Lenze E94AYCDN User Manual

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Accessories

DeviceNet™

Servo Drives 9400

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

E94AYCDN

Communication Manual EN

Ä.N+öä

13451097

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

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

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

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

1.4 Definition of the notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 9

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

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

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

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

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

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

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

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

3.4 Equipment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14

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

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

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

4.3 Protocol data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18

4.4 Communication time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18

4.5 Dimensions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19

5Installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20

5.1 Mechanical installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21

5.1.1 Mounting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21

5.1.2 Dismounting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21

5.2 Electrical installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22

5.2.1 Wiring of the DeviceNet _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22

5.2.2 DeviceNet connection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24

5.2.3 Specification of the bus cable _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25

5.2.4 Bus cable length _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28

5.2.5 Voltage supply _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29

6 Commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30

6.1 Before initial switch-on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30

6.2 Configuring the host (PLC, scanner) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31

6.3 Possible settings via DIP switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32

6.3.1 Setting the station address (MAC ID) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32

6.3.2 Setting the baud rate _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32

6.4 Initial switch-on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33

7 Data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34

7.1 Communication channels _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34

7.2 Telegram types _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35

7.2.1 I/O data (process data) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35

7.2.2 Explicit messages (parameter data) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35

7.2.3 Device Heartbeat Message _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35

7.3 Configuring I/O data (PDO mapping) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36

2 Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17

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Contents

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

8 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39

8.1 Interruption of the DeviceNet communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39

8.2 Fault with regard to internal communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 40

9Diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 41

9.1 LED status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 41

9.2 Polling the current module status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42

9.3 Polling the current network status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42

10 Error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43

10.1 Short overview of the DeviceNet error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43

10.2 Possible causes and remedies _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 44

10.3 DeviceNet error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 47

11 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48

11.1 Communication-relevant parameters of the standard device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48

11.2 Parameters of the communication module for the MXI1 slot _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 50

11.3 Parameters of the communication module for the MXI2 slot _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57

11.4 Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64

12 Implemented DeviceNet objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 66

12.1 Identity Class (0x01 / 1) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 67

12.2 DeviceNet Class (0x03 / 3) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 68

12.3 Assembly Class (0x04 / 4) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 69

12.4 Connection Class (0x05 / 5) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 70

12.5 Acknowledge Handler Class (0x2B / 43) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 73

12.6 Lenze Class (0x65 / 101) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 74

12.7 Lenze Class (0x66 / 102) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 75

12.8 Lenze Class (0x67 / 103) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 76

12.9 Lenze Class (0x68 / 104) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 77

12.10 Lenze Class (0x6E / 110) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78

12.11 Examples for reading/writing with the »Class Instance Editor« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79

12.11.1 Writing integer codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79

12.11.2 Reading integer codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80

12.11.3 Writing codes with two decimal positions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 81

12.11.4 Reading codes with two decimal positions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82

13 DIP switch positions for setting the station address _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83

Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85

Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 88

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1 About this documentation

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

1 About this documentation

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

4 Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17

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1 About this documentation

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

Target group

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

 Tip!

Current documentation and software updates 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 module Type designation From hardware

version

Communication module DeviceNet E94AYCDN VA 01.00

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

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1 About this documentation

1.1 Document history

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

1.1 Document history

Version Description

1.0 04/2008 TD17 Field test version

2.0 06/2008 TD17 First edition

3.0 11/2008 TD17 General revision

4.0 01/2013 TD17 • Update for C13861 (network status)

•New layout

5.0 02/2014 TD17 General updates

/ C14861 (module status) and C13862 / C14862

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1 About this documentation

1.2 Conventions used

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

1.2 Conventions used

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

Type of information Identification Examples/notes

Numbers

Decimal Standard notation Example: 1234

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

Example: 1234.56

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

Binary

• Nibble

Text

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

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

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

Sequence of menu commands

Hyperlink Underlined

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...



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1 About this documentation

1.3 Terminology used

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

1.3 Terminology used

Term Meaning

Drive Lenze inverters of the "Servo Drives 9400" product series

Standard device

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

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

CoS Change of State

Device DeviceNet slave

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

Explicit messages Parameter data

HW Hardware

Host DeviceNet master

Scanner

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

»RSLogix 5000« Programming and development software by Rockwell for hosts (PLCs, scanners)

SW Software

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).

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1 About this documentation

1.4 Definition of the notes used

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

1.4 Definition of the notes used

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

Safety instructions

Layout of the safety instructions:

 Danger!

(characterises the type and severity of danger)

Note

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

Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage



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



Stop! Danger of damage to material assets



Application notes

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

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

Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation



Tip! Useful tip for easy handling



Reference to other documentation



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2 Safety instructions

2.1 General safety instructions and application notes

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

2 Safety instructions

 Note!

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.

2.1 General 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)

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.

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2 Safety instructions

2.2 Device and application-specific safety instructions

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

2.2 Device and application-specific safety instructions

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

2.3 Residual 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)

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3 Product description

3.1 Application as directed

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

3 Product description

3.1 Application as directed

The communication module ...

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

Product series Type designation From hardware

Servo Drives 9400 HighLine E94AxHxxxx 1A 01.50

Servo Drives 9400 PLC E94AxPExxxx VA 02.00

Regenerative power supply module E94ARNxxxx VA 01.00

• is a device intended for use in industrial power systems.

• should only be used under the operating conditions prescribed in this documentation.

• can only be used in DeviceNet networks.

Any other use shall be deemed inappropriate!

