This documentation only contains descriptions of the E94AYCDN (DeviceNet™) communication
module.
Note!
This documentation supplements the mounting instructions supplied with the
communication module and the Servo Drives 9400 hardware manual.
The mounting instructions contain safety instructions that must be observed!
The features and functions of the communication module are described in detail.
Examples illustrate typical applications.
The theoretical concepts are only explained to the level of detail required to understand the
function of the communication module.
This documentation does not describe the software of another manufacturer. No guarantee can be
given for corresponding information in this documentation. Information on the use of the software
can be found in the documents for the host (PLC, scanner).
All brand names mentioned in this documentation are trademarks of their corresponding owners.
Tip!
Detailed information on DeviceNet can be found on the website of the user organisation
ODVA (Open DeviceNet Vendor Association):
www.odva.org
4Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
This documentation is intended for all persons who plan, install, commission and maintain the
networking and remote servicing of a machine.
Tip!
Current documentation and software updates 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:
Extension moduleType designationFrom hardware
version
Communication module DeviceNetE94AYCDNVA01.00
Screenshots/application examples
All screenshots in this documentation are application examples. Depending on the firmware
version of the communication module and the software version of the installed engineering tools
(e.g. »Engineer«), the screenshots in this documentation may differ from the screen representation.
From software
version
Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD175
This documentation uses the following conventions to distinguish different types of information:
Type of informationIdentificationExamples/notes
Numbers
DecimalStandard notationExample: 1234
Decimal separatorPointIn general, the decimal point is used.
Example: 1234.56
Hexadecimal0x[0 ... 9, A ... F]Example: 0x60F4
Binary
• Nibble
Text
Version informationText colour blueAll pieces of information that only apply to or from a specific
Program name» «The Lenze PC software »Engineer«...
Control elementBoldThe OK button... / The Copy command... / The Properties
Sequence of menu
commands
HyperlinkUnderlined
Icons
Page reference ( 8)Optically highlighted reference to another page. Can be
Step-by-step instructions
In inverted commas
Point
Example: ’100’
Example: ’0110.0100’
software version of the device are highlighted accordingly in
this documentation.
Example: This function extension is available from software
version V3.0!
tab... / The Name input field...
If several successive commands are required for executing a
function, the individual commands are separated from each
other by an arrow: Select the command File
Optically highlighted reference to another topic. Can be
activated with a mouse-click in this online documentation.
activated with a mouse-click in this online documentation.
Step-by-step instructions are marked by a pictograph.
Open to...
Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD177
DriveLenze inverters of the "Servo Drives 9400" product series
Standard device
CodeParameter which serves to parameterise and monitor the drive. In normal usage,
SubcodeIf a code contains several parameters, they are stored in so-called "subcodes".
CoSChange of State
DeviceDeviceNet slave
»Engineer«PC software from Lenze which supports you during engineering
Explicit messagesParameter data
HWHardware
HostDeviceNet master
Scanner
Lenze settingSetting with which the device is preconfigured ex works.
»RSLogix 5000«Programming and development software by Rockwell for hosts (PLCs, scanners)
SWSoftware
the term is usually referred to as "Index".
This manual uses a slash "/" as a separator between code and subcode
(e.g. "C00118/3").
In normal usage, the term is also referred to as "Subindex".
CoS nodes always transmit their data if the data status changes.
DeviceNet™ is a fieldbus system based on CAN (Controller Area Network).
DeviceNet™ is a trademark and patented technology, licensed by the user
organisation ODVA (Open DeviceNet Vendor Association), USA.
(parameterisation, diagnostics, and configuration) throughout the entire life
cycle, i.e. from planning to maintenance of the commissioned machine.
in DeviceNet networks (e.g. Allen Bradley Logix control systems).
8
Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
It is absolutely vital that the stated safety measures are implemented in order to prevent
serious injury to persons and damage to material assets.
Always keep this documentation to hand in the vicinity of the product during operation.
2.1General safety instructions and application notes
Danger!
Disregarding the following basic safety measures may lead to severe personal injury and
damage to material assets.
Lenze drive and automation components ...
• must only be used as directed.
Application as directed
• must never be commissioned if they display signs of damage.
• must never be technically modified.
• must never be commissioned if they are not fully mounted.
• must never be operated without required covers.
• can have live, moving or rotating parts during and after operation, depending on their degree of
protection. Surfaces can be hot.
The following applies to Lenze drive components ...
• Only use permissible accessories.
• Only use original manufacturer spare parts.
Observe all the specifications contained in the enclosed and related documentation.
• This is the precondition for safe and trouble-free operation and for obtaining the product
features specified.
Product features
• 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.
( 12)
( 13)
10
All work with or on Lenze drive components and automation components must be carried out only
by qualified specialist personnel. According to IEC 60364 or CENELEC HD 384, these are persons ...
• who are familiar with the installation, mounting, commissioning, and operation of the product.
• who have the corresponding qualifications for their work.
• who know and can apply all regulations for the prevention of accidents, directives, and laws
applicable at the place of use.
Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
Page 11
2Safety instructions
2.2Device and application-specific safety instructions
2.2Device and application-specific safety instructions
• During operation, the communication module must be firmly connected to the standard device.
• With 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).
• Only use cables that meet the listed specifications.
Specification of the bus cable
• Connect a bus terminating resistor of 120 each to the first and last node of the DeviceNet line.
Wiring of the DeviceNet
• Connect the shield at the voltage supply together with the "V-" connection to GND once. For this
purpose, use the centre point of the DeviceNet line, if possible.
