on machines for the protection of persons.

 SDO transfer with CoE (CANopen over EtherCAT)

 A maximum of 10 process data words (max. 20 bytes) can be sent to the master.  A maximum of 8 process data words (max. 16 bytes) can be sent by the master.

 Communication with the Lenze »Engineer« (access to all Lenze parameters) is executed

via the diagnostic interface of the Drive Unit.

 Access to all Lenze parameters with CoE (CAN over EtherCAT)  Cycle times: 1 ms or an integer multiple of 1 ms

 "Inverter Drives 8400 motec" hardware manual

Here you will find detailed information on the integrated safety system (safety option).

Software manual / »Engineer« online help "Inverter Drives 8400 motec"

Here you will find detailed information on how to configure the safety system (safety option).

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3.3 Connections and interfaces

Communication manual 8400 motec EtherCAT®

Product description

Connections and interfaces

[3-1] EtherCAT Communication Unit

Pos. Description

A1 / LED Position of LEDs for EtherCAT status display

LED status displays

A2 IN: EtherCAT input (M12 socket, 5-pole, D-coded)

EtherCAT connection

A3 OUT: EtherCAT output (M12 socket, 5-pole, D-coded)

EtherCAT connection

A4 Positions for further freely designable inputs and outputs:

B1 ... B4

X3 / X4 / X61 Terminal strips for wiring the connections at A4 and B1 ... B4

X5 Plug connector for connection to the Drive Unit

X31 Plug connector for wiring the EtherCAT input (IN) at A2

X32 Plug connector for wiring the EtherCAT output (OUT) at A3

X55 Plug connector for wiring the LEDs at A1

• Digital inputs

•Digital output

• Analog input (only for E84DGFCTxJx)

• Relay output (only for E84DGFCTxJx)

• Connection of safety system "Safety Option" (only for E84DGFCTxJx)

E84DG029

( 58)

( 23)

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Communication manual 8400 motec EtherCAT®

Product description Connections and interfaces

 On delivery, the EtherCAT connections and the LEDs for the EtherCAT status displays

are already mounted and wired: – EtherCAT input to plug connector X31 – EtherCAT output to plug connector X32 – LEDs to plug connector X55

 It is also possible to connect the EtherCAT and other inputs and outputs (e.g. digital

inputs) via the positions A1 ... A4 and B1 ... B4.

 For the connections, 5-pin M12 connectors or - alternatively - cable glands (cable cross-

section max. 1.0 mm

 The M12 connectors, cable glands and prefabricated system cables can be obtained

from various manufacturers.

 Wire the M12 connectors or cable glands used to the corresponding contacts of the

terminal strips/plug connectors X3, X4 and X61.

, AWG 18) can be used.

 "Inverter Drives 8400 motec" hardware manual

Observe the notes and wiring instructions included.

16 L EDS84DMOTECAT EN 2.1 - 11/2012

Page 17

Communication manual 8400 motec EtherCAT®

4 Technical data

 "Inverter Drives 8400 motec" hardware manual

Here you will find the ambient conditions and information on the electromagnetic compatibility (EMC) that also apply to the Communication

Unit.

4.1 General data and operating conditions

Area Values

Order designation • E84DGFCTxNx (EtherCAT)

• E84DGFCTxJx (EtherCAT + Safety)

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 • EtherCAT input (IN): M12 socket, 5-pole, D-coded

Network topology Line, switch

Type of node EtherCAT slave

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

Max. cable length between two EtherCAT nodes

Vendor ID [hex] 0x3B

Product ID 841020

Revision ID Dependent on the software version of the Communication Unit

Baud rate 100 Mbps, full duplex

Cycle times 1 ms or an integer multiple of 1 ms

External voltage supply • U = 24 V DC (20 V - 0 % ... 29 V + 0 %)

Conformities, approvals • CE

CANopen over EtherCAT (CoE)

• EtherCAT output (OUT): M12 socket, 5-pole, D-coded

100 m (typically)

•I

= 400 mA

max

•UR / cUR

Technical data

General data and operating conditions

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Communication manual 8400 motec EtherCAT®

Technical data Protocol data

4.2 Protocol data

Area Values

Process data words 1 ... 10 process data words to master (max. 20 bytes, 16 bits / word)

1 ... 8 process data words from master (max. 16 bytes, 16 bits / word)

Parameter data (mailbox size for CoE transfer)

4.3 Communication time

Parameter data (SDO)

The communication time for parameter data is the time between the transmission of an SDO request and the arrival of a corresponding response.

 The processing time in the controller is approx. 10 ms + a tolerance of +20 ms (typically)

Max. 128 bytes

 Some codes may require a longer processing time (see software manual / »Engineer«

online help "Inverter Drive 8400 motec").

Process data (PDO)

The communication time for process data is the time between the reception of a PDO with setpoints and the return of a PDO with current actual values.

The communication times for process data depend on the ...

 processing time in the controller (interval time of the application task, process data

mode)

 runtime on the bus (telegram length, number of nodes, PDO update time, instant of

transmission of the EtherCAT frame)

The processing time starts when the setpoints are taken over by the controller at a point in time which is not synchronised with the EtherCAT master, and ends when the current actual values are provided at the EtherCAT interface.

Hence, the following holds true for the processing time:

1.3 ms + 1.0 ms (tolerance) + interval time of the application task

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5 Installation

 Stop!

Electrostatic discharge

Electronic components within the Communication Unit can be damaged or destroyed by electrostatic discharge.

Possible consequences:

• The Communication Unit is defective.

• Fieldbus communication is troubled or not possible.

• I/O signals are faulty.

• The safety function is faulty.

Protective measures

• Discharge electrostatic charges before touching the Communication Unit.

Communication manual 8400 motec EtherCAT®

Installation

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Communication manual 8400 motec EtherCAT®

Installation Mechanical installation

5.1 Mechanical installation

 Mounting instructions for "Inverter Drives 8400 motec"

Here you will find detailed information on the installation.

0.37 ... 3.0 kW 4.0 ... 7.5 kW

E84DG023a

E84DG023b

[5-1] Mechanical installation of the 8400 motec components

Legend for Fig. [5-1]

1Drive Unit

2 Communication Unit

3 Wiring Unit

A Cover of the Drive Unit

EDK84DG... Mounting instructions for the Drive Unit, Communication Unit, Wiring Unit

20 L EDS84DMOTECAT EN 2.1 - 11/2012

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5.2 Electrical installation

 "Inverter Drives 8400 motec" hardware manual

Here you will find detailed information about ...

• the digital and analog inputs/outputs;

• the relay output;

• the integrated safety system (safety option);

• the wiring of the connections.

Observe the notes and wiring instructions included.

5.2.1 Network topology

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

Communication manual 8400 motec EtherCAT®

Installation

Electrical installation

Line topology

[5-2] Line topology

 The devices are interconnected successively.

 Correct assignment and wiring of the EtherCAT inputs (IN) and EtherCAT outputs (OUT)

is required for proper operation.

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

 Tip!

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

INOUT

M = master

SD = slave device

E94AYCET006

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Communication manual 8400 motec EtherCAT®

Installation Electrical installation

Switch topology

IN IN

M = master

S = switch

SD = slave device

[5-3] Switch topology

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

E94AYCET007

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5.2.2 EtherCAT connection

EtherCAT input (IN)

Pin Signal Description

1 Tx + Data line (transmitted data, plus)

2 Rx + Data line (received data, plus)

3 Tx - Data line (transmitted data, minus)

4 Rx - Data line (received data, minus)

5 - Not assigned

Communication manual 8400 motec EtherCAT®

Installation

Electrical installation

 M12 socket, 5-pole, D-coded  Wiring at terminal strip X31

EtherCAT output (OUT)

 M12 socket, 5-pole, D-coded

 Wiring at terminal strip X32

Pin Signal Description

1 Tx + Data line (transmitted data, plus)

2 Rx + Data line (received data, plus)

3 Tx - Data line (transmitted data, minus)

4 Rx - Data line (received data, minus)

5 - Not assigned

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Communication manual 8400 motec EtherCAT®

Installation Electrical installation

5.2.3 External voltage supply

 The external voltage supply can be used to establish EtherCAT communication for

commissioning purposes and to query the data of the digital and analog inputs.

 Moreover, the external voltage supply serves to keep up EtherCAT communication in

the event of a main supply failure.

 The digital inputs RFR, DI1 ... DI5 and the analog inputs can be evaluated as before.  The external voltage supply is done via the terminals 24E and GND of the terminal strip

X3.

 Permissible voltage (DC) / max. current:

– U = 24 V DC (20 V - 0 % ... 29 V + 0 %) –I

 Access to parameters of a device that is disconnected from the mains is not possible.

= 400 mA

max

 "Inverter Drives 8400 motec" hardware manual

Here you can find detailed information on how to wire the Communication Unit.

24 L EDS84DMOTECAT EN 2.1 - 11/2012

Page 25

6 Commissioning

During commissioning, system-related data such as motor parameters, operating parameters, responses, and parameters for fieldbus communication are defined for the controller. For Lenze devices, this is done via the codes.