3.2 Identification

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

E94YCDN005

version

1 Type designation (type)

E94 Product series

AVersion

Y Module identification: extension module

C Module type: communication module

DN DeviceNet

2 Hardware version (HW)

3 Software version (SW)

From software

version

[3-1] Identification data

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3 Product description

3.3 Product features

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

3.3 Product features

• Interface module for connecting the DeviceNet communication system to the expansion slots of Servo Drives 9400

• External voltage supply via the fieldbus

• "Group 2 Only Server (Device)" functionality

• Access to all Lenze parameters

• The MAC ID and baud rate (125, 250 and 500 kbps) can be set via the DIP switches on the front

• Can be easily connected due to pluggable terminal strip with double screw connection for thick/ thin cables

• Up to 32 I/O data words (16 bits/word) per direction can be exchanged.

• Support of the services:

• Poll Messages I/O

• Cyclic I/O

• Change of State (CoS) I/O

• Explicit messages

• Device Heartbeat Message

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3 Product description

3.4 Equipment

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

3.4 Equipment

X225 5-pole plug connector with screw connection

Wiring of the DeviceNet DeviceNet connection Voltage supply

LED status displays for diagnostic purposes

LED status displays

NS DE

( 29)

( 22)

( 24)

( 41)

S225 DIP switches for setting the station address

(MAC ID) and baud rate

Possible settings via DIP switch ( 32)

E94YCDN001B

[3-2] E94AYCDN communication module (DeviceNet)

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4Technical data

4.1 General data and operating conditions

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

4 Technical data

4.1 General data and operating conditions

Area Values

Order designation E94AYCDN

Communication profile DeviceNet

Interface 5-pole plug connector with screw connection

Communication medium EN 11898

Network topology Line terminated at both ends (R = 120 )

Number of nodes Max. 64

Max. cable length 500 m (dependent on the selected baud rate and the cable type used)

DeviceNet nodes Slave

Vendor ID 445 (0x1BD)

Device type 0 (generic device)

Product code 9400 (0x24B8)

Baud rate 125, 250, 500 kbps (adjustable via DIP switch)

Voltage supply External supply via the 5-pole plug connector

V+ : U = 24 V DC, I V- : reference potential for external voltage supply

Conformities , approvals • CE

•UL

(see also hardware manual)

= 170 mA

max

 Servo Drives 9400 hardware manual

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

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4Technical data

4.2 Protective insulation

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

4.2 Protective insulation

 Danger!

Dangerous voltage

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.

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4Technical data

Ext. DC

I/O

X6X6

X7X7

X8X8

X105X105

X106

X100

X107

MXI1

MXI2

Bus

Ext. DC

MSI

MMI

4.2 Protective insulation

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

The following illustration ...

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

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

Reinforced insulation

Basic insulation

Functional insulation

[4-1] Protective insulation to EN61800-5-1

Terminal strip Connection Terminal strip Connection

X100 L1, L2, L3 (only Single Drive) X1 CAN on board 9400

X105 U, V, W 24 V (ext.)

X106 Motor PTC X4 Digital outputs

X107 Control of the motor holding

E94YCXX007

+UG, -UG X2 Statebus

Rb1, Rb2 (only Single Drive) X3 Analog inputs/outputs

brake

MXI1, MXI2 Extension module

X5 Digital inputs

X6 Diagnostics

X7 Resolver

X8 Encoder

MMI Storage module

MSI Safety module

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4Technical data

4.3 Protocol data

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

Example

Which type of protective insulation is there between the bus terminal of the device module on slot MXI1 or MXI2 and the mains terminal X100?

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

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

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

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

4.3 Protocol data

Area Values

Process data words 1 ... 32 words (16 bits/word)

Supported services • Reset

• Get_Attribute_Single

• Set_Attribute_Single

• Allocate_Master/Slave_Connection_Set

• Release_Group_2_Identifier_Set

4.4 Communication time

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

The communication times in an DeviceNet network depend on the ...

• Processing time inside the drive;

• telegram runtime (baud rate / telegram length).

Processing time inside the drive

There are no interconnections between parameter data and process data.

Data Processing time

Process data Approx. 2 ms + 1 ms tolerance + runtime of the technology applications used

Parameter data Approx. 30 ms + a tolerance of 20 ms (typically)

For some codes the processing time can be longer (see reference manual/ »Engineer« online help for the Servo Drive 9400).

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4Technical data

4.5 Dimensions

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

4.5 Dimensions

a 89 mm

b 134 mm

b1 87 mm

e 23 mm

[4-2] Dimensions

E94YCXX005

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5 Installation

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

5 Installation

 Stop!

Electrostatic discharge

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

Possible consequences

• The communication module is defective.

• Fieldbus communication is not possible or faulty.

Protective measures

Free yourself from any electrostatic charge before you touch the module.

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5 Installation

5.1 Mechanical installation

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

5.1 Mechanical installation

5.1.1 Mounting

[5-1] Mounting

5.1.2 Dismounting

[5-2] Dismounting

E94YCXX001G

E94AYCXX001H

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5 Installation

5.2 Electrical installation

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

5.2 Electrical installation

 Documentation relating to the standard device, host (PLC, scanner), system/machine

Observe the notes and wiring instructions contained in this documentation.

5.2.1 Wiring 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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5 Installation

5.2 Electrical installation

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

D1 ... n: Devices 1 ... n S: scanner (e.g. PLC, IPC)

[5-3] DeviceNet line

 Note!

• Connect a bus terminating resistor of 120  each to the first and the last node of the

• Connect the shield at the voltage supply together with the "V-" connection to GND

• Connect the shield of the DeviceNet cable for each node only to the SHIELD

E94YCDN008

DeviceNet line.

once. For this purpose, use the centre point of the DeviceNet line, if possible.

connection of the plug connector.