• Connect the shield of the DeviceNet cable for each node only to the SHIELD connection of the
plug connector.
( 25)
( 22)
Documentation relating to the standard device, host (PLC, scanner), system/machine
All the other measures prescribed in this documentation must also be implemented.
Observe the safety instructions and application notes contained in this manual.
2.3Residual hazards
Protection of persons
If Servo Drives 9400 are used on a phase earthed mains with a rated mains voltage of 400V,
protection against accidental contact is not ensured without external measures.
Protective insulation
Device protection
The communication module contains electronic components which may be damaged or destroyed
by electrostatic discharge.
Installation
( 20)
( 16)
Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD1711
If the Servo Drives 9400 are operated on a phase earthed mains with a rated mains
voltage 400 V, external measures need to be implemented in order to ensure
protection against accidental contact.
Possible consequences:
Death or severe injury
Protective measures:
If protection against accidental contact is required for the control terminals of the drive
and the connections of the plugged-in device modules, ...
• a double isolating distance must exist.
• the components to be connected must be provided with the second isolating
distance.
Note!
The available protective insulation in Servo Drives 9400 is implemented in accordance
with EN 61800-5-1.
16
Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
Documentation relating to the standard device, host (PLC, scanner), system/machine
Observe the notes and wiring instructions contained in this documentation.
5.2.1Wiring of the DeviceNet
For communication with the scanner and all further components, Servo Drives 9400 have to be
assembled with communication modules.
A DeviceNet line can have a maximum number of 64 nodes. The nodes include ...
• the scanner;
• the connected drives (devices);
• all other components which take part in communication.
For integrating the communication modules in the DeviceNet line, a PC/laptop with installed
configuration software (e. g. »RSNetWorx«) is required. The PC/laptop solely serves to the
configuration and diagnostics and therefore is not a DeviceNet node.
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The nodes of the bus system must be wired with a fieldbus cable - a DeviceNet thick or thin cable according to the DeviceNet specifications (DeviceNet Adaption of CIP, Edition 1.1, Volume 3).
DeviceNet thick and thin cables for instance are manufactured by Belden Inc., Lapp, C&M Corp., and
Madison Cable Corp.
Note!
If you do not wish to use a thick or thin cable, the cable used must meet the requirements
given in the DeviceNet specifications.
A cable that does not meet the requirements given in the DeviceNet specifications must
not be used!
Properties of the thick cable according to the DeviceNet specifications
General properties
ArrangementTwo shielded, symmetrical cables, common axis with drain wire in the centre
Overall shieldingCoverage: 65 percent
AWG 36, or at least 0.12 mm tinned copper braid (individually tinned)
Drain wireAt least copper 18; at least 19 cores (individually tinned)
Outer diameter10.41 mm (min.) ... 12.45 mm (max.)
RoundnessA radius deviation must not exceed 15 percent of one half of the outer
Cable sheath labellingVendor name, part number and additional labelling
DC resistor specification (braid,
wrapping, discharge)
Certifications (U.S. and Canada)NEC (UL), CL2/CL3 (minimum)
Bend radius20 x the diameter (installation) / 7 x the diameter (fixed)
Ambient temperature during
operation
Storage temperature-40 ... +85°C
Pull tensionmax. 845.5 N
diameter
5.74 /km (nominally up to 20°C)
-20 ... +60°C at 8 A; linear current derating to zero at 80°C
Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD1725
During commissioning, system-related data such as motor parameters, operating parameters,
responses, and parameters for fieldbus communication are defined in the drive. For Lenze devices,
this is done by means of codes.
The codes of the drive 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.
Note!
When parameterising the communication module, please note that the code number
depends on the slot of the standard device which the communication module is plugged
into.
The first two digits of the code number specify the slot:
•C13nnn for slot MXI1
Parameters of the communication module for the MXI1 slot
•C14nnn for slot MXI2
Parameters of the communication module for the MXI2 slot
Furthermore set Communication-relevant parameters of the standard device ( 48).
( 50)
( 57)
6.1Before initial switch-on
Stop!
Before switching on the standard device with the communication module for the first
time, check ...
• the entire cabling for completeness, short circuit and earth fault.
• whether the bus system is terminated at the first and last physical node by means of
a bus terminating resistor (120 ).
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For communication with the communication module, the host (PLC, scanner) must be configured
first.
Configuration for device control
For the configuration of DeviceNet, the EDS file of the communication module has to be imported
via the configuration software (e.g. »RSNetWorx« Rockwell software).
The EDS file E94AYCDN_Vxxx.eds required for configuration can be found in the download area at:
www.lenze.com
Specifying the user data length
Note!
The direction of the flow of information must be observed!
• Consumed I/O data: process data from the scanner to the drive (device)
• Produced I/O data: process data from the drive (device) to the scanner
The Servo Drives 9400 support the configuration of max. 32 process data words (max. 64 bytes) per
direction.
The user data length for consumed and produced I/O data can vary.
The user data lengths (number of process data) must be set and stored via the »Engineer« or the
scanner (Lenze Class (0x66 / 102)
User data length for consumed I/O dataUser data length for produced I/O data
Setting via the »Engineer« using C13883
The length of the ports mapped into the receipt PDO
results from the Configuring I/O data (PDO mapping)
( 36) and is displayed in C13854/1
length does not correspond to the user length data of the
consumed I/O data from C13883
DeviceNet: Consumed I/O data length is contradictory
[0x00C88211] ( 46) error message will be generated
and entered as a warning in the logbook of the standard
device when the I/O connection is established.