The codes of the controller and communication are saved non-volatilely as a data set in the memory module.

In addition to codes for the configuration, there are codes for diagnosing and monitoring the nodes.

Communication manual 8400 motec EtherCAT®

Commissioning

Before initial switch-on

Parameter reference

The data from the controller or memory module can only be read in conjunction with the main voltage supply (400/500 V AC).

During commissioning with 24 V DC, only the information provided by the last two data words in the digital and analog inputs is valid and readable (see Configuring process data

( 28)).

6.1 Before initial switch-on

 Stop!

Before the controller is switched on for the first time, the entire wiring must be checked for completeness, short circuit and earth fault.

( 66)

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Communication manual 8400 motec EtherCAT®

Commissioning Configuring the host (master)

6.2 Configuring the host (master)

To be able to communicate with the Communication Unit the host (master) must be configured first.

In order to configure EtherCAT networks, you always need a configuration software for the host (master), e.g.:

 Lenze »PLC Designer«

 Beckhoff »TwinCAT«

These are software systems for the programming of control programs, EtherCAT configuration, real-time execution and diagnostics.

 The basic parameters of the Communication Unit are saved to the internal

configuration memory and can be used by the master for the node identification.

 For the node search (fieldbus scan), the corresponding device descriptions of the Lenze

device family are used.

6.2.1 Installing device description files

The current XML device description files required for the configuration of the EtherCAT node can be found in the download area at:

www.Lenze.com

The Lenze_E84DGFCT_Vxzz_ddmmyy.xml device description file must be installed by means of the EtherCAT configuration software.

Wildcards in the file name

x Main version of the XML device description file used

zz Additional version of the XML device description file used

dd Day

mm Month

yy Year

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Communication manual 8400 motec EtherCAT®

6.2.2 Automatic device identification

 For troublefree integration of the EtherCAT slaves in a master configuration it is

necessary to select the correct Lenze device from the EtherCAT configuration software.

 The configuration software unambiguously identifies an EtherCAT node by the product

code (identical to CoE object I-1018.2), the manufacturer code (0x3B), and the main software version of the Communication Unit.

Implemented CoE objects

 The product code is automatically set in the Identity object for the configuration

software to select the configuration specific to the EtherCAT node from the device description file.

 During initialisation, the product code is transferred to the master. Based on this

identification, the master can accept the corresponding settings from the device description.

 Product code of the Inverter Drives 8400 motec: 841020

Commissioning

Configuring the host (master)

( 53)

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Communication manual 8400 motec EtherCAT®

Commissioning Configuring the host (master)

6.2.3 Configuring process data

 The process data configuration is determined during the initialisation phase of the

master (PDO mapping).

 A maximum of 10 process data words (max. 20 bytes) can be sent to the master.

 A maximum of 8 process data words (max. 16 bytes) can be sent by the master.

 Independent of the configured length of the process data from the Inverter Drive 8400

motec to the master, the I/O data are always entered into the last two words:

Data word Bits Function Value / description

Word 1 0

... 9

10 Digital input 3 0 (FALSE) open

11 Digital input 4 0 (FALSE) open

12 Digital input 5 0 (FALSE) open

13 Reserved

14 I/O status 0 (FALSE) Data in word 1/2 are not valid.

15 Connection status of the

Analog input value (0 ... 10 V)

controller

Word 2 0 RFR 0 (FALSE) open

1 Digital input 1 0 (FALSE) open

2 Digital input 2 0 (FALSE) open

3 Digital input 3 0 (FALSE) open

4 Digital input 4 0 (FALSE) open

5 Digital input 5 0 (FALSE) open

6 ... 13

14 I/O status 0 (FALSE) Data in word 1/2 are not valid.

15 Connection status of the

Reserved

controller

10 V = 1000

1 (TRUE) closed

1 (TRUE) Data in word 1/2 are valid.

0 (FALSE) Controller is offline ("Stay alive" operation)

1 (TRUE) Controller is online

1 (TRUE) closed

1 (TRUE) Data in word 1/2 are valid.

0 (FALSE) Controller is offline ("Stay alive" operation)

1 (TRUE) Controller is online

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Page 29

 The process data configuration is predefined in the device description file for each

application and can be adjusted by the user if required.

Configuring the port interconnection of the process data objects (PDO)

 The last internal information of the configured data must be deleted to shorten the

configured length of the process data. Process data words to the master must keep their last two I/O data words.

6.2.4 Determining the cycle time

The process data objects (PDO) are transmitted cyclically between the master and the slaves.

The cycle time can be set via the EtherCAT configuration software.

Communication manual 8400 motec EtherCAT®

Commissioning

Configuring the host (master)

( 39)

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Communication manual 8400 motec EtherCAT®

Commissioning Address allocation

6.3 Address allocation

The EtherCAT nodes are normally addressed via a fixed 16-bit address defined by the EtherCAT master. During start-up, the master assigns this address to each node, depending on the physical order in the EtherCAT network. The address is not saved and is lost when the device is switched off.

Via the Station alias address input field you can assign a fixed address to the EtherCAT slave.

 Note!

• The station alias address must only be set if the node is part of a "hot connect" group.

• The station alias address must be unambiguous and may only be assigned once within the EtherCAT network.

• Use the same station alias address in the EtherCAT master and in the slave.

 Valid address range: 0 … 32767

– Address 0 means that no station alias address is assigned. – Impermissible addresses are marked in red in the input field. – The address is written to code C13899

 In addition, specify the use of the fixed addressing on the master.

 The address assigned by the master is displayed under code C13864  Via standard device code C00002, execute the "11: Save all parameter sets" device

command to activate the changed station alias address and to save it to the memory module.

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6.4 Initial switch-on

Establishing communication

 To establish communication, the controller must be supplied with mains voltage.

 The external voltage supply serves to keep up EtherCAT communication in the event of

a main supply failure.

External voltage supply

 During mains connection, all parameters (codes) are read.  If an error occurs, the error message "CE04: MCI communication error" (error no.

01.0127.00002) is output.

 Addressing can be carried out automatically via the EtherCAT master or manually via

codes in the »Engineer«.

Address allocation

Communication manual 8400 motec EtherCAT®

Commissioning

Initial switch-on

( 24)

( 30)

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Communication manual 8400 motec EtherCAT®

Data transfer

7 Data transfer

EtherCAT transmits data in so-called "EtherCAT frames". The EtherCAT nodes only extract the data intended for them while the EtherCAT frame passes through the device. At the same time output data are inserted into the frame while it passes through the device. Read and write accesses are only executed on a small section of the entire EtherCAT frames – the datagrams. Therefore it is not necessary to receive the complete frame before it can be processed. The processing starts as soon as possible.

EtherCAT transmits process data, parameter data, configuration data, and diagnostic data between the host (master) and the controllers (slaves) that are part of the fieldbus. The data are transmitted via corresponding communication channels depending on their timecritical behaviour (see Process data transfer

( 37) / Parameter data transfer ( 43)).

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7.1 EtherCAT frame structure

EtherCAT frames have the following structure:

Ethernet header Ethernet data FCS

48 bits 48 bits 16 bits 11 bits 1 bit 4 bits 48 ... 1498 bytes 32 bits

Destination Source EtherType Frame header Datagrams

Ethernet header

The Ethernet header contains the following information:

 Target address of the EtherCAT frame (destination)

 Source address of the EtherCAT frame (source)

 Type of the EtherCAT frame (EtherType = 0x88A4)

Ethernet data

Communication manual 8400 motec EtherCAT®

Data transfer

EtherCAT frame structure

Length Reserved Type

The Ethernet data contain the following information:

 Length of the datagrams within the EtherCAT frame (Length)

 One reserved bit (Reserved)  Type of the datagrams within the EtherCAT frame (Type)

 EtherCAT datagrams (Datagrams)

FCS

Checksum of the EtherCAT frame

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Communication manual 8400 motec EtherCAT®

Data transfer EtherCAT datagrams

7.2 EtherCAT datagrams

EtherCAT datagrams have the following structure:

EtherCAT

Command header

10 bytes Max. 1486 bytes 2 bytes

EtherCAT command header

The EtherCAT command header contains the following information:

 Command to be executed

 Addressing information

 Length of the data area (Data)  Interrupt field

Data

The data area contains the data of the command to be executed.

WKC

The working counter is evaluated by the master for monitoring the execution of the command.

Data WKC

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7.3 EtherCAT state machine

Before communication is possible via EtherCAT, the fieldbus passes through the EtherCAT state machine during start-up. The following illustration depicts the possible state changes from the point of view of an EtherCAT slave:

Communication manual 8400 motec EtherCAT®

Data transfer

EtherCAT state machine

Init

Pre-Operational

Safe-Operational

Operational

[7-1] EtherCAT state machine

Status Description

Init • Initialisation phase

• No SDO/PDO communication with the slave

• Device detection possible by means of a fieldbus scan

Pre-operational • The fieldbus is active.