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5 Installation

Vcc

V+ CAN_H SHIELD CAN_L V-

5.2 Electrical installation

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

5.2.2 DeviceNet connection

The bus connection of the communication module is effected via the 5-pole plug connector with double screw connection (X225).

E94YCDN001C

[5-4] 5-pole plug connector with double screw connection

Plug connector assignment (X225)

Terminal Cable colour Description

V+ red External voltage supply

• U = 24 V DC

•I

= 170 mA

CAN_H White Data line / input for bus terminating resistor (120 )

SHIELD Shielding

CAN_L Blue Data line / input for bus terminating resistor (120 )

V- Black Reference potential for external voltage supply

max

Internal wiring of the plug connector (X225)

[5-5] Internal wiring X225

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E94YCDN006

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5 Installation

5.2 Electrical installation

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

5.2.3 Specification of the bus cable

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

Arrangement Two shielded, symmetrical cables, common axis with drain wire in the centre

Overall shielding Coverage: 65 percent

AWG 36, or at least 0.12 mm tinned copper braid (individually tinned)

Drain wire At least copper 18; at least 19 cores (individually tinned)

Outer diameter 10.41 mm (min.) ... 12.45 mm (max.)

Roundness A radius deviation must not exceed 15 percent of one half of the outer

Cable sheath labelling Vendor name, part number and additional labelling

DC resistor specification (braid, wrapping, discharge)

Certifications (U.S. and Canada) NEC (UL), CL2/CL3 (minimum)

Bend radius 20 x the diameter (installation) / 7 x the diameter (fixed)

Ambient temperature during operation

Storage temperature -40 ... +85°C

Pull tension max. 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

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5 Installation

5.2 Electrical installation

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

Data line properties

Wire pair At least copper 18; at least 19 cores (individually tinned)

Insulation diameter 3.81 mm (nominal)

Colours Light blue / white

Pair windings / m Approx. 10

Shielding per wire pair 2000/1000, Al/Mylar, Al side outside, w/shorting fold (pull tension)

Impedance 120  +/- 10 % (at 1 MHz)

Capacity between conductors 39.37 pF/m at 1 kHz (nominal)

Capacity between a conductor and another which is connected to the shield

Capacitive unbalance 3937 pF/km at 1 kHz (nominal)

DC resistor specification at 20°C max. 22.64 /km

Damping max. 0.43 dB/100 m at 125 kHz

78.74 pF/m at 1 kHz (nominal)

max. 0.82 dB/100 m at 500 kHz max. 1.31 dB/100 m at 1 MHz

Voltage conduction properties

Wire pair At least copper 15; at least 19 cores (individually tinned)

Insulation diameter 2.49 mm (nominal)

Colours Red / black

Pair windings / m Approx. 10

Shielding per wire pair 1000/1000, Al/Mylar, Al side outside, w/shorting fold (pull tension)

DC resistor specification at 20°C max. 11.81 /km

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5 Installation

5.2 Electrical installation

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

Properties of the thin cable according to the DeviceNet specifications

General properties

Arrangement Two shielded, symmetrical cables, common axis with drain wire in the centre

Overall shielding Coverage: 65 percent

AWG 36, or at least 0.12 mm tinned copper braid (individually tinned)

Drain wire At least copper 22; at least 19 cores (individually tinned)

Outer diameter 6.096 mm (minimum) ... 7.112 mm (maximum)

Roundness A radius deviation must not exceed 20 percent of one half of the outer

Cable sheath labelling Vendor name, part number and additional labelling

DC resistor specification (braid, wrapping, discharge)

Certifications (U.S. and Canada) NEC (UL), CL2 (minimum)

Bend radius 20 x the diameter (installation) / 7 x the diameter (fixed)

Ambient temperature during operation

Storage temperature -40 ... +85°C

Pull tension 289.23 N (maximum)

diameter

10.5 /km (nominally at 20°C)

-20 ... +70°C at 1.5 A; linear current derating to zero at 80°C

Data line properties

Insulation diameter 1.96 mm (nominal)

Wire pair At least copper 24; at least 19 cores (individually tinned)

Colours Light blue / white

Pair windings / m Approx. 16

Shielding per wire pair 1000/1000, Al/Mylar, Al side outside, w/shorting fold (pull tension)

Impedance 120  +/- 10 % (at 1 MHz)

Runtime 4.46 ns/m (maximum)

Capacity between conductors 39.37 pF/m at 1 kHz (nominal)

Capacity between a conductor and another which is connected to the shield

Capacitive unbalance Max. 3.94 pF/km at 1 kHz

DC resistor specification at 20°C max. 91.86 /km

Damping max. 0.95 dB/100 m at 125 kHz

Voltage conduction properties

Wire pair At least copper 22; at least 19 cores (individually tinned)

Insulation diameter 1.4 mm (nominal)

Colours Red / black

Pair windings / m Approx. 16

Shielding per wire pair 1000/1000, Al/Mylar, Al side outside, w/shorting fold (pull tension)

DC resistor specification at 20°C 57.41 /km (maximum)

78.74 pF/m at 1 kHz (nominal)

1.64 dB/100 m at 500 kHz (maximum)

2.30 dB/100 m at 1 MHz (maximum)

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5 Installation

5.2 Electrical installation

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

5.2.4 Bus cable length

The following bus cable lengths are possible depending on the baud rate and the cable type used (thick cable/thin cable):

Baud rate [kbps] Bus cable lengths [m]

Thick cable Thin cable

125 500

250 250 100

500 100

If both thick and thin cables are used, the maximum cable lengths depending on the baud rate can be determined as follows:

Baud rate [kbps] Max. bus cable length

125 500 m = L

250 250 m = L

500 100 m = L

: Length of the thick cable

thick

: Length of the thin cable

thin

thick

+ 5 L

+ 2.5 L

+ L

thin

 Note!