( 75)):
/ C14883Setting via the »Engineer« using C13884 / C14884
The length of the ports mapped into the transmission
/ C14854/1. If this
/ C14883, the
PDO results from the Configuring I/O data (PDO
mapping) ( 36) and is displayed in C13855/1 /
C14855/1
length data of the produced I/O data from C13884
C14884
contradictory [0x00C88212] ( 46) error message will
be generated and entered as a warning in the logbook of
the standard device when the I/O connection is
established.
. If this length does not correspond to the user
, the DeviceNet: Produced I/O data length is
/
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Observe the safety instructions and information on residual hazards contained in this
documentation.
Note!
Establishing communication
When the communication module is externally supplied, the standard device must also
be switched on to establish communication.
After communication has been established, communication of the externally supplied
module is independent of the switching status of the standard device.
Activating changed setting
In order to activate any changed settings, ...
• execute the device command "11: Save start parameter" via the standard device code
C00002 and ...
• then execute a "reset node" of the node or switch off and then on again the voltage
supply of the communication module.
Protection against uncontrolled restart
Following a fault (short-term mains failure, for example), it is sometimes undesirable or
even impermissible for the drive to restart.
In the Lenze setting of Servo Drives 9400, the restart protection is activated.
The restart behaviour of the drive can be set via C00142 ("auto restart after mains
connection"):
C00142 = "0: Inhibited" (Lenze setting)
• The drive remains inhibited (even if the fault is no longer active).
• A controlled restart of the drive is effected by explicit drive enable: LOW/HIGH edge
at the digital input X5/RFR.
C00142 = 1: Enabled
• An uncontrolled restart of the drive is possible.
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The "I/O data" (process data) and "Explicit Messages (parameter data) telegram types are
transmitted between the host (PLC, scanner) and the drives (devices).
7.2.1I/O data (process data)
I/O data are transmitted or received according to the producer/consumer principle. There is one
transmitter and no receiver or an optional number of receivers.
• Consumed I/O data: process data from the scanner to the drive (device)
• Produced I/O data: process data from the drive (device) to the scanner
Assembly Class (0x04 / 4)
The following transmission modes are supported:
• Poll I/O data:
The polling command which is transmitted by the scanner includes output data for the device.
The device then transmits its input data to the scanner. The polling response can also be
regarded as an acknowledgement.
• Cyclic I/O data:
The scanner and the device use cyclic I/O data to generate their data independently of each
other, which are then transmitted depending on a timer. The value of the timer must be set by
the user.
( 69)
• Change of State (CoS) I/O data:
This I/O data type is a special case of cyclic I/O data. CoS nodes always transmit their data if the
state of the data changes.
Connection Class (0x05 / 5)
( 70)
7.2.2Explicit messages (parameter data)
Explicit messages serve to configure and parameterise the individual devices of the DeviceNet.
Two nodes have a client/server relationship:
The client transmits a job (request). The server receives this job and tries to accomplish it. The server
then transmits the requested data (positive response) or an error message (negative response).
Connection Class (0x05 / 5)
( 70)
7.2.3Device Heartbeat Message
Within a configurable time interval, the device transmits its own device state to the bus via the
Device Heartbeat Message. The Device Heartbeat Message can be configured via the DeviceNet
object Identity Class (0x01 / 1)
Adjustable time interval: 1 ... 255 ms
( 67) - instance 1, attribute 10.
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For Servo Drives 9400 HighLine, the I/O data can be arranged individually (mapping). For this
purpose, the »Engineer« provides a port configurator.
The following example describes the steps required for the Servo Drive 9400 HighLine to implement
I/O data communication with a host (PLC, scanner) during which a control/status word and a 32-bit
setpoint/actual value is exchanged, respectively.
How to set the PDO mapping with the »Engineer«:
1. The I/O data mapping to the port variables is executed in the »Engineer« under the Process
data objects tab of the corresponding fieldbus communication module:
2. Select the PDO_RX0 receive object:
36
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3. Click the Edit PDO button. The selection window Process data object structure: PDO_RX0
will open:
Here you can transfer the individual ports from the Port Selection list to the "PDO_RX0"
receive PDO by clicking the >> button.
The Up and Down buttons serve to shift the sequence of the ports within the PDOs.
Note
Port mapping is no configuration that can be carried out online for the Servo Drive 9400
HighLine. The »Engineer« project must always be updated and the application must
always be downloaded afterwards.
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The following example shows the mapping of the ports "LPortControl1" and "Lport32In1"
into the reception PDO "PDO_RX0" and the mapping of the ports "LPortStatus1" and
"LPort32Out1" into the transmission PDO "PDO_TX0":
4. Confirm the selection with OK.
5. Repeat the steps 2. to 4. for the transmit object PDO_TX0.
6. Then link the ports to application signals in the technology application selected.
If the »FB Editor« is not enabled, this action can be carried out in the multiplexer codes
(> C03000).
If the »FB-Editor« is enabled, the multiplexer codes (> C03000) are no longer available. In
this case, the interconnection must be executed directly in the »FB Editor«.
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An interruption of the DeviceNet communication, e.g. by a cable break or a failure of the host (PLC,
scanner), is detected by the communication module.
Responses to communication faults can be set in the DeviceNet object Lenze Class (0x65 / 101)
( 74) or under the Monitoring tab:
SettingsDescription
Idle ModeThe scanner does not transmit any I/O data if it is in idle state.