• SDO communication (mailbox communication) is possible.

• No PDO communication

Safe-operational • SDO communication (mailbox communication) is possible.

• PDO communication: –The input data are transferred to the master and evaluated. – The output data are in the "Safe" state. They are not transferred to the standard

device.

Operational • Normal operation

–SDO communication –PDO communication –Fieldbus synchronisation successful (if used)

The current state of the EtherCAT state machine is displayed under C13861 and indicated via the "RUN" LED.

E94AYCET009

Possible errors during state transitions are displayed in C13879 message is entered into the "AL Status Code" EtherCAT register

Diagnostics with the »Engineer«

LED status displays

EDS84DMOTECAT EN 2.1 - 11/2012 L 35

( 58)

( 60)

. In addition, an error

( 36).

Page 36

Communication manual 8400 motec EtherCAT®

Data transfer EtherCAT state machine

AL Status Code

Information on how to access the "AL Status Code" EtherCAT register (address 0x0134:0x0135) can be found in the documentation for the EtherCAT master.

These error messages can be entered into the "AL Status Code" register:

Code [hex] Description

0x0000 No error

0x0011 Invalid status change requested

0x0012 Unknown status requested

0x0013 "Bootstrap" status is not supported

0x0016 Invalid mailbox configuration "Pre-operational"

0x001A Synchronisation error

0x001B Sync manager watchdog

0x001D Invalid output data configuration

0x001E Invalid input data configuration

0x002B Invalid input and output data

0x0030 Invalid configuration of DC synchronisation

0x9001 Firmware watchdog error

0x9002 Mapping error

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8 Process data transfer

 Process data are transmitted by means of so-called EtherCAT datagrams ( 34) via the

process data channel.

 The Inverter Drive 8400 motec is controlled by means of the process data.

 Transferring process data is time-critical.

 Process data are cyclically transferred between the host (master) and the controllers

(slaves) (continuous exchange of current input and output data).

 The master can directly access the process data. In the PLC for instance, the data are

directly stored in the I/O area.

 A maximum of 10 process data words (max. 20 bytes) can be sent to the master.

 A maximum of 8 process data words (max. 16 bytes) can be sent by the master.

 Process data are not saved to the Inverter Drive 8400 motec.  Process data are for instance setpoints, actual values, control words, and status words.

Communication manual 8400 motec EtherCAT®

Process data transfer

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Communication manual 8400 motec EtherCAT®

Process data transfer Accessing process data / PDO mapping

8.1 Accessing process data / PDO mapping

Process data are transferred via the MCI/CAN interface.

 Max. 8 words (16 bits/word) per direction can be exchanged.

 The process data are accessed via the port blocks LP_Network_In and

LP_Network_Out. These port blocks are also called process data channels.

 The LP_Network_In port block maps the received MCI-PDOs.

 The LP_Network_Out port block maps the MCI-PDOs to be sent.

 The port/function block interconnection of the process data objects (PDOs) is made via

the Lenze »Engineer«.

[8-1] Outer and inner data transfer between bus system, controller, and application

 Software manual / »Engineer« online help "Inverter Drives 8400 motec"

Here you can find detailed information on the port/function block interconnection in the »Engineer« and on port blocks.

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Communication manual 8400 motec EtherCAT®

Process data transfer

Configuring the port interconnection of the process data objects (PDO)

8.2 Configuring the port interconnection of the process data objects (PDO)

 Note!

The following »Engineer« screenshots are only examples of the setting sequence and the resulting displays.

Depending on the software version of the controller and of the installed »Engineer« software, the screenshots may vary from your »Engineer« depiction.

The preconfigured port interconnection of the process data objects is activated by setting code C00007 = 40: Network (MCI/CAN).

 How to configure the port interconnection in the »Engineer«:

1. Go to the Process data objects tab and click Go to application.

2. The Ports tab displays the port blocks MCI_IN and MCI_OUT.

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Communication manual 8400 motec EtherCAT®

Process data transfer Configuring the port interconnection of the process data objects (PDO)

3. Click the port to be configured and press the Change Variable... button.

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Communication manual 8400 motec EtherCAT®

Process data transfer

Configuring the port interconnection of the process data objects (PDO)

4. The button serves to assign signals to the process data words in the Assignment Signal --> Function Block dialog box.  Select signals and then click the OK button.

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Communication manual 8400 motec EtherCAT®

Process data transfer Configuring the port interconnection of the process data objects (PDO)

For some process data words, you can also assign signals to the individual bits via the and buttons.

 Select the signals and then confirm the selection with OK.

The current interconnection is only displayed if the following has been set for the control mode in code C00007 = 40: Network (MCI/CAN).

5. Via standard device code C00002, execute the "11: Save all parameter sets" device command to activate the changed port interconnection and to save it to the memory module.

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Communication manual 8400 motec EtherCAT®

9 Parameter data transfer

Parameter data are transmitted via the fieldbus as so-called SDOs (Service Data Objects). The SDO services provide for the write and read access to the object directory.

Parameter data transfer

Establishing a connection between master and slave

 The SDO channel provides for the access to Implemented CoE objects

codes by means of the CoE protocol.

 In general, the parameter data transfer is not time-critical.  Parameter data are, for instance, operating parameters, motor data, diagnostic

information.

9.1 Establishing a connection between master and slave

Basically a master can always request parameter jobs from a slave if the slave is at least in the "Pre-operational" state.

SDO-channel

Master

[9-1] Data communication via the SDO channel

read

write

( 53) and Lenze

Slave

E94AYCET008

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Communication manual 8400 motec EtherCAT®

Parameter data transfer Reading and writing parameters

9.2 Reading and writing parameters

Parameters ...

 are set e.g. for one-time system settings or if materials are changed within a machine.

 are transmitted with a low priority.

In the case of Lenze controllers, the parameters to be changed are contained in codes.

Indexing of the Lenze codes

The codes of the Inverter Drive 8400 motec are addressed by the index when accessed via the Communication Unit.

The index of Lenze code numbers within the manufacturer-specific area of the object directory is between 8192 (0x2000) and 24575 (0x5FFF).

Conversion formula

Index [dec] Index [hex]

24575 - Lenze code 0x5FFF

- Lenze code

hex

Example of C00002 (device commands)

Index [dec] Index [hex]

24575 - 2 = 24573 0x5FFF - 2 = 0x5FFD

Structure of a mailbox datagram

Mailbox data are transmitted in a datagramm within an EtherCAT frame. The data area of the mailbox datagram has the following structure:

Mailbox

Header

6 bytes 2 bytes 1 byte 2 bytes 1 byte 4 bytes 1...n bytes

CoE

Header

SDO control

byte

Index Subindex Data Data

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Communication manual 8400 motec EtherCAT®

9.2.1 Reading parameters (SDO Upload)

1. The master sends "Initiate Domain Upload Request".

2. The slave acknowledges the request with a positive response ("Initiate Domain Upload Response").

In the event of an error the slave responds with "Abort Domain Transfer".

 Note!

In the case of jobs for the controller, please make sure that you convert the code into an index.

Parameter data transfer

Reading and writing parameters

Indexing of the Lenze codes

( 44)

SDO Upload Request

Detailed breakdown of the data for an "SDO Upload Request":

SDO frame area Data field Data type / length Value / description

Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data

Address WORD 2 bytes Station address of the source if an EtherCAT master is the

Channel WORD 6 bits (0 ... 5) 0x00: Reserved

Priority 2 bits (6, 7) 0x00: Lowest priority

Type 4 bits (8 ... 11) 0x03: CANopen over EtherCAT (CoE)

Reserved 4 bits (12 ... 15) 0x00

CANopen header Number WORD 9 bits (0 ... 8) 0x00

Reserved 3 bits (9 ... 11) 0x00

Service 4 bits (12 ... 15) 0x02: SDO Request

SDO Reserved BYTE 4 bits (0 ... 3) 0x00

Complete access 1 bit (4) 0x00: The entry addressed by index and subindex is read.

Command specifier 3 bits (5 ... 7) 0x02: Upload Request

Index WORD 2 bytes Index of the object

Subindex BYTE 1 byte Subindex of the object

Reserved DWORD 4 bytes 0x00

instructing party. Station address of the target if an EtherCAT slave is the instructing party.

... 0x03: Highest priority

0x01: The entire object is read. (Is not supported at present.)

0x00 or 0x01 if "Complete access" = 0x01.

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Communication manual 8400 motec EtherCAT®

Parameter data transfer Reading and writing parameters

SDO Upload Expedited Response

An "SDO Upload Expedited Response" is carried out if the data length of the parameter data to be read amounts to a maximum of 4 bytes.