Select the baud rate which depends on the data volume, cycle time, and number of nodes just high enough to suit your application.

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5 Installation

5.2 Electrical installation

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

5.2.5 Voltage supply

The communication module is externally supplied with voltage at the 5-pole plug connector (X225) via the DeviceNet line.

 Note!

Use a safely separated power supply unit (SELV/PELV) in accordance with EN 61800-5-1.

• The communication module always requires an external voltage supply.

• Communication with a standard device that is separated from the mains is not possible.

Terminal data (X225)

Terminal Cable colour Description

V+ red External voltage supply

• U = 24 V DC

•I

= 170 mA

max

V- Black Reference potential for external voltage supply

Area Values

Electrical connection Plug connector with double screw connection

Possible connections rigid:

2.5 mm

flexible:

without wire end ferrule

2.5 mm

with wire end ferrule, without plastic sleeve

2.5 mm

with wire end ferrule, with plastic sleeve

2.5 mm

Tightening torque 0.5 ... 0.6 Nm (4.4 ... 5.3 lb-in)

Bare end 7 mm

(AWG 14)

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6 Commissioning

6.1 Before initial switch-on

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

6 Commissioning

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)

6.1 Before 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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6 Commissioning

6.2 Configuring the host (PLC, scanner)

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

6.2 Configuring the host (PLC, scanner)

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 data User 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)):

/ C14883 Setting 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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6 Commissioning

6.3 Possible settings via DIP switch

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

6.3 Possible settings via DIP switch

The following can be set via the DIP switch on the front:

• Station address Range: MAC ID Switches: 1 ... 32

•Baud rate Range: Baud Switches: 1 and 2

Lenze setting: all switches OFF

E94YCPM001D

[6-1] DIP switch

6.3.1 Setting the station address (MAC ID)

• The station address is set via the switches 1 ... 32 (MAC ID).

• The housing labelling corresponds to the binary values of the individual switches for determining the station address.

• Valid address range: 0 … 63

• The current address setting is displayed in C13864

Example: Setting of station address 23

Switch (MAC ID) 32 16 8 4 2 1

Switch status OFF ON OFF ON ON ON

Value 0

Station address = sum of the values = 16 + 4 + 2 + 1 = 23

DIP switch positions for setting the station address

6.3.2 Setting the baud rate

The baud rate is set via the switches 1 and 2 (Baud).

Switch (Baud) Baud rate

2 1

OFF OFF 125 kbps

OFF ON 250 kbps

ON OFF 500 kbps

ON ON No function / switch status is not supported.

/ C14864.

16 0 4 2 1

( 83)

The current baud rate setting is displayed in C13863

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/ C14863.

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6 Commissioning

6.4 Initial switch-on

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

6.4 Initial switch-on

 Documentation for the standard device

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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7 Data transfer

7.1 Communication channels

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

7 Data transfer

7.1 Communication channels

The Telegram types ( 35) are assigned to the communication channels according to their time- critical behaviour:

The process data channel transmits I/O data.

• The drive is controlled by means of the I/O data.

• The host (PLC, scanner) can directly access the I/O data. In the PLC, the data are, for instance, directly stored in the I/O area.

• I/O data are not stored in the drive (device).

• I/O data are transmitted cyclically between the host and the drives (permanent exchange of current input and output data).

The parameter data channel transmits explicit messages.

• The parameter data channel provides access to all Lenze codes.

• Parameter changes must be stored via code C00002 code of the Servo Drives 9400.

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7 Data transfer

7.2 Telegram types

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

7.2 Telegram types

The "I/O data" (process data) and "Explicit Messages (parameter data) telegram types are transmitted between the host (PLC, scanner) and the drives (devices).

7.2.1 I/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)

7.2.2 Explicit 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)

7.2.3 Device 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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7 Data transfer

7.3 Configuring I/O data (PDO mapping)

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

7.3 Configuring I/O data (PDO mapping)

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:

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7 Data transfer

7.3 Configuring I/O data (PDO mapping)

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

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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7 Data transfer

7.3 Configuring I/O data (PDO mapping)

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

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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8 Monitoring

8.1 Interruption of the DeviceNet communication

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

8 Monitoring

8.1 Interruption of the DeviceNet communication

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:

Settings Description

Idle Mode The 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 timeout The data transmission of the poll or CoS/Cyclic I/O connections can be

Communication error The device (communication module) automatically recognises

monitored by timeouts. The timeout values are configured within the Connection Class (0x05 / 5)

( 70) - instance 2 (poll I/O) or instance 4 (CoS/Cyclic I/O), attribute 9.

After the monitoring time has elapsed, the response parameterised here (C13880/2

communication faults. If a communication fault is active, the response parameterised here

(C13880/3

/ C14880/2) is activated in the drive.

/ C14880/3) is activated in the drive.

/ C14880/1) is activated in the drive.

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8 Monitoring

8.2 Fault with regard to internal communication

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

8.2 Fault with regard to internal communication

The response to a communication error between the communication module and the standard device can be set via these codes:

• C01501

• C01502

(module in slot MXI1)

(module in slot MXI2).

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9Diagnostics

9.1 LED status displays

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

9 Diagnostics

The LEDs on the front of the communication module are provided for the purpose of fault diagnostics.

Furthermore, you can query the current module status (C13861 status (C13862

/ C14862) via codes.

9.1 LED status displays

LED status display Pos. Colour/Status Description

E94YCDN007

ST Green is lit The communication module is supplied with voltage

and has established a connection to the standard device.

Green is blinking The communication module is supplied with voltage,

but has no connection to the basic device (basic device is either switched off, in the initialisation phase, or not available).