If the device (communication module) is in the idle state, the response
parameterised here (C13880/1
I/O connection timeoutThe data transmission of the poll or CoS/Cyclic I/O connections can be
Communication errorThe device (communication module) automatically recognises
monitored by timeouts.
The timeout values are configured within the Connection Class (0x05 / 5)
This chapter supplements the error list in the reference manual and the »Engineer« online help for
the Servo Drive 9400 by the error messages of the communication module.
Reference manual/»Engineer« online help for the Servo Drive 9400
Here you will find general information on diagnostics & fault analysis and on error
messages.
10.1Short overview of the DeviceNet error messages
The following table lists all DeviceNet error messages in the numerical order of the error numbers.
Furthermore, the preset error response and – if available – the parameter for setting the error
response are specified.
Tip!
If you click on the cross-reference in the first column, you will get a detailed description
(causes and remedies) of the corresponding error message.
Error numberDesignationResponse (Lenze setting)Adjustable in
This chapter lists all DeviceNet error messages in the numerical order of the error numbers. Possible
causes and remedies as well as responses to the error messages are described in detail.
DeviceNet: Memory: Error when reading [0x00c85532]
Response (Lenze setting printed in bold)Setting: not possible
None System error Error Fault Quick stop by trou ble Warning locked Warning Information
CauseRemedy
Parameter could not be read.Send the module to Lenze and include a description of
DeviceNet: Memory: Error when writing [0x00c85533]
Response (Lenze setting printed in bold)Setting: not possible
None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
the error.
CauseRemedy
Parameter could not be written.Send the module to Lenze and include a description of
DeviceNet: Restart by watchdog reset [0x00c86010]
Response (Lenze setting printed in bold)Setting: not possible
DeviceNet: Internal error [0x00c86011]
DeviceNet: Internal error [0x00c86101]
None system fault Fault Trouble Quick stop by trouble Warning locked Warning Information
CauseRemedy
Defective moduleSend the module to Lenze and include a description of
Response (Lenze setting printed in bold)Setting: not possible
None system fault Fault Trouble Quick stop by trouble Warning locked Warning Information
CauseRemedy
Defective moduleSend the module to Lenze and include a description of
Response (Lenze setting printed in bold)Setting: not possible
None system fault Fault Trouble Quick stop by trouble Warning locked Warning Information
the error.
the error.
the error.
44
CauseRemedy
Internal errorSend the module to Lenze and include a description of
the error.
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None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
CauseRemedy
A communication error occurredCheck cables and terminals.
DeviceNet: Online [0x00c88141]
Response (Lenze setting printed in bold)Setting: not possible
None System error Error Fault Quick stop by trou ble Warning locked Warning Information
CauseRemedy
The DeviceNet is online-
DeviceNet: Consumed I/O data length is contradictory [0x00C88211]
Response (Lenze setting printed in bold)Setting: not possible
None System error Error Fault Quick stop by trou ble Warning locked Warning Information
CauseRemedy
The number of consumed I/O data via DeviceNet does
not correspond to the number configured by the
standard device through port mapping (displayed in
C13854/1
DeviceNet: Produced I/O data length is contradictory [0x00C88212]
/ C14854/1)
Response (Lenze setting printed in bold)Setting: not possible
None System error Error Fault Quick stop by trou ble Warning locked Warning Information
CauseRemedy
The number of produced I/O data via DeviceNet does not
correspond to the number configured by the standard
device through port mapping (displayed in C13855/1
C14855/1
)
Check whether the differing data length is sufficient for
the application. If required, adapt the port mapping or
the data length of the I/O data consumed via C13883
Check whether the differing data length is sufficient for
the application. If required, adapt the port mapping or
/
the data length of the I/O data produced via C13884
C14883
C14884
).
).
/
/
46
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This chapter supplements the parameter list and the table of attributes contained in the reference
manual and in the »Engineer« online help for the Servo Drive 9400 with the parameters of the
E94AYCDN (DeviceNet) communication module.
Reference manual/»Engineer« online help for the Servo Drive 9400
Here you will find general information on parameters.
11.1Communication-relevant parameters of the standard device
In this chapter communication-relevant parameters of the Servo Drive 9400 are listed in
numerically ascending order.
C00615
C00636
Parameter | Name:
C00615 | Resp. to imp. device config.
Response for an impermissible device configuration
Selection list
1Fault
3 Quick stop by trouble
4 Warning Locked
6 Information
0 No Response
SubcodesLenze settingInfo
C00615/10: No ResponseReserved
C00615/21: FaultResponse to non-permissible module in MXI1
C00615/31: FaultResponse to non-permissible module in MXI2
C00615/40: No ResponseReserved
C00615/50: No ResponseReserved
Read access Write access CINH PLC-STOP No transfer
Parameter | Name:
C00636 | Resp. to new module in MXI1
Response for the case where a new module has been plugged into slot 1 of the standard device.
Selection list (Lenze setting printed in bold)
1Fault
6 Information
5 Warning
4 Warning Locked
3 Quick stop by trouble
0 No Response
Read access Write access CINH PLC-STOP No transfer
Data type: UNSIGNED_32
Index: 23960 = 0x5D98
Data type: UNSIGNED_32
Index: 23939 = 0x5D83
48
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11Parameter reference
11.1Communication-relevant parameters of the standard device
11.2Parameters of the communication module for the MXI1 slot
In this chapter the parameters of the E94AYCDN communication module (DeviceNet) for slot MXI1
of the Servo Drive 9400 are listed in numerically ascending order.