Detailed breakdown of the data for an "SDO Upload Expedited Response":

SDO frame area Data field Data type / length Value / description

Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data

Address WORD 2 bytes Station address of the source if an EtherCAT master is the

Channel WORD 6 bits (0 ... 5) 0x00: Reserved

Priority 2 bits (6, 7) 0x00: Lowest priority

Type 4 bits (8 ... 11) 0x03: CANopen over EtherCAT (CoE)

Reserved 4 bits (12 ... 15) 0x00

CANopen header Number WORD 9 bits (0 ... 8) 0x00

Reserved 3 bits (9 ... 11) 0x00

Service 4 bits (12 ... 15) 0x03: SDO Response

SDO Size indicator BYTE 1 bit (0) 0x01: Data size in "Data set size"

Transfer type 1 bit (1) 0x01: Expedited transfer

Data set size 2 bits (2, 3) 0x00: 4 bytes data

Complete access 1 bit (4) 0x00: The entry addressed by index and subindex is read.

Command specifier 3 bits (5 ... 7) 0x02: Upload Response

Index WORD 2 bytes Index of the object

Subindex BYTE 1 byte Subindex of the object

Data DWORD 4 bytes Data of the object

instructing party. Station address of the target if an EtherCAT slave is the instructing party.

... 0x03: Highest priority

0x01: 3 bytes data 0x02: 2 bytes data 0x03: 1 byte data

0x01: The entire object is read. (Is not supported at present.)

0x00 or 0x01 if "Complete access" = 0x01.

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Parameter data transfer

Reading and writing parameters

SDO Upload Normal Response

An "SDO Upload Normal Response" is carried out if the data length of the parameter data to be read amounts to ≥ 4bytes.

Detailed breakdown of the data for an "SDO Upload Normal Response":

SDO frame area Data field Data type / length Value / description

Mailbox header Length WORD 2 bytes n ≥ 0x0A: Length of the mailbox service data

Address WORD 2 bytes Station address of the source if an EtherCAT master is the

Channel WORD 6 bits (0 ... 5) 0x00: Reserved

Priority 2 bits (6, 7) 0x00: Lowest priority

Type 4 bits (8 ... 11) 0x03: CANopen over EtherCAT (CoE)

Reserved 4 bits (12 ... 15) 0x00

CANopen header Number WORD 9 bits (0 ... 8) 0x00

Reserved 3 bits (9 ... 11) 0x00

Service 4 bits (12 ... 15) 0x03: SDO Response

SDO Size indicator BYTE 1 bit (0) 0x01

Transfer type 1 bit (1) 0x00: Normal transfer

Data set size 2 bits (2, 3) 0x00

Complete access 1 bit (4) 0x00: The entry addressed by index and subindex is read.

Command specifier 3 bits (5 ... 7) 0x02: Upload Response

Index WORD 2 bytes Index of the object

Subindex BYTE 1 byte Subindex of the object

Complete size DWORD 4 bytes Total data length of the object

Data BYTE n - 10 bytes Data of the object

instructing party. Station address of the target if an EtherCAT slave is the instructing party.

... 0x03: Highest priority

0x01: The entire object is read. (Is not supported at present.)

0x00 or 0x01 if "Complete access" = 0x01.

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Parameter data transfer Reading and writing parameters

Example

The transmitted response structure during an Upload to index 0x5FD8 (standard value of C00039/1, Fixed_Setpoint_1 = 0x0FA0) includes the following data:

SDO frame area Data field Data type / length Value / description

Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data

Address WORD 2 bytes 0x00

Channel WORD 6 bits (0 ... 5) 0x00: Reserved

Priority 2 bits (6, 7) 0x00: Lowest priority

Type 4 bits (8 ... 11) 0x03: CANopen over EtherCAT (CoE)

Reserved 4 bits (12 ... 15) 0x00

CANopen header Number WORD 9 bits (0 ... 8) 0x00

Reserved 3 bits (9 ... 11) 0x00

Service 4 bits (12 ... 15) 0x03: SDO Response

SDO Size indicator BYTE 1 bit (0) 0x01: Data length in "Data set size"

Transfer type 1 bit (1) 0x01: Expedited transfer

Data set size 2 bits (2, 3) 0x02: 2 bytes data

Complete access 1 bit (4) 0x00: The entry addressed by index and subindex is read.

Command specifier 3 bits (5 ... 7) 0x02: Upload Response

Index WORD 2 bytes 0xD8: Index low byte of the object

Subindex BYTE 1 byte 0x01

Data DWORD 2 bytes 0x0FA0

0x5F: Index high byte of the object

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9.2.2 Writing parameters (SDO Download)

1. The master sends "Initiate Domain Download Request".

2. The slave acknowledges the request with a positive response ("Initiate Domain Download Response").

In the event of an error the slave responds with "Abort Domain Transfer".

 Note!

In the case of jobs for the controller, please make sure that you convert the code into an index.

Parameter data transfer

Reading and writing parameters

Indexing of the Lenze codes

( 44)

SDO Download Expedited Request

An "SDO Download Expedited Request" is carried out if the data length of the parameter data to be written amounts to a maximum of 4 bytes.

Detailed breakdown of the data for an "SDO Download Expedited Request":

SDO frame area Data field Data type / length Value / description

Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data

Address WORD 2 bytes Station address of the source if an EtherCAT master is the

Channel WORD 6 bits (0 ... 5) 0x00: Reserved

Priority 2 bits (6, 7) 0x00: Lowest priority

Type 4 bits (8 ... 11) 0x03: CANopen over EtherCAT (CoE)

Reserved 4 bits (12 ... 15) 0x00

CANopen header Number WORD 9 bits (0 ... 8) 0x00

Reserved 3 bits (9 ... 11) 0x00

Service 4 bits (12 ... 15) 0x02: SDO Request

SDO Size indicator BYTE 1 bit (0) 0x01: Data size in "Data set size"

Transfer type 1 bit (1) 0x01: Expedited transfer

Data set size 2 bits (2, 3) 0x00: 4 bytes data

Complete access 1 bit (4) 0x00: The entry addressed by index and subindex is

Command specifier 3 bits (5 ... 7) 0x01: Download Request

Index WORD 2 bytes Index of the object

Subindex BYTE 1 byte Subindex of the object

Data DWORD 4 bytes Data of the object

instructing party. Station address of the target if an EtherCAT slave is the instructing party.

... 0x03: Highest priority

0x01: 3 bytes data 0x02: 2 bytes data 0x03: 1 byte data

written. 0x01: The entire object is written. (Is not supported at present.)

0x00 or 0x01 if "Complete access" = 0x01.

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Parameter data transfer Reading and writing parameters

SDO Download Normal Request

An "SDO Download Normal Request" is carried out if the data length of the parameter data to be written amounts to ≥ 4bytes.

Detailed breakdown of the data for an "SDO Download Normal Request":

SDO frame area Data field Data type / length Value / description

Mailbox header Length WORD 2 bytes n ≥ 0x0A: Length of the mailbox service data

Address WORD 2 bytes Station address of the source if an EtherCAT master is the

Channel WORD 6 bits (0 ... 5) 0x00: Reserved

Priority 2 bits (6, 7) 0x00: Lowest priority

Type 4 bits (8 ... 11) 0x03: CANopen over EtherCAT (CoE)

Reserved 4 bits (12 ... 15) 0x00

CANopen header Number WORD 9 bits (0 ... 8) 0x00

Reserved 3 bits (9 ... 11) 0x00

Service 4 bits (12 ... 15) 0x02: SDO Request

SDO Size indicator BYTE 1 bit (0) 0x01

Transfer type 1 bit (1) 0x00: Normal transfer

Data set size 2 bits (2, 3) 0x00

Complete access 1 bit (4) 0x00: The entry addressed by index and subindex is

Command specifier 3 bits (5 ... 7) 0x01: Download Request

Index WORD 2 bytes Index of the object

Subindex BYTE 1 byte Subindex of the object

Complete size DWORD 4 bytes Total data length of the object

Data BYTE n - 10 bytes Data of the object

instructing party. Station address of the target if an EtherCAT slave is the instructing party.

... 0x03: Highest priority

written. 0x01: The entire object is written. (Is not supported at present.)

0x00 or 0x01 if "Complete access" = 0x01.

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Parameter data transfer

Reading and writing parameters

SDO Download Response

Detailed breakdown of the data for an "SDO Download Response":

SDO frame area Data field Data type / length Value / description

Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data

Address WORD 2 bytes Station address of the source if an EtherCAT master is the

Channel WORD 6 bits (0 ... 5) 0x00: Reserved

Priority 2 bits (6, 7) 0x00: Lowest priority

Type 4 bits (8 ... 11) 0x03: CANopen over EtherCAT (CoE)

Reserved 4 bits (12 ... 15) 0x00

CANopen header Number WORD 9 bits (0 ... 8) 0x00

Reserved 3 bits (9 ... 11) 0x00

Service 4 bits (12 ... 15) 0x03: SDO Response

SDO Size indicator BYTE 1 bit (0) 0x0

Transfer type 1 bit (1) 0x0

Data set size 2 bits (2, 3) 0x0

Complete access 1 bit (4) 0x00: The entry addressed by index and subindex is

Command specifier 3 bits (5 ... 7) 0x3: Download Response

Index WORD 2 bytes Index of the object

Subindex BYTE 1 byte Subindex of the object

Reserved DWORD 4 bytes 0x00

instructing party. Station address of the target if an EtherCAT slave is the instructing party.