ER Red is lit There is an error in the area of the communication

module.

MS green red

off off The communication module is not being supplied

with voltage.

off on The communication module is defective and must be

replaced.

off blinking The communication module has a fault that can be

rectified.

on off The communication module is working perfectly.

blinking off The communication module has not been

completely configured or the configuration is defective.

blinking blinking The communication module is currently undergoing

a self-test.

NS green red

off off The communication module is not supplied with

voltage via DeviceNet or the "Duplicate MAC ID" test has not been completed yet.

off on The communication module cannot access the bus

(e.g. "Duplicate MAC ID", bus off, invalid baud rate, etc.).

off blinking The communication module has a fault that can be

rectified.

on off The communication module is working perfectly and

has established a connection to the scanner.

blinking off The communication module ...

•is working correctly;

• has performed the "Duplicate MAC ID" test;

• has not been connected to the scanner yet.

blinking blinking The communication module ...

• is in an error status;

• received a telegram to identify the faulty nodes (Identify Communication Faulted Request).

DE Red is lit The communication module is not accepted by the

standard device (see notes in the documentation for the standard device).

/ C14861) and the current network

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9Diagnostics

9.2 Polling the current module status

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

9.2 Polling the current module status

C13861 / C14861 shows the current module status of the DeviceNet node:

Value C13861/C14861

0 Nonexistent No online value available (communication module is offline).

1 Device Self Test The communication module is currently undergoing a self-test.

2 Device Operational The communication module is working perfectly.

3 Device in Standby The communication module has not been completely configured yet

4 Minor Fault The communication module has a fault that can be rectified.

5 Unrecoverable Fault The communication module is defective and must be replaced.

Module status Description

9.3 Polling the current network status

C13862 / C14862 shows the current network status of the DeviceNet node:

Value C13862/C14862

0 Nonexistent No online value available (communication module is offline).

1 Not online • The communication module is not supplied with voltage via

2 Link OK The communication module is working perfectly and has established

Module status Description

3 Online /

Not connected

4 Minor Fault The communication module has a fault that can be rectified.

5 Critical Link Failure The communication module cannot access the fieldbus (e.g.

or the configuration is incorrect.

DeviceNet.

• The Duplicate MAC ID test has not been completed yet.

a connection to the scanner.

The communication module

• is working correctly;

• has performed the Duplicate MAC ID test;

• has not been connected to the scanner yet.

Duplicate MAC ID, Bus Off, invalid baud rate etc.).

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10 Error messages

10.1 Short overview of the DeviceNet error messages

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

10 Error messages

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.

10.1 Short 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 number Designation Response (Lenze setting) Adjustable in

hex dec

0x00c85532

0x00c85533

0x00c86010

0x00c86011

0x00c86101

0x00c86110

0x00c8641f

0x00c86420

0x00c88111

0x00c88112 13140242 DeviceNet: Explicit Message time-out 6: Information -

0x00c88121

0x00c88132 13140274 DeviceNet: Idle mode 0: No Response C13880/1 /

0x00c88141 13140289 DeviceNet: Online 6: Information -

0x00c88211

0x00c88212

13129010 DeviceNet: Memory: Error when reading 6: Information -

13129011 DeviceNet: Memory: Error when writing 6: Information -

13131792 DeviceNet: Restart by watchdog reset 1: Fault -

13131793 DeviceNet: Internal error 1: Fault -

13132033 DeviceNet: Internal error 1: Fault -

13132048 DeviceNet: Internal mapping error 4: Warning locked -

13132831 DeviceNet: Parameter set invalid 1: Fault -

13132832 DeviceNet: Error: Lenze setting loaded 1: Fault -

13140241 DeviceNet: Time-out I/O connection 0: No Response C13880/2 /

13140257 DeviceNet: Communication error 0: No Response C13880/3 /

13140497 DeviceNet: Consumed I/O data length inconsistent 5: Warning -

13140498 DeviceNet: Produced I/O data length inconsistent 5: Warning -

C14880/2

C14880/3

C14880/1

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10 Error messages

10.2 Possible causes and remedies

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

10.2 Possible causes and remedies

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

Cause Remedy

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.

Cause Remedy

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

Cause Remedy

Defective module Send 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

Cause Remedy

Defective module Send 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.

Cause Remedy

Internal error Send the module to Lenze and include a description of

the error.

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10 Error messages

10.2 Possible causes and remedies

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

DeviceNet: Internal mapping error [0x00c86110]

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

 None  System error  Error  Fault  Quick stop by trou ble  Warning locked  Warning  Information

Cause Remedy

More than 64 bytes have been mapped Carry out Configuring I/O data (PDO mapping)

again.

DeviceNet: Invalid parameter set [0x00c8641f]

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

 None  system fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information

Cause Remedy

No active parameter set could be loaded. Download application again (including module).

DeviceNet: Error: Lenze setting loaded [0x00c86420]

( 36)

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

 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information

Cause Remedy

Access to parameter set in memory module via standard device was not successful.

DeviceNet: Idle mode [0x00c88132]

Response (Lenze setting printed in bold) Setting: C13880/1 / C14880/1 ( Adjustable response)

 None  System fault  Fault  Trouble  Quick stop by trouble Warning locked  Warning  Information

Cause Remedy

The host (PLC, scanner) is in the "Program" mode (RUN bit in the Scanner Command Register has not been set).

DeviceNet: Timeout I/O Connection [0x00c88111]

Response (Lenze setting printed in bold) Setting: C13880/2 / C14880/2 ( Adjustable response)

 None  System fault  Fault  Trouble  Quick stop by trouble Warning locked  Warning  Information

Cause Remedy

Timeout of the poll or CoS/Cyclic I/O connection Check the Expected Packet Rate in class 5, instance 2 (Poll

DeviceNet: Explicit Message Timeout [0x00c88112]

Download application again (including module).