C13231
C13489
Parameter | Name:
C13231 | Service code
This code is ...
• used device-internally and may not be written by the user.
• only displayed from »Engineer« version 2.9.
SubcodesLenze settingInfo
C13231/10
...0
C13231/320
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Parameter | Name:
C13489 | Service code
This code is ...
• used device-internally and may not be written by the user.
• only displayed from »Engineer« version 2.9.
Setting range (min. value | unit | max. value)
032
SubcodesLenze settingInfo
C13489/10Service code
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Data type: UNSIGNED_64
Index: 11344 = 0x2C50
Data type: UNSIGNED_8
Index: 11086 = 0x2B4E
C13531
Parameter | Name:
C13531 | Service code
This code is ...
• used device-internally and may not be written by the user.
• only displayed from »Engineer« version 2.9.
SubcodesLenze settingInfo
C13531/10
...0
C13531/320
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Data type: UNSIGNED_64
Index: 11044 = 0x2B24
50
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11Parameter reference
11.2Parameters of the communication module for the MXI1 slot
• used device-internally and may not be written by the user.
• only displayed from »Engineer« version 2.9.
Setting range (min. value | unit | max. value)
032
SubcodesLenze settingInfo
C13789/10Service code
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Parameter | Name:
C13850 | All words to scanner
Display of the process data words transferred from the communication module to the scanner.
In the subcodes 1 to 32, all process data words to the scanner are displayed. However, only the configured process
data words are valid.
Display area (min. value | unit | max. value)
065535
SubcodesInfo
C13850/1
...
C13850/32
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Data type: UNSIGNED_8
Index: 10786 = 0x2A22
Data type: UNSIGNED_16
Index: 10725 = 0x29E5
C13851
Parameter | Name:
C13851 | All words from scanner
Display of the process data words transferred from the scanner to the communication module.
In the subcodes 1 to 32, all process data words from the scanner are displayed. However, only the configured process
data words are valid.
Display area (min. value | unit | max. value)
065535
SubcodesInfo
C13851/1
...
C13851/32
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Data type: UNSIGNED_16
Index: 10724 = 0x29E4
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11Parameter reference
11.2Parameters of the communication module for the MXI1 slot
Setting of the data length (in bytes) of the I/O data received by the device via DeviceNet.
Note:
• If the data length is changed, the DeviceNet scanner will be informed about this change (consumed data size).
• If the data length is reduced, it must be checked before whether the intended data length is sufficient for the
application.
• If the data length of the consumed I/O data does not correspond to the length of the mapped ports which is
specified by the drive via PDO mapping, the DeviceNet: Consumed I/O data length is contradictory [0x00C88211]
( 46) error message is generated and entered as a warning into the logbook of the standard device.
• If the number of consumed I/O data deviates from the Lenze setting (4 bytes), the "Automap on Add" function in
the scanner configuration dialog of the »RSNetWorx« software has to be deactivated and the number of the
process data words has to be adapted via the "Edit I/O parameters" button.
Setting range (min. value | unit | max. value)Lenze setting
0644
Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Parameter | Name:
C13884 | Data length of produced I/O data
Data type: UNSIGNED_8
Index: 10691 = 0x29C3
Setting of the data length (in bytes) of the I/O data to be transmitted by the device via DeviceNet.
Note:
• If the data length is changed, the DeviceNet scanner will be informed about this change (produced data size).
• If the data length is reduced, it must be checked before if the intended data length is sufficient for the
application.
• If the data length of the produced I/O data does not correspond to the length of the mapped ports which is
specified by the drive via PDO mapping, the DeviceNet: Produced I/O data length is contradictory [0x00C88212]
( 46) error message is generated and entered as a warning into the logbook of the standard device.
• If the number of produced I/O data deviates from the Lenze setting (4 bytes), the "Automap on Add" function in
the scanner configuration dialog of the »RSNetWorx« software has to be deactivated and the number of the
process data words has to be adapted via the "Edit I/O parameters" button.
Setting range (min. value | unit | max. value)Lenze setting
0644
Read access Write access CINH PLC STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
C13885
Parameter | Name:
C13885 | Delete process data
Data type: UNSIGNED_8
Index: 10690 = 0x29C2
Setting of the process data which must be further processed by the drive to maintain internal communication if the
current network status (C13862
) is "Minor Fault" or "Critical Link Failure".
Selection list (Lenze setting printed in bold)
0 Use of the latest scanner I/O data
1 I/O data are set to a value of '0'
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
C13900
Parameter | Name:
C13900 | Firmware: Product type
Data type: VISIBLE_STRING
Index: 10675 = 0x29B3
Display of the product type (string with a length of 8 bytes)
The following identification code will be output: "E94AFCDN"
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
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11Parameter reference
11.2Parameters of the communication module for the MXI1 slot
Display of the firmware compilation date (string with a length of 20 bytes)
The date ("MMM DD YYYY") and time ("hh:mm:ss") will be provided, e.g. "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:
C13902 | Firmware: Version
Display of the firmware version (string with a length of 5 bytes)
The identification code will be output, e.g. "01.11".
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Parameter | Name:
C13920 | Display: DIP switch position
Display of the current DIP switch position
• The value displayed corresponds to the sum of the DIP switch values (MAC ID: 1 ... 32, baud: 1 and 2).
