Lenze E84DGFCT User Manual
EDS84DMOTECAT
13422593
Ä.K:~ä
L-force Communication
Communication Manual
8400 motec
E84DGFCTxxx
EtherCAT® Communication Unit
L
2 L EDS84DMOTECAT EN 2.1 - 11/2012
Communication manual 8400 motec EtherCAT®
Contents
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
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.2.1 Network topology
5.2.2 EtherCAT connection
5.2.3 External voltage supply
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
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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EDS84DMOTECAT EN 2.1 - 11/2012 L 3
Communication manual 8400 motec EtherCAT®
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
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
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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
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
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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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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 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)
( 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.
2
, 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
M
[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.
IN
SD
INOUT
SD
INOUT
SD
M = master
SD = slave device
E94AYCET006
EDS84DMOTECAT EN 2.1 - 11/2012 L 21
Communication manual 8400 motec EtherCAT®
Installation
Electrical installation
Switch topology
M
M
IN IN
S
M = master
S = switch
SD = slave device
SD
[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.
SD
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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