Set the host (PLC, scanner) to "Run" mode.

I/O)/instance 4 (CoS/Cyclic I/O), attribute 9

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

 None  System error  Error  Fault  Quick stop by trou ble  Warning locked  Warning  Information

Cause Remedy

Time-out of the Explicit Message connection Check the Expected Packet Rate in class 5, instance 1

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(Explicit Message), attribute 9

Page 46

10 Error messages

10.2 Possible causes and remedies

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

DeviceNet: Communication error [0x00c88121]

Response (Lenze setting printed in bold) Setting: C13880/3 / C14880/3 ( Adjustable response)

 None  System fault  Fault  Trouble  Quick stop by trouble Warning locked  Warning  Information

Cause Remedy

A communication error occurred Check 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

Cause Remedy

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

Cause Remedy

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

Cause Remedy

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

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10 Error messages

10.3 DeviceNet error messages

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

10.3 DeviceNet error messages

Code [hex]

0x00 SUCCESS No fault

0x02 RESOURCE UNAVAILABLE Resource required to perform the service not available.

0x03 INVALID PARAM VALUE Invalid parameter value

0x08 SERVICE NOT SUPP Service is not supported.

0x09 INVALID ATTRIB VALUE Invalid attribute.

0x0B ALREADY IN STATE The object is already in the required state.

0x0C OBJ STATE CONFLICT The object cannot perform the service.

0x0E ATTR NOT SETTABLE The attribute is write-protected.

0x0F PRIVILEGE VIOLATION Access denied.

0x10 DEVICE STATE CONFLICT The current state of the device prohibits performing the

0x11 REPLY DATA TOO LARGE The response data are longer than the response buffer

0x13 NOT ENOUGH DATA The data length is too short.

0x14 ATTRIBUTE NOT SUPP The attribute is not supported.

0x15 TOO MUCH DATA The data length is too long.

0x16 OBJECT DOES NOT EXIST The device does not support the object.

0x17 FRAGMENTATION The fragmentation for the requested service is currently not

0x20 INVALID PARAMETER Invalid parameter

Error designation Description

requested service.

activated.

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11 Parameter reference

11.1 Communication-relevant parameters of the standard device

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

11 Parameter reference

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.

11.1 Communication-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

Subcodes Lenze setting Info

C00615/1 0: No Response Reserved

C00615/2 1: Fault Response to non-permissible module in MXI1

C00615/3 1: Fault Response to non-permissible module in MXI2

C00615/4 0: No Response Reserved

C00615/5 0: No Response Reserved

 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

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11 Parameter reference

11.1 Communication-relevant parameters of the standard device

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

C00637

C01501

Parameter | Name:

C00637 | Resp. to new module in MXI2

Response for the case where a new module has been plugged into slot 2 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

Parameter | Name:

C01501 | Resp. to comm. error with MXI1

Response to a communication error between an "intelligent" module in slot 1 and the standard device

Selection list (Lenze setting printed in bold)

0 No Response

1Fault

3 Quick stop by trouble

4 Warning Locked

5 Warning

 Read access  Write access  CINH  PLC-STOP  No transfer

Data type: UNSIGNED_32

Index: 23939 = 0x5D83

Data type: UNSIGNED_32

Index: 23074 = 0x5A22

C01502

Parameter | Name:

C01502 | Resp. to comm. error with MXI2

Response to a communication error between an "intelligent" module in slot 2 and the standard device

Selection list (Lenze setting printed in bold)

0 No Response

1Fault

3 Quick stop by trouble

4 Warning Locked

5 Warning

 Read access  Write access  CINH  PLC-STOP  No transfer

Data type: UNSIGNED_32

Index: 23074 = 0x5A22

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11 Parameter reference

11.2 Parameters of the communication module for the MXI1 slot

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

11.2 Parameters 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.

Subcodes Lenze setting Info

C13231/1 0

... 0

C13231/32 0

 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

Subcodes Lenze setting Info

C13489/1 0 Service 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.

Subcodes Lenze setting Info

C13531/1 0

... 0

C13531/32 0

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Data type: UNSIGNED_64

Index: 11044 = 0x2B24

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17

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11 Parameter reference

11.2 Parameters of the communication module for the MXI1 slot

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

C13789

C13850

Parameter | Name:

C13789 | 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

Subcodes Lenze setting Info

C13789/1 0 Service 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)

0 65535

Subcodes Info

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)

0 65535

Subcodes Info

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

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17 51

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11 Parameter reference

11.2 Parameters of the communication module for the MXI1 slot

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

C13852

C13853

Parameter | Name:

C13852 | All words to the basic device

Display of the process data words 1 to 32 that are transferred from the communication module to the standard device.

In the subcodes 1 to 32, all process data words from the communication module are displayed.

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

0 65535

Subcodes Info

C13852/1

...

C13852/32

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

C13853 | All words to the basic device

Display of the process data words 1 to 32 that are transferred from the standard device to the communication module.

In the subcodes 1 to 32, all process data words from the standard device are displayed.

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

0 65535

Subcodes Info

C13853/1

...

C13853/32

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Data type: UNSIGNED_16

Index: 10723 = 0x29E3

Data type: UNSIGNED_16

Index: 10722 = 0x29E2

C13854

Parameter | Name:

C13854 | Length of ports mapped into receive PDO

Display of the total data length (in bytes) of the ports that have been mapped into the receive PDO.