• The active MAC ID is displayed in C13864
• The active baud rate is displayed in C13863
Possible settings via DIP switch
Display area (min. value | unit | max. value)
0255
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
( 32)
.
.
Data type: VISIBLE_STRING
Index: 10674 = 0x29B2
Data type: VISIBLE_STRING
Index: 10673 = 0x29B1
Data type: UNSIGNED_8
Index: 10655 = 0x299F
56
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11Parameter reference
11.3Parameters of the communication module for the MXI2 slot
11.3Parameters of the communication module for the MXI2 slot
In this chapter the parameters of the E94AYCDN communication module (DeviceNet) for slot MXI2
of the Servo Drive 9400 are listed in numerically ascending order.
C14231
C14489
Parameter | Name:
C14231 | Service code
This code is ...
• used device-internally and may not be written by the user.
• only displayed from »Engineer« version 2.9.
SubcodesLenze settingInfo
C14231/10
...0
C14231/320
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Parameter | Name:
C14489 | Service code
This code is ...
• used device-internally and may not be written by the user.
• only displayed from »Engineer« version 2.9.
Setting range (min. value | unit | max. value)
032
SubcodesLenze settingInfo
C14489/10Service code
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Data type: UNSIGNED_64
Index: 10344 = 0x2868
Data type: UNSIGNED_8
Index: 10086 = 0x2766
C14531
Parameter | Name:
C14531 | Service code
This code is ...
• used device-internally and may not be written by the user.
• only displayed from »Engineer« version 2.9.
SubcodesLenze settingInfo
C14531/10
...0
C14531/320
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Data type: UNSIGNED_64
Index: 10044 = 0x273C
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11Parameter reference
11.3Parameters of the communication module for the MXI2 slot
• used device-internally and may not be written by the user.
• only displayed from »Engineer« version 2.9.
Setting range (min. value | unit | max. value)
032
SubcodesLenze settingInfo
C14789/10Service code
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Parameter | Name:
C14850 | All words to scanner
Display of the process data words transferred from the communication module to the scanner.
In the subcodes 1 to 32, all process data words to the scanner are displayed. However, only the configured process
data words are valid.
Display area (min. value | unit | max. value)
065535
SubcodesInfo
C14850/1
...
C14850/32
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Data type: UNSIGNED_8
Index: 9786 = 0x263A
Data type: UNSIGNED_16
Index: 9725 = 0x25FD
C14851
Parameter | Name:
C14851 | All words from scanner
Display of the process data words transferred from the scanner to the communication module.
In the subcodes 1 to 32, all process data words from the scanner are displayed. However, only the configured process
data words are valid.
Display area (min. value | unit | max. value)
065535
SubcodesInfo
C14851/1
...
C14851/32
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Data type: UNSIGNED_16
Index: 9724 = 0x25FC
58
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11Parameter reference
11.3Parameters of the communication module for the MXI2 slot
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Parameter | Name:
C14880 | Response in the case of comm. fault
Monitoring response in the case of communication fault
A change in the monitoring response becomes immediately effective.
Selection list
0 No Response
1Fault
3 Quick stop by trouble
4 Warning Locked
6 Information
SubcodesLenze settingInfo
C14880/10: No ResponseIdle Mode
C14880/20: No ResponseTimeout I/O connection
C14880/30: No ResponseCommunication error
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Data type: UNSIGNED_8
Data type: UNSIGNED_8
Index: 9711 = 0x25EF
Index: 9695 = 0x25DF
C14883
Parameter | Name:
C14883 | Data length of I/O data consumed
Setting of the data length (in bytes) of the I/O data received by the device via DeviceNet.
Note:
• If the data length is changed, the DeviceNet scanner will be informed about this change (consumed data size).
• If the data length is reduced, it must be checked before whether the intended data length is sufficient for the
application.
• If the data length of the consumed I/O data does not correspond to the length of the mapped ports which is
specified by the drive via PDO mapping, the DeviceNet: Consumed I/O data length is contradictory [0x00C88211]
( 46) error message is generated and entered as a warning into the logbook of the standard device.
• If the number of consumed I/O data deviates from the Lenze setting (4 bytes), the "Automap on Add" function in
the scanner configuration dialog of the »RSNetWorx« software has to be deactivated and the number of the
process data words has to be adapted via the "Edit I/O parameters" button.
Setting range (min. value | unit | max. value)Lenze setting
0644
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Data type: UNSIGNED_8
Index: 9692 = 0x25DC
Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD1761
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11Parameter reference
11.3Parameters of the communication module for the MXI2 slot
Setting of the data length (in bytes) of the I/O data to be transmitted by the device via DeviceNet.
Note:
• If the data length is changed, the DeviceNet scanner will be informed about this change (produced data size).
• If the data length is reduced, it must be checked before if the intended data length is sufficient for the
application.
• If the data length of the produced I/O data does not correspond to the length of the mapped ports which is
specified by the drive via PDO mapping, the DeviceNet: Produced I/O data length is contradictory [0x00C88212]
( 46) error message is generated and entered as a warning into the logbook of the standard device.
• If the number of produced I/O data deviates from the Lenze setting (4 bytes), the "Automap on Add" function in
the scanner configuration dialog of the »RSNetWorx« software has to be deactivated and the number of the
process data words has to be adapted via the "Edit I/O parameters" button.
Setting range (min. value | unit | max. value)Lenze setting
0644
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Parameter | Name:
C14885 | Delete process data
Data type: UNSIGNED_8
Index: 9690 = 0x25DA
Setting of the process data which must be further processed by the drive to maintain internal communication if the
current network status (C14862
) is "Minor Fault" or "Critical Link Failure".
