Lenze E84DGFCT User Manual

EDS84DMOTECAT 13422593

Ä.K:~ä

L-force Communication

Communication Manual

8400 motec

E84DGFCTxxx

EtherCAT® Communication Unit

2 L EDS84DMOTECAT EN 2.1 - 11/2012

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

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

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

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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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. . . . . . . . . . . . 39

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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4 L EDS84DMOTECAT EN 2.1 - 11/2012

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

EDS84DMOTECAT EN 2.1 - 11/2012 L 5

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)

6 L EDS84DMOTECAT EN 2.1 - 11/2012

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

EDS84DMOTECAT EN 2.1 - 11/2012 L 7

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.

8 L EDS84DMOTECAT EN 2.1 - 11/2012

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



10 L EDS84DMOTECAT EN 2.1 - 11/2012

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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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)

12 L EDS84DMOTECAT EN 2.1 - 11/2012

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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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).

14 L EDS84DMOTECAT EN 2.1 - 11/2012

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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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

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

EDS84DMOTECAT EN 2.1 - 11/2012 L 17

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

18 L EDS84DMOTECAT EN 2.1 - 11/2012

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

EDS84DMOTECAT EN 2.1 - 11/2012 L 19

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

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

EDS84DMOTECAT EN 2.1 - 11/2012 L 21

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

22 L EDS84DMOTECAT EN 2.1 - 11/2012

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

EDS84DMOTECAT EN 2.1 - 11/2012 L 23

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