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

0 255

Subcodes Info

C13854/1 Length of ports mapped into receive PDO

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Data type: UNSIGNED_8

Index: 10721 = 0x29E1

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17

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11 Parameter reference

11.2 Parameters of the communication module for the MXI1 slot

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

C13855

C13861

Parameter | Name:

C13855 | Length of ports mapped into send PDO

Display of the total data length (in bytes) of the ports that have been mapped into the send PDO.

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

0 255

Subcodes Info

C13855/1 Length of ports mapped into send PDO

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

C13861 | Module state

Display of the current module state

Selection list (read only) Info

0 Nonexistent No online value available (communication module is

offline).

1 Device Self Test The communication module is currently undergoing a

self-test.

2 Device Operational The communication module is working perfectly.

3 Device in Standby The communication module has not been completely

configured yet or the configuration is incorrect.

4 Minor Fault The communication module has a fault that can be

rectified.

5 Unrecoverable Fault The communication module is defective and must be

replaced.

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Data type: UNSIGNED_16

Data type: UNSIGNED_8

Index: 10720 = 0x29E0

Index: 10714 = 0x29DA

C13862

Parameter | Name:

C13862 | Network status

Display of the current network status of the DeviceNet node

Selection list (read only) Info

0 Nonexistent No online value available (communication module is

offline).

1 Not online • The communication module is not supplied with

voltage via DeviceNet.

• The Duplicate MAC ID test has not been completed yet.

2 Link OK The communication module is working perfectly and has

established a connection to the scanner.

3 Online / Not connected The communication module

• is working correctly;

• has performed the Duplicate MAC ID test;

• has not been connected to the scanner yet.

4 Minor Fault The communication module has a fault that can be

rectified.

5 Critical Link Failure The communication module cannot access the fieldbus

(e.g. Duplicate MAC ID, Bus Off, invalid baud rate etc.).

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Data type: UNSIGNED_16

Index: 10713 = 0x29D9

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11 Parameter reference

11.2 Parameters of the communication module for the MXI1 slot

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

C13863

C13864

C13880

Parameter | Name:

C13863 | Baud rate

Display of the baud rate

Selection list (read only)

0 125.00 kbps

1 250.00 kbps

2 500.00 kbps

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

C13864 | Active MAC ID

Display of the active MAC ID

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

0 255

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

C13880 | 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

Subcodes Lenze setting Info

C13880/1 0: No Response Idle Mode

C13880/2 0: No Response Timeout I/O connection

C13880/3 0: No Response Communication error

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Data type: UNSIGNED_8

Index: 10712 = 0x29D8

Index: 10711 = 0x29D7

Index: 10695 = 0x29C7

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17

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11 Parameter reference

11.2 Parameters of the communication module for the MXI1 slot

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

C13883

C13884

Parameter | Name:

C13883 | Data length of consumed I/O data

Data type: UNSIGNED_8

Index: 10692 = 0x29C4

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

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17 55

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11 Parameter reference

11.2 Parameters of the communication module for the MXI1 slot

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

C13901

C13902

C13920

Parameter | Name:

C13901 | 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:

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)

0 255

 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

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17

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11 Parameter reference

11.3 Parameters of the communication module for the MXI2 slot

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

11.3 Parameters 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.

Subcodes Lenze setting Info

C14231/1 0

... 0

C14231/32 0

 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

Subcodes Lenze setting Info

C14489/1 0 Service 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.

Subcodes Lenze setting Info

C14531/1 0

... 0

C14531/32 0

 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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11 Parameter reference

11.3 Parameters of the communication module for the MXI2 slot

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

C14789

C14850

Parameter | Name:

C14789 | 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

Subcodes Lenze setting Info

C14789/1 0 Service 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

data words are valid.

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

0 65535

Subcodes Info

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

data words are valid.

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

0 65535

Subcodes Info

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

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17

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11 Parameter reference

11.3 Parameters of the communication module for the MXI2 slot

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

C14852

C14853

Parameter | Name:

C14852 | All words to standard device

Data type: UNSIGNED_16

Index: 9723 = 0x25FB

Display of the process data words 1 to 32 that are transferred from the communication module to the standard device.

In the subcodes 1 to 32, all process data words from the communication module are displayed.

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

0 65535

Subcodes Info

C14852/1

...

C14852/32

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

C14853 | All words from standard device

Data type: UNSIGNED_16

Index: 9722 = 0x25FA

Display of the process data words 1 to 32 that are transferred from the standard device to the communication module.

In the subcodes 1 to 32, all process data words from the standard device are displayed.

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

0 65535

Subcodes Info

C14853/1

...

C14853/32

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

C14854

C14855

Parameter | Name:

Data type: UNSIGNED_8

C14854 | Length of ports mapped into receive PDO

Display of the total data length (in bytes) of the ports that have been mapped into the receive PDO.

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

0 255

Subcodes Info

C14854/1 Length of ports mapped into receive PDO

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

Data type: UNSIGNED_8

C14855 | Length of ports mapped into send PDO

Display of the total data length (in bytes) of the ports that have been mapped into the send PDO.

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

0 255

Subcodes Info

C14855/1 Length of ports mapped into send PDO

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Index: 9721 = 0x25F9

Index: 9720 = 0x25F8

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11 Parameter reference

11.3 Parameters of the communication module for the MXI2 slot

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

C14861

C14862

Parameter | Name:

C14861 | Module state

Display of the current module state

Selection list (read only) Info

0 Nonexistent No online value available (communication module is

offline).

1 Device Self Test The communication module is currently undergoing a

self-test.

2 Device Operational The communication module is working perfectly.

3 Device in Standby The communication module has not been completely

configured yet or the configuration is incorrect.

4 Minor Fault The communication module has a fault that can be

rectified.

5 Unrecoverable Fault The communication module is defective and must be

replaced.