Selection list (Lenze setting printed in bold)
0 Use of the latest scanner I/O data
1 I/O data are set to a value of '0'
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
C14900
C14901
C14902
Parameter | Name:
Data type: VISIBLE_STRING
C14900 | Firmware: Product type
Display of the product type (string with a length of 8 bytes)
The following identification code will be output: "E94AFCDN"
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Parameter | Name:
Data type: VISIBLE_STRING
C14901 | Firmware: Compilation date
Display of the firmware compilation date (string with a length of 20 bytes)
The date ("MMM DD YYYY") and time ("hh:mm:ss") will be provided, e.g. "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
C14902 | Firmware: Version
Display of the firmware version (string with a length of 5 bytes)
The identification code will be output, e.g. "01.11".
Read access Write access CINH PLC-STOP No transfer PDO_MAP_RX PDO_MAP_TX COM MOT
Index: 9675 = 0x25CB
Index: 9674 = 0x25CA
Index: 9673 = 0x25C9
62
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11Parameter reference
11.3Parameters of the communication module for the MXI2 slot
A DeviceNet node can be seen as an accumulation of objects. An individual object is characterised
by its class, its instances and attributes. Several services such as read and write services can be
applied to these objects.
Overview of implemented objects
ObjectIndexDescription
[hex][dec]
Identity Class0x011Identification and general information relating to the
DeviceNet Class0x033Settings for the DeviceNet communication
Assembly Class0x044Input/output data of the scanner
This object contains some information regarding responses to communication faults.
Interruption of the DeviceNet communication
( 39)
Instance 0
AttributeService(s)DesignationData typeValue
1GETRevisionUINT1 (0x01)
Instance 1
AttributeService(s)DesignationData typeValue
1GET / SETResponse to "Idle Mode"USINTCorresponds to the value in
2GET / SETResponse to communication
4GET / SETResponse to I/O timeoutUSINTCorresponds to the value in
errors
USINTCorresponds to the value in
C13880/1
0 = no response
1 = error
3 = quick stop by trouble
4 = warning locked
6 = information
C13880/3
0 = no response
1 = error
3 = quick stop by trouble
4 = warning locked
6 = information
C13880/2
0 = no response
1 = error
3 = quick stop by trouble
4 = warning locked
6 = information
/ C14880/1:
/ C14880/3:
/ C14880/2:
74
Note
The parameters of the "0x65" class are described in the EDS file and therefore can be set
directly in the properties dialog of the DeviceNet nodes under "Parameters" via the
»RSNetWorx« Rockwell software.
Services
Service codeDesignationDescription
0x0EGet_Attribute_SingleReading an attribute
0x10Set_Attribute_SingleWriting an attribute
Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
This object contains some information relating to data lengths of the I/O data consumed and
produced.
• Consumed I/O data: process data from the scanner to the drive (device)
• Produced I/O data: process data from the drive (device) to the scanner
Instance 0
AttributeService(s)DesignationData typeValue
1GETRevisionUINT1 (0x01)
Instance 1
AttributeService(s)DesignationData typeValue
2GET / SETData length of the
consumed
3GET / SETData length of produced I/O
data
I/O data
USINTCorresponds to the value in
C13883
0 ... 64 (0x00 ... 0x40)
USINTCorresponds to the value in
C13884
0 ... 64 (0x00 ... 0x40)
/ C14883:
/ C14884:
Note
The parameters of the "0x66" class are described in the EDS file and therefore can be set
directly in the properties dialog of the DeviceNet nodes under "Parameters" via the
»RSNetWorx« Rockwell software.
Services
Service codeDesignationDescription
0x0EGet_Attribute_SingleReading an attribute
0x10Set_Attribute_SingleWriting an attribute
Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD1775
Acknowledge Handler Class (0x2B / 43) 73
Activating changed setting 33
Active MAC ID (C13864) 54
Active MAC ID (C14864) 61
All words from scanner (C13851) 51
All words from scanner (C14851) 58
All words from standard device (C14853) 59
All words to scanner (C13850) 51
All words to scanner (C14850) 58
All words to standard device (C14852) 59
All words to the basic device (C13852) 52
All words to the basic device (C13853) 52
Application as directed 12
Application notes 9
Approvals 15
Assembly Class (0x04 / 4) 69
B
Baud rate 15
Baud rate (C13863) 54
Baud rate (C14863) 60
Before initial switch-on 30
Bus cable length 28
C
C00615 | Resp. to imp. device config. 48
C00636 | Resp. to new module in MXI1 48
C00637 | Resp. to new module in MXI2 49
C01501 | Resp. to comm. error with MXI1 49
C01502 | Resp. to comm. error with MXI2 49
C13231 | Service code 50
C13489 | Service code 50
C13531 | Service code 50
C13789 | Service code 51
C13850 | All words to scanner 51
C13851 | All words from scanner 51
C13852 | All words to the basic device 52
C13853 | All words to the basic device 52
C13854 | Length of ports mapped into receive PDO 52
C13855 | Length of ports mapped into send PDO 53
C13861 | Module state 53
C13862 | Network status 53
C13863 | Baud rate 54
C13864 | Active MAC ID 54
C13880 | Response in the case of comm. fault 54
C13883 | Data length of consumed I/O data 55
C13884 | Data length of produced I/O data 55
C13885 | Delete process data 55