... 0x03: Highest priority

written. 0x01: The entire object is written. (Is not supported at present.)

0x00 or 0x01 if "Complete access" = 0x01.

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Parameter data transfer Reading and writing parameters

Example

The transmitted request structure during a Download to index 0x1600 includes the following data:

SDO frame area Data field Data type / length Value / description

Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data

Address WORD 2 bytes 0x00

Channel WORD 6 bits (0 ... 5) 0x00: Reserved

Priority 2 bits (6, 7) 0x00: Lowest priority

Type 4 bits (8 ... 11) 0x03: CANopen over EtherCAT (CoE)

Reserved 4 bits (12 ... 15) 0x00

CANopen header Number WORD 9 bits (0 ... 8) 0x00

Reserved 3 bits (9 ... 11) 0x00

Service 4 bits (12 ... 15) 0x02: SDO Request

SDO Size indicator BYTE 1 bit (0) 0x01: Data size in "Data set size"

Transfer type 1 bit (1) 0x01: Expedited transfer

Data set size 2 bits (2, 3) 0x00: 4 bytes data

Complete access 1 bit (4) 0x00: The entry addressed by index and subindex is

Command specifier 3 bits (5 ... 7) 0x01: Download Request

Index WORD 2 bytes 0x00: Index low byte of the object

Subindex BYTE 1 byte 0x01: Subindex of the object

Data DWORD 4 bytes 0x5C930110

written.

0x16: Index high byte of the object

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9.3 Implemented CoE objects

Lenze devices can be parameterised with both Lenze codes and the manufacturerindependent "CoE objects". In order to comply fully with EtherCAT communication, you may only use the CoE objects for parameterisation. The CoE objects described in this manual are defined in the "EtherCAT Specification, Part 6 – Application Layer Protocol Specification".

Index Designation Subindex Subindex name Type Bits Access

0x1000 Device type - - UDINT 32 R

0x1001 Error register - - USINT 8 R

0x1008 Device name - - STRING(8) 64 R

0x1009 Hardware version - - STRING(8) 64 R

0x100A Software version - - STRING(7) 56 R

0x1018 Identity 0 Number of elements USINT 8 R

0x1600 RxPDO 1 0 Number of elements USINT 8 RW

0x1A00 TxPDO 1 0 Number of elements USINT 8 RW

0x1C00 Sync Man Communication type 0 Number of elements USINT 8 R

0x1C10 Sync Man 0 Assignment 0 - UINT 16 R

0x1C11 Sync Man 1 Assignment 0 - UINT 16 R

0x1C12 Sync Man 2 Assignmen t 0 Number of assigned RxPDOs USINT 8 R

0x1C13 Sync Man 3 Assignmen t 0 Number of assigned TxPDOs USINT 8 R

0x1C32 Sync Man 2 Synchronization 0 Number of elements USINT 8 R

0x1C33 Sync Man 3 Synchronization 0 Number of elements USINT 8 R

Communication manual 8400 motec EtherCAT®

Parameter data transfer

Implemented CoE objects

1 Vendor ID UDINT 32 R

2 Product code UDINT 32 R

3 Revision number UDINT 32 R

4 Serial number UDINT 32 R

1 … 8 Output object 1 … 8 UDINT 32 RW

1 … 10 Input object 1 … 10 UDINT 32 RW

1Elements UDINT32R

1 PDO Mapping object index of

1 Synchronization type UINT 16 R

2Cycle time / ns UDINT32R

3 Shift time / ns UDINT 32 R

4 Sync types supported UINT 16 R

5 Minimum cycle time / ns UDINT 32 R

6 Minimum shift time / ns UDINT 32 R

1 Synchronization type UINT 16 R

2Cycle time / ns UDINT32R

3 Shift time / ns UDINT 32 R

4 Sync types supported UINT 16 R

5 Minimum cycle time / ns UDINT 32 R

6 Minimum shift time / ns UDINT 32 R

assigned RxPDO

assigned TxPDO

UDINT 32 R

R: Read access only RW: Read and write access

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Parameter data transfer EtherCAT objects of the Communication Unit

9.4 EtherCAT objects of the Communication Unit

The object directory displays the Parameters relevant for EtherCAT communication

( 67)

as objects:

Index Code Index name Subindex Subindex name Type Bits Access

0x29E5 C13850 All words from drive to master 0 ... 10 All words from drive to master UNSIGNED 16 R

0x29E4 C13851

0x29DC C13859

0x29DB C13860

0x29DA C13861

0x29D7 C13864

0x29D4 C13867

0x29C8 C13879

0x29C7 C13880

0x29C6 C13881

0x29C2 C13885

0x29B4 C13899

0x29B3 C13900

0x29B2 C13901

0x29B1 C13902

R: Read access only RW: Read and write access

All words from master to drive 0 ... 8 All words from master to drive UNSIGNED 16 R

Number of PDO words Tx - - UNSIGNED 16 R

Number of PDO words Rx - - UNSIGNED 16 R

Bus state - - UNSIGNED 16 R

Active station address - - UNSIGNED 16 R

Display last emergency data - - STRING(8) 64 R

Bus error - - UNSIGNED 16 R

Reaction on communication failure

Monitoring time com. failure - - UNSIGNED 16 RW

Clear process data - - UNSIGNED 8 RW

Station Alias address - - UNSIGNED 16 RW

Firmware product type - - STRING(8) 64 R

Firmware compilation date - - STRING(20) 160 R

Firmware version - - STRING(11) 88 R

1- UNSIGNED8RW

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9.5 SDO abort codes (Abort codes)

If an SDO request is evaluated negatively, a corresponding error code is output.

Index [hex] Description

0x00000000 No error

0x05030000 The status of the toggle bit has not changed

0x05040000 SDO time-out protocol

0x05040001 Invalid or unknown specification symbol for the client/server command

0x05040005 Not enough space in the main memory

0x06010000 Non-supported access to an object

0x06010001 Read access to a write-protected object

0x06010002 Write access to a write-protected object

0x06020000 An object does not exist in the object directory

0x06040041 An object cannot be mapped into the PDO

0x06040042 The number and/or length of the objects mapped would exceed the PDO length

0x06040043 General parameter incompatibility

0x06040047 General internal incompatibility within the device

0x06060000 Access has failed due to a fault in the hardware

0x06070010 The data type or the parameter length does not correspond

0x06070012 Incorrect data type (The parameter length is too large)

0x06070013 Incorrect data type (The parameter length is too small)

0x06090011 A subindex is not available

0x06090030 The value range for parameters is too great (only for write access)

0x06090031 The parameter value is too high

0x06090032 The parameter value is too low

0x06090036 The maximum value is lower than the minimum value

0x08000000 General error

0x08000020 Data cannot be transferred to the application or stored in the application

0x08000021 Due to local control, data cannot be transferred to the application or stored in the

application

0x08000022 Due to the current device state, data cannot be transferred to the application or stored in the

application

0x08000023 The dynamic object directory generation has failed, or no object directory is available

Parameter data transfer

SDO abort codes (Abort codes)

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Monitoring Interruption of EtherCAT communication

10 Monitoring

10.1 Interruption of EtherCAT communication

An interruption of the EtherCAT communication in the "Operational" state, e.g. due to cable break of failure of the EtherCAT master, is detected by the slave.

 The response to the communication interruption is controlled via the following

settings:

1. During the initialisation of the EtherCAT communication, the sync manager watchdog monitoring time determined in the master is transferred to the slave.

If the slave does not receive any valid process data in the "Operational" state, the process data are treated according to the setting in C13885

by the master can be used or reset to zero.)

. (The data sent last

After the watchdog monitoring time has expired, the slave changes to the "Error Safe-Operational" state (see C13861 (see LED status displays

There is no response in the slave

2. In order to trigger a response in the slave, you can set an additional response of the Inverter Drive 8400 motec (C13880 tab.

Set a response delay (C13881

• A Lenze setting of "No response" deactivates this monitoring.

• Setting a response will activate the monitoring as long as a response time

<65356ms is set.

• A change in monitoring is effective immediately.

• The monitoring time expires as soon as communication in the "Operational"

state is interrupted.

( 58)).

). LEDs RUN (green) and ERR (red) are activated

) in the »Engineer« on the Monitoring

) to delay execution of the response.

After the monitoring time has elapsed, the set response is executed with the error message "Operational status quit [0x01bc8131]

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" ( 65).

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3. Via standard device code C00002, execute the "11: Save all parameter sets" device command to activate the changed parameter settings and to save it to the memory module.

10.2 Fault of the internal communication

 The response to a communication error between the Communication Unit and the

Drive Unit can be set in code C01501

 The Communication Unit reports interrupted communication via an emergency

telegram to the master and changes to the "Safe-Operational" state.