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

C14862 | Network status

Display of the current network status of the DeviceNet node

Selection list (read only) Info

0 Nonexistent No online value available (communication module is

offline).

1 Not online • The communication module is not supplied with

voltage via DeviceNet.

• The Duplicate MAC ID test has not been completed yet.

2 Link OK The communication module is working perfectly and has

established a connection to the scanner.

3 Online / Not connected The communication module

• is working correctly;

• has performed the Duplicate MAC ID test;

• has not been connected to the scanner yet.

4 Minor Fault The communication module has a fault that can be

rectified.

5 Critical Link Failure The communication module cannot access the fieldbus

(e.g. Duplicate MAC ID, Bus Off, invalid baud rate etc.).

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Data type: UNSIGNED_16

Index: 9714 = 0x25F2

Index: 9713 = 0x25F1

C14863

Parameter | Name:

C14863 | Baud rate

Display of the baud rate

Selection list (read only)

0 125.00 kbps

1 250.00 kbps

2 500.00 kbps

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17

Data type: UNSIGNED_8

Index: 9712 = 0x25F0

Page 61

11 Parameter reference

11.3 Parameters of the communication module for the MXI2 slot

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

C14864

C14880

Parameter | Name:

C14864 | Active MAC ID

Display of the active MAC ID

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

0 255

 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

Subcodes Lenze setting Info

C14880/1 0: No Response Idle Mode

C14880/2 0: No Response Timeout I/O connection

C14880/3 0: No Response Communication error

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

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.

( 46) error message is generated and entered as a warning into the logbook of the standard device.

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

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11 Parameter reference

11.3 Parameters of the communication module for the MXI2 slot

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

C14884

C14885

Parameter | Name:

C14884 | Data length of produced I/O data

Data type: UNSIGNED_8

Index: 9691 = 0x25DB

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.

( 46) error message is generated and entered as a warning into the logbook of the standard device.

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

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11 Parameter reference

11.3 Parameters of the communication module for the MXI2 slot

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

C14920

Parameter | Name:

C14920 | 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 C14864

• The active baud rate is displayed in C14863

Possible settings via DIP switch

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

0 255

 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

( 32)

Data type: UNSIGNED_8

Index: 9655 = 0x25B7

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11 Parameter reference

11.4 Table of attributes

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

11.4 Table of attributes

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

How to read the table of attributes:

Column Meaning Entry

Code Parameter name Cxxxxx

Name Parameter short text (display text) Text

Index dec Index under which the parameter is addressed.

hex 0x5FFF - Lenze code number

Data DS Data structure E Single variable

DA Number of array elements (subcodes) Number

DT Data type BITFIELD_8 1 byte, bit-coded

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

Factor Factor for data transmission via a bus system,

Access R Read access  Reading permitted

W Write access  Writing permitted

CINH Controller inhibit required  Writing only possible in the case of controller inhibit

depending on the number of decimal positions

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

A Array variable

BITFIELD_16 2 bytes, bit-coded

BITFIELD_32 4 bytes, bit-coded

INTEGER_8 1 byte, with sign

INTEGER_16 2 bytes with sign

INTEGER_32 4 bytes, with sign

UNSIGNED_8 1 byte, without sign

UNSIGNED_16 2 bytes without sign

UNSIGNED_32 4 bytes, without sign

VISIBLE_STRING ASCII string

OCTET_STRING

Factor 1  no decimal positions

system.

(only one parameter element)

(several parameter elements)

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

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11 Parameter reference

11.4 Table of attributes

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

Table of attributes

Code Name Index Data Access

dec hex DS DA DT Factor R W CINH

C13231

C13489

C13531

C13789

C13850

C13851

C13852

C13853

C13854

C13855

C13861

C13862

C13863

C13864

C13880

C13883

C13884

C13885

C13900

C13901

C13902

C13920

C14231

C14489

C14531

C14789

C14850

C14851

C14852

C14853

C14854

C14855

C14861

C14862

C14863

C14864

C14880

C14883

C14884

C14885

C14900

C14901

C14902

C14920

Service code 11344 0x2C50 A 32 UNSIGNED_64 

Service code 11086 0x2B4E A 1 UNSIGNED_8 1 

Service code 11044 0x2B24 A 32 UNSIGNED_64 

Service code 10786 0x2A22 A 1 UNSIGNED_8 1 

All words to scanner 10725 0x29E5 A 32 UNSIGNED_16 1 

All words from scanner 10724 0x29E4 A 32 UNSIGNED_16 1 

All words to the basic device 10723 0x29E3 A 32 UNSIGNED_16 1 

All words to the basic device 10722 0x29E2 A 32 UNSIGNED_16 1 

Length of ports mapped into receive PDO

Length of ports mapped into send PDO 10720 0x29E0 A 1 UNSIGNED_8 1 

Module status 10714 0x29DA E 1 UNSIGNED_16 1 

Network status 10713 0x29D9 E 1 UNSIGNED_16 1 

Baud rate 10712 0x29D8 E 1 UNSIGNED_8 1 

Active MAC ID 10711 0x29D7 E 1 UNSIGNED_8 1 

Response in the case of comm. fault 10695 0x29C7 A 3 UNSIGNED_8 1 

Data length of consumed I/O data 10692 0x29C4 E 1 UNSIGNED_8 1 

Data length of produced I/O data 10691 0x29C3 E 1 UNSIGNED_8 1 

Delete process data 10690 0x29C2 E 1 UNSIGNED_8 1 

Firmware: Product type 10675 0x29B3 E 1 VISIBLE_STRING 

Firmware: Compilation date 10674 0x29B2 E 1 VISIBLE_STRING 

Firmware: Version 10673 0x29B1 E 1 VISIBLE_STRING 

Display: DIP switch