C13900 | Firmware: Product type 55
C13901 | Firmware: Compilation date 56
C13902 | Firmware: Version 56
C13920 | Display: DIP switch position 56
C14231 | Service code 57
C14489 | Service code 57
C14531 | Service code 57
C14789 | Service code 58
C14850 | All words to scanner 58
C14851 | All words from scanner 58
C14852 | All words to standard device 59
C14853 | All words from standard device 59
C14854 | Length of ports mapped into receive PDO 59
C14855 | Length of ports mapped into send PDO 59
C14861 | Module state 60
C14862 | Network status 60
C14863 | Baud rate 60
C14864 | Active MAC ID 61
C14880 | Response in the case of comm. fault 61
C14883 | Data length of I/O data consumed 61
C14884 | Data length of produced I/O data 62
C14885 | Delete process data 62
C14900 | Firmware: Product type 62
C14901 | Firmware: Compilation date 62
C14902 | Firmware: Version 62
C14920 | Display: DIP switch position 63
Cable length 15
Change of State (CoS) I/O data 35
Class Instance Editor (examples) 79
Codes 48
Commissioning 30
Communication channels 34
Communication medium 15
Communication profile 15
Communication time 18
Communication-relevant parameters of the standard device
48
Configuration for device control 31
Configuring I/O data (PDO mapping) 36
Configuring the host (PLC, scanner) 31
Configuring the scanner (PLC) 31
Conformities 15
Connection Class (0x05 / 5) 70
Conventions 7
Conventions used 7
CoS/cyclic I/O connection 72
Cyclic I/O data 35
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Data length of consumed I/O data (C13883) 55
Data length of produced I/O data (C13884) 55
Data length of produced I/O data (C14884) 62
Data transfer 34
Delete process data (C13885) 55
Delete process data (C14885) 62
Device and application-specific safety instructions 11
Device Heartbeat Message 35
Device protection 11
Device type 15
DeviceNet
Communication error (error message)
Consumed I/O data length is contradictory (error message)
Short overview 43
DeviceNet line 23
DeviceNet nodes 15
DeviceNet objects 66
Diagnostics 41
Dimensions 19
DIP switch positions for setting the station address (MAC-ID)
83
DIP switch settings 32
Dismounting 21
Display
DIP switch position (C13920)
DIP switch position (C14920) 63
Document history 6
Fault with regard to internal communication 40
Feedback to Lenze 88
Firmware
Compilation date (C13901)
Compilation date (C14901) 62
Product type (C13900) 55
Product type (C14900) 62
Version (C13902) 56
Version (C14902) 62
56
G
General data 15
General safety instructions and application notes 10
I
I/O data (process data) 35
I/O data consumed 35, 75
I/O data produced 35, 75
Identification 12
Identity Class (0x01 / 1) 67
Installation 20
Interface 15
Interruption of the DeviceNet communication 39
86Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
Layout of the safety instructions 9
LED status displays 41
Length of consumed I/O data (C14883) 61
Length of ports mapped into receive PDO (C13854) 52
Length of ports mapped into receive PDO (C14854) 59
Length of ports mapped into send PDO (C13855) 53
Length of ports mapped into send PDO (C14855) 59
Lenze Class (0x65 / 101) 74
Lenze Class (0x66 / 102) 75
Lenze Class (0x67 / 103) 76
Lenze Class (0x68 / 104) 77
Lenze Class (0x6E / 110) 78
M
Mechanical installation 21
Module state (C13861) 53
Module state (C14861) 60
Monitoring 39
Mounting 21
N
Nameplate 12
Network status (C13862) 53
Network status (C14862) 60
Network topology 15
Number of nodes 15
R
Residual hazards 11
Resp. to comm. error with MXI1 (C01501) 49
Resp. to comm. error with MXI2 (C01502) 49
Resp. to imp. device config. (C00615) 48
Resp. to new module in MXI1 (C00636) 48
Resp. to new module in MXI2 (C00637) 49
Response in the case of comm. fault (C13880) 54
Response in the case of comm. fault (C14880) 61
S
Safety instructions 9, 10
Screenshots/application examples 5
Service code (C13231) 50
Service code (C13489) 50
Service code (C13531) 50
Service code (C13789) 51
Service code (C14231) 57
Service code (C14489) 57
Service code (C14531) 57
Service code (C14789) 58
Setting the baud rate 32
Setting the station address (MAC ID) 32
Specification of the bus cable 25
Specifying the user data length 31
Status displays 41
System error messages 43
O
Operating conditions 15
P
Parameter reference 48
Parameters of the communication module for the MXI1 slot 50
Parameters of the communication module for the MXI2 slot 57
PDO mapping 36
Poll I/O connection 71
Poll I/O data 35
Polling the current module status 42
Polling the current network status 42
Polling the module status 42
Polling the network status 42
Processing time 18
Product code 15
Product description 12
Product features 13
Properties of the thick cable 25
Properties of the thin cable 27
Protection against uncontrolled restart 33
Protection of persons 11
Protective insulation 16
Protocol data 18
T
Table of attributes 64
Target group 5
Technical data 15
Telegram types 35
Terminology used 8
U
Use of the communication module 12
V
Validity information 5
Vendor ID 15
Voltage supply 15, 29
W
Wiring of the DeviceNet 22
Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD1787
Page 88
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88
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E94AYCDN communication module (DeviceNet™) · Communication Manual · EDS94AYCDN · 13451097 · DMS 5.0 EN · 02/2014 · TD17