Monitoring

Fault of the internal communication

 Error message "Lost connection to 8400 base device [0x01bc3100]

" ( 63) is issued.

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Diagnostics LED status displays

11 Diagnostics

EtherCAT communication faults can be diagnosed via the LEDs of the Communication Unit.

Moreover, the »Engineer« providesEtherCAT diagnostic information.

11.1 LED status displays

LED Colour Status Description

Link /

Activity 1

(A2)

Link /

Activity 2

(A3)

green off • There is no cable connected to the EtherCAT input (IN).

• No communication

A cable is connected to the EtherCAT input (IN).

flickering

50 ms

Communication at the EtherCAT input (IN) is active.

green off • There is no cable connected to the EtherCAT output (OUT).

• No communication

A cable is connected to the EtherCAT output (OUT).

flickering

50 ms

Communication at the EtherCAT output (OUT) is active.

E84DG056

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Diagnostics

LED status displays

LED Colour Status Description

RUN green off The Communication Unit is not active on the fieldbus or is in the

"Init" state.

The Communication Unit is in the "Operational" state.

blinking

200 ms

"Pre-operational" status is active:

• Access to parameters and objects is possible.

• No process data exchange.

blinking once

(single flash)

200 ms

"Safe-operational" status is active:

• The data are transferred from the controller to the master. The data to the controller are not active yet.

ERR red off No error

blinking

200 ms

The configuration is invalid/faulty.

blinking once

(single flash)

200 ms

• A not requested state change has occurred. (The slave application has autonomously changed the EtherCAT status.)

• Synchronisation error (The EtherCAT node automatically changes to the "Safe-operational" state.)

blinking

twice

(double flash)

200 ms

An "Application Watchdog Timeout" or a "Sync Manager Watchdog Timeout" has occurred.

200 ms

1000 ms

200 ms

1000 ms

200 ms

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Diagnostics Diagnostics with the »Engineer«

11.2 Diagnostics with the »Engineer«

In the »Engineer« under the Diagnostics tab, various EtherCAT diagnostics information is displayed.

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11.3 Emergency requests / Emergency messages

Emergency messages are sent to the EtherCAT master once when the error status changes, i.e ...

 if an error of the Inverter Drive 8400 motec or the Communication Unit occurs;

 if an internal error of the Communication Unit is no longer pending.

An "Emergency Request" on the fieldbus consists of the components "Mailbox Header", "CANopen Header" and the actual "Emergency Message":

Diagnostics

Emergency requests / Emergency messages

Mailbox header CANopen

header

6 bytes 2 bytes 8 bytes

Emergency Message

Structure of the Emergency message

Example: Emergency message of the error "Operational status quit [0x01bc8131]

Byte 1 Byte2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Emergency

Error code

Low byte High byte Low byte High byte Low word High word

0x00 0x10 0x01 0x00 0x31 0x81 0xbc 0x01

Error Register (I-1001)

Reserved Error code

Inverter Drive 8400 motec / E84DGFCTxxx

Low byte High byte Low byte High byte

 Bytes 1 and 2 indicate that an error is pending.

 Byte 3 display the contents of the error register (I-1001).  The error code is displayed in bytes 5 ... 8:

Bit

162526

015

Byte 8 Byte 7 Byte 6 Byte 5

0x01 0xbc 0x81 0x31

0 0 0 0 0 0 0 1 1 0 1 1 1 1 0 0 1 0 0 0 0 0 0 1 0 0 1 1 0 0 0 1

Reaction Instance ID Module ID Error ID

 Software manual/»Engineer« online help for Inverter Drives 8400 motec

Detailed information on the error codes is provided here.

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Error messages Short overview of EtherCAT error messages

12 Error messages

This chapter complements the error list in the software manual and the »Engineer« online help for the Inverter Drive 8400 motec by EtherCAT error messages.

 Software manual/»Engineer« online help for Inverter Drives 8400 motec

Here you can find general information on diagnostics & fault analysis and on error messages.

12.1 Short overview of EtherCAT error messages

The table below contains all EtherCAT error messages in the numerical order of the error number. In addition, the preset error response and – if applicable – the parameter for setting the error response are provided.

 Tip!

When you click the cross-reference in the first column, you will get to the detailed description (causes and remedies) of the corresponding error message.

Error no. [hex]

0x01bc3100

0x01bc5531 444 21809 Memory: No access 1: Error C01501/2

0x01bc5532 444 21810 Memory: Read error 1: Error C01501/2

0x01bc5533 444 21811 Memory: Write error 1: Error C01501/2

0x01bc6010 444 24592 Restart by Watchdog Reset 1: Error C01501/2

0x01bc6011 444 24593 Internal error 1: Error C01501/2

0x01bc6100 444 24832 Internal error 1: Error C01501/2

0x01bc6101 444 24833 Internal error 1: Error C01501/2

0x01bc641f 444 25631 Invalid parameter record 1: Error -

0x01bc6420

0x01bc6430

0x01bc8131

Subject area no. [dec]

444 12544 Lost connection to 8400 base device 1: Error C01501/2

444 25632 Error: Lenze setting loaded 1: Error -

444 25648 Invalid module configuration 4: Warning locked -

444 33073 "Operational" status quit 0: No response C13880

Error no. [dec]

Error text Error type

(Error response)

Can be set in

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12.2 Possible causes and remedies

This chapter contains all EtherCAT error messages in numerical order of the error number. Possible causes and remedies as well as responses to the error messages are described in detail.

Communication manual 8400 motec EtherCAT®

Error messages

Possible causes and remedies

Short overview of EtherCAT error messages

Lost connection to 8400 base device [0x01bc3100]

Response (Lenze setting printed in bold) Setting: C01501/2 (; adjustable response)

; No response : Error  Fault ; Warning locked

Cause Remedy

Internal communication to the Control Unit has been interrupted.

• Inverter Drive 8400 motec has been switched off.

• Incorrect wiring of Communication Unit.

Memory: No access [0x01bc5531]

Response (Lenze setting printed in bold) Setting: C01501/2 (; adjustable response)

; No response : Error  Fault ; Warning locked

Cause Remedy

Access to memory was not possible. Send the device and a description of the fault to Lenze.

Memory: Read error [0x01bc5532]

Response (Lenze setting printed in bold) Setting: C01501/2 (; adjustable response)

; No response : Error  Fault ; Warning locked

( 62)

• Switch on Inverter Drive 8400 motec.

• Check Communication Unit for correct wiring.

• Send the device and a description of the fault to Lenze.

Cause Remedy

Parameter could not be read. • Repeat download of the application (including

Memory: Write error [0x01bc5533]

Response (Lenze setting printed in bold) Setting: C01501/2 (; adjustable response)

; No response : Error  Fault ; Warning locked

Cause Remedy

Parameter could not be written. • Repeat download of the application (including

Restart by Watchdog Reset [0x01bc6010]

Response (Lenze setting printed in bold) Setting: C01501/2 (; adjustable response)

; No response : Error  Fault ; Warning locked

Cause Remedy

Device is damaged. Send the device and a description of the fault to Lenze.

module).

• Send the device and a description of the fault to Lenze.

module).

• Send the device and a description of the fault to Lenze.

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Error messages Possible causes and remedies

Internal error [0x01bc6011]

Response (Lenze setting printed in bold) Setting: C01501/2 (; adjustable response)

; No response : Error  Fault ; Warning locked

Cause Remedy

Device is damaged. Send the device and a description of the fault to Lenze.

Internal error [0x01bc6100]

Response (Lenze setting printed in bold) Setting: C01501/2 (; adjustable response)

; No response : Error  Fault ; Warning locked

Cause Remedy

Device is damaged. Send the device and a description of the fault to Lenze.

Internal error [0x01bc6101]

Response (Lenze setting printed in bold) Setting: C01501/2 (; adjustable response)

; No response : Error  Fault ; Warning locked

Cause Remedy

Device is damaged. Send the device and a description of the fault to Lenze.

Invalid parameter record [0x01bc641f]

Response (Lenze setting printed in bold) Setting: not possible

Error: Lenze setting loaded [0x01bc6420]

Invalid module configuration [0x01bc6430]

 No response : Error  Fault  Warning locked

Cause Remedy

No active parameter set could be loaded • Repeat download of the application (including

Response (Lenze setting printed in bold) Setting: not possible

 No response : Error  Fault  Warning locked

Cause Remedy

Access to parameter set was not possible. • Repeat download of the application (including

module).

• Send the device and a description of the fault to Lenze.

module).

• Send the device and a description of the fault to Lenze.

Response (Lenze setting printed in bold) Setting: not possible

 No response  Error  Fault : Warning locked

Cause Remedy

The number of configured process data words via EtherCAT does not correspond to the length saved to the memory module.

Save parameter set via C00002/11 = 1.

64 L EDS84DMOTECAT EN 2.1 - 11/2012

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Operational status quit [0x01bc8131]

Response (Lenze setting printed in bold) Setting: C13880/1 (; Adjustable response)

: No response ; Error  Fault ; Warning locked

Cause Remedy

The EtherCAT data exchange was stopped in the "Operational" state.

• See also chapter "Interruption of EtherCAT

communication" ( 56).

Communication manual 8400 motec EtherCAT®

Error messages

Possible causes and remedies

• Check cables and terminals.

• Connect network cable to EtherCAT terminals.

• The master has to reset the node to the "Operational" status. (If required, check a pending emergency message first).

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Communication manual 8400 motec EtherCAT®

Parameter reference Communication-relevant parameters of the operating system

13 Parameter reference

This chapter complements the parameter list and table of attributes in the software manual and the »Engineer« online help for the Inverter Drive 8400 motec by the parameters for the EtherCAT communication.

 Software manual/»Engineer« online help "Inverter Drives 8400 motec"

Here you will find general information about parameters.

13.1 Communication-relevant parameters of the operating system

This chapter lists the communication-relevant parameters of the 8400 motec operating system in numerically ascending order.

C01501

C01503

Parameter | Name:

C01501 | Resp. to communication error with MCI

Configuration of monitoring functions for the Communication Unit

Selection list

0 No response

1 Error

4 Warning locked

Subcodes Lenze setting Info

C01501/1 1: Error Resp. to MCI error 1

• Response to a communication error.

C01501/2 1: Error Resp. to MCI error 2

• Response to troubled Communication Unit.

; Read access ; Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1

Parameter | Name:

C01503 | MCI timeout

Setting range (min. value | unit | max. value)

0 ms 1000

Subcodes Lenze setting Info

C01503/1 200 ms MCI timeout

; Read access ; Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1

Data type: UNSIGNED_8

Index: 23074

Data type: UNSIGNED_16

Index: 23072

= 5A22

= 5A20

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Communication manual 8400 motec EtherCAT®

Parameters relevant for EtherCAT communication

13.2 Parameters relevant for EtherCAT communication

This chapter lists the EtherCAT parameters of the Communication Unit in numerically ascending order.

C13850

Parameter reference

C13851

Parameter | Name:

C13850 | All words from drive to master

Data type: UNSIGNED_16

Index: 10725

Display of the process data words (subcodes 1 ... 10) which are transferred from the controller to the master. Only those which are configured are valid.

Display area (min. value | unit | max. value)

0 65535

Subcodes Info

C13850/1 1st word

... ...

C13850/8 8th word

C13850/9 I/O data 1

C13850/10 I/O data 2

; Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

C13851 | All words from master to drive

Data type: UNSIGNED_16

Index: 10724

Display of the process data words (subcodes 1 ... 8) which are transferred from the master to the controller. Only those which are configured are valid.

Display area (min. value | unit | max. value)

0 65535

Subcodes Info

C13851/1 1st word

... ...

C13851/8 8th word

; Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

= 29E5

= 29E4

C13859

Parameter | Name:

C13859 | All words to standard device

Data type: UNSIGNED_16

Index: 10716

= 29DC

Number of process data words to be sent

Display area (min. value | unit | max. value)

0 10

; Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

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Communication manual 8400 motec EtherCAT®

Parameter reference Parameters relevant for EtherCAT communication

C13860

C13861

C13864

Parameter | Name:

Data type: UNSIGNED_16

C13860 | All words from standard device

Number of process data words to be received

Display area (min. value | unit | max. value)

0 8

; Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

Data type: UNSIGNED_16

C13861 | Bus state

Display of the current bus status

EtherCAT state machine

( 35)

Display area (min. value | unit | max. value)

0 65535

; Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

Data type: UNSIGNED_16

C13864 | Active station address

Display of the station address allocated by the master

Display area (min. value | unit | max. value)

0 32767

; Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Index: 10715

Index: 10714

Index: 10711

= 29DB

= 29DA

= 29D7

C13867

C13879

Parameter | Name:

Data type: OCTET_STRING

C13867 | Display last emergency data

Display of the emergency data sent by the controller (string with a length of 8 bytes).

Emergency requests / Emergency messages

; Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

( 61)

Data type: UNSIGNED_16

C13879 | Bus error

Bit-coded display of the bus error In addition, an error message is entered into the EtherCAT register "AL Status Code

" ( 36).

Value is bit-coded: Info

Bit 0 General bus error

Bit 1 Reserved

... ...

Bit 31 Reserved

; Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Index: 10708

Index: 10696

= 29D4

= 29C8

68 L EDS84DMOTECAT EN 2.1 - 11/2012

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C13880

Communication manual 8400 motec EtherCAT®

Parameter reference

Parameters relevant for EtherCAT communication

C13881

Parameter | Name:

C13880 | Reaction on communication failure

Data type: UNSIGNED_8

Index: 10695

= 29C7

The set response will be executed if the node detects that it is no longer in the "Operational" state and the monitoring time (C13881

The notes in code C13881

Interruption of EtherCAT communication

) has elapsed.

must be observed!

( 56)

Selection list

0 No response

1 Error

4 Warning locked

Subcodes Lenze setting Info

C13880/1 0: No response

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

C13881 | Response time when exiting "Operational"

Data type: UNSIGNED_16

Index: 10694

= 29C6

If the "Operational" state is exited, the response parameterised with C13880 occurs after the time set here has elapsed.

• A value of "0" or "65535" in this code deactivates the monitoring.

Interruption of EtherCAT communication

( 56)

Setting range (min. value | unit | max. value) Lenze setting

0 ms 65535 0ms

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

C13885

C13899

Parameter | Name:

C13885 | Clear process data

Data type: UNSIGNED_8

Index: 10690

= 29C2

This code serves to set the process data which the slave must process for maintaining internal communication when the EtherCAT has exited the "Operational" state.

• 0: The data last sent by the master are used.

• 1: The process data contents is set to a value of "0".

Interruption of EtherCAT communication

( 56)

Setting range (min. value | unit | max. value) Lenze setting

011

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

C13899 | Station Alias address

Data type: UNSIGNED_16

Index: 10676

= 29B4

This code serves to set a station alias address. In order to use a station alias address, you must select a value > "0".

• The station alias address must only be set if the node is part of a "hot connect" group.

• The station alias address must be unambiguous and may only be assigned once within the EtherCAT network.

• Use the same station alias address in the EtherCAT master and in the slave.

Address allocation

( 30)

Setting range (min. value | unit | max. value) Lenze setting

0 32767 0

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX ; COM  MOT

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Communication manual 8400 motec EtherCAT®

Parameter reference Parameters relevant for EtherCAT communication

C13900

C13901

C13902

Parameter | Name:

Data type: VISIBLE_STRING

C13900 | Firmware product type

The code contains a string with a length of 8 bytes. The following identification code is displayed: "E84DFFET".

; Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

Data type: VISIBLE_STRING

C13901 | Firmware compilation date

The code contains a string with a length of 20 bytes. Here, the compilation date ("MM DD YYYY") and time ("hh:mm:ss") of the software are provided. Example: "Mar 21 2005 12:31:21"

; Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

Data type: VISIBLE_STRING

C13902 | Firmware version

The code contains a string with a length of 11 bytes. Here, the firmware version is provided. Example: "01.00.00.00"

; Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Index: 10675

Index: 10674

Index: 10673

= 29B3

= 29B2

= 29B1

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13.3 Table of attributes

The table of attributes contains information required for communicating with the controller via parameters.

How to read the table of attributes:

Column Meaning Entry

Code Parameter name Cxxxxx

Name Parameter short text (display text) Text

Index dec Index by which the parameter is addressed.

hex 5FFF

Data DS Data structure E Single variable

DA Number of array elements (subcodes) Number

DT Data type BITFIELD_8 1 byte, bit-coded

Factor Factor for data transmission via a bus system,

Access R Read access ; Reading permitted

W Write access ; Writing permitted

CINH Controller inhibit (CINH) required ; Writing only possible if the controller is inhibited (CINH)

The subindex for array variables corresponds to the Lenze subcode number.

depending on the number of decimal positions

Communication manual 8400 motec EtherCAT®

Parameter reference

Table of attributes

24575 - Lenze code number Only required for access via a bus

- Lenze code number

A Array variable

BITFIELD_16 2 bytes, bit-coded

BITFIELD_32 4 bytes, bit-coded

INTEGER_8 1 byte, with sign

INTEGER_16 2 bytes, with sign

INTEGER_32 4 bytes, with sign

UNSIGNED_8 1 byte, without sign

UNSIGNED_16 2 bytes, without sign

UNSIGNED_32 4 bytes, without sign

VISIBLE_STRING ASCII string

OCTET_STRING

Factor 1 ≡ no decimal positions

system

(only one parameter element)

(several parameter elements)

10 ≡ 1 decimal position 100 ≡ 2 decimal positions 1000 ≡ 3 decimal positions

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Communication manual 8400 motec EtherCAT®

Parameter reference Table of attributes

Table of attributes

Code Name Index Data Access

dec hex DS DA Data type Factor R W CINH

C13850

C13851

C13859

C13860

C13861

C13864

C13867

C13879

C13880

C13881

C13885

C13899

C13900

C13901

C13902

All words from drive to master 10725 29E5 A 9 UNSIGNED_16 1 ;

All words from master to drive 10724 29E4 A 8 UNSIGNED_16 1 ;

All words to standard device 10716 29DC E 1 UNSIGNED_16 1 ;

All words from standard device 10715 29DB E 1 UNSIGNED_16 1 ;

Bus state 10714 29DA E 1 UNSIGNED_16 1 ;

Active station address 10711 29D7 E 1 UNSIGNED_16 1 ;

Display last emergency data 10708 29D4 E 1 OCTET_STRING ;

Bus error 10696 29C8 E 1 UNSIGNED_16 1 ;

Reaction on communication failure 10695 29C7 A 1 UNSIGNED_8 1 ;;

Response time when exiting "Operational"

Clear process data 10690 29C2 E 1 UNSIGNED_8 1 ;;

Station Alias address 10676 29B4 E 1 UNSIGNED_16 1 ;;

Firmware product type 10675 29B3 E 1 VISIBLE_STRING ;

Firmware compilation date 10674 29B2 E 1 VISIBLE_STRING ;

Firmware version 10673 29B1 E 1 VISIBLE_STRING ;

10694 29C6 E 1 UNSIGNED_16 1 ;;

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14 Index

Communication manual 8400 motec EtherCAT®

Index

Abort codes 55 Accessing process data 38 Active station address (C13864) 68 Address allocation 30 AL Status Code 36 All words from drive to master (C13850) 67 All words from master to drive (C13851) 67 All words from standard device (C13860) 68 All words to standard device (C13859) 67 Application as directed 13 Application notes (representation) 10 Application of the Communication Unit 13 Approvals 17 Automatic device identification 27

Baud rate 17 Before initial switch-on 25 Bus error (C13879) 68 Bus state (C13861) 68

C13885 | Clear process data 69 C13899 | Station Alias address 69 C13900 | Firmware: product type 70 C13901 | Firmware: Compilation date 70 C13902 | Firmware: version 70 Clear process data (C13885) 69 Codes 66 CoE objects 53 Commissioning 25 Communication medium 17 Communication profile 17 Communication time 18 Communication-relevant parameters of the operating

system

Configuring process data 28

Configuring the host (master) 26 Configuring the master 26 Configuring the port interconnection of the process

data objects (PDO) Conformities 17 Connections 15 Conventions 8 Conventions used 8 Copyright 2 Cycle times 17

Data transfer 32 Datagrams 34 Determining the cycle time 29 Device and application-specific safety instructions 12 Device identification 27 Device profile 17 Device protection 12 Diagnostics 58 Diagnostics with the »Engineer« 60 Display last emergency data (C13867) 68 Document history 7 Download 49

Electrical installation 21 Emergency messages 61 Emergency requests 61 Error: Lenze setting loaded (error message) 64 Error code 61 Error messages 62

Causes and remedies 63 Short overview 62

Error number

0x01bc3100 0x01bc5531 63 0x01bc5532 63 0x01bc5533 63 0x01bc6010 63 0x01bc6011 64 0x01bc6100 64 0x01bc6101 64 0x01bc641f 64 0x01bc6420 64 0x01bc6430 64

0x01bc8131 65 Establishing a master - slave connection 43 Establishing communication 31 EtherCAT connection 23 EtherCAT datagrams 34

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Communication manual 8400 motec EtherCAT®

Index

EtherCAT error messages

Causes and remedies

Short overview 62 EtherCAT frame structure 33 EtherCAT input (IN) 23 EtherCAT objects of the Communication Unit 54 EtherCAT output (OUT) 23 EtherCAT parameters 67 EtherCAT state machine 35 External voltage supply 24

Fault of the internal communication 57 Features 14 Firmware

Compilation date (C13901)

product type (C13900) 70

version (C13902) 70 Frame structure 33

General data 17 General safety and application notes 11

I/O data 28 Indexing of the Lenze codes 44 Initial switch-on 31 Installation 19 Installing device description files 26 Interface for communication 17 Interfaces 15 Internal error (error message) 64 Interruption of EtherCAT communication 56 Invalid module configuration (error message) 64 Invalid parameter record (error message) 64

LED status displays 58 Line topology 21 Lost connection to 8400 base device (error message)

Mailbox datagram 44 Mailbox protocol 17 Max. cable length 17 MCI timeout (C01503 ) 66 Mechanical installation 20 Memory

No access (error message)

Read error (error message) 63

Write error (error message) 63 Monitoring 56

Network topology 17, 21 Notes used 10 Number of nodes 17

Operating conditions 17 Operational status quit (error message) 65

Parameter data transfer 43 Parameter reference 66 Parameters relevant for EtherCAT communication 67 PDO mapping 38 Process data 37 Process data transfer 37 Product description 13 Product ID 17 Protocol data 18

Reaction on communication failure (C13880) 69 Reading parameters (SDO Upload) 45 Residual hazards 12 Resp. to communication error with MCI (C01501) 66 Response time when exiting "Operational" (C13881)

Restart by Watchdog Reset (error message) 63 Revision ID 17

Safety instructions 11 Safety instructions (representation) 10 SDO abort codes (Abort codes) 55 SDO Download 49 SDO Upload 45 State machine 35 Station Alias address (C13899) 69 Status displays (LEDs) 58 Structure of the Emergency message 61 Switch topology 22 System error messages 62

Table of attributes 71 Target group 6 Technical data 17 Terminology used 9 Terms 9 Type of node 17

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Communication manual 8400 motec EtherCAT®

Upload 45

Validity of the documentation 6 Variants 14 Vendor ID 17 Voltage supply 17, 24

Writing parameters (SDO Download) 49

Index

EDS84DMOTECAT EN 2.1 - 11/2012 L 75

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)



Lenze Drives GmbH P.O. Box 10 13 52 D-31763 Hameln Germany

+49 (0)51 54 / 82-0

+49 (0)51 54 / 82-28 00

Lenze@Lenze.de

www.Lenze.com

Service Lenze Service GmbH

Breslauer Straße 3 D-32699 Extertal Germany



00 80 00 / 24 4 68 77 (24 h helpline)

+49 (0)51 54 / 82-11 12

Service@Lenze.de

EDS84DMOTECAT  13422593  EN 2.1  TD17

109 87654321



Lenze E84DGFCT User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

1 About this documentation

1.1 Document history

1.2 Conventions used

1.3 Terminology used

1.4 Notes used

2 Safety instructions

2.1 General safety and application notes

2.2 Device and application-specific safety instructions

2.3 Residual hazards

3 Product description

3.1 Application as directed

3.2 Features and variants

3.3 Connections and interfaces

4 Technical data

4.1 General data and operating conditions

4.2 Protocol data

4.3 Communication time

5 Installation

5.1 Mechanical installation

5.2 Electrical installation

5.2.1 Network topology

5.2.2 EtherCAT connection

5.2.3 External voltage supply

6 Commissioning

6.1 Before initial switch-on

6.2 Configuring the host (master)

6.2.1 Installing device description files

6.2.2 Automatic device identification

6.2.3 Configuring process data

6.2.4 Determining the cycle time

6.3 Address allocation

6.4 Initial switch-on

7 Data transfer

7.1 EtherCAT frame structure

7.2 EtherCAT datagrams

7.3 EtherCAT state machine

8 Process data transfer

8.1 Accessing process data / PDO mapping

8.2 Configuring the port interconnection of the process data objects (PDO)

9 Parameter data transfer

9.1 Establishing a connection between master and slave

9.2 Reading and writing parameters

9.2.1 Reading parameters (SDO Upload)

9.2.2 Writing parameters (SDO Download)

9.3 Implemented CoE objects

9.4 EtherCAT objects of the Communication Unit

9.5 SDO abort codes (Abort codes)

10 Monitoring

10.1 Interruption of EtherCAT communication

10.2 Fault of the internal communication

11 Diagnostics

11.1 LED status displays

11.2 Diagnostics with the »Engineer«

11.3 Emergency requests / Emergency messages

12 Error messages

12.1 Short overview of EtherCAT error messages

12.2 Possible causes and remedies

Lost connection to 8400 base device [0x01bc3100]

Memory: No access [0x01bc5531]

Memory: Read error [0x01bc5532]

Memory: Write error [0x01bc5533]

Restart by Watchdog Reset [0x01bc6010]

Internal error [0x01bc6011]

Internal error [0x01bc6100]

Internal error [0x01bc6101]

Invalid parameter record [0x01bc641f]

Error: Lenze setting loaded [0x01bc6420]

Invalid module configuration [0x01bc6430]

Operational status quit [0x01bc8131]

13 Parameter reference

13.1 Communication-relevant parameters of the operating system

C01501 | Resp. to communication error with MCI

C01503 | MCI timeout

13.2 Parameters relevant for EtherCAT communication

C13850 | All words from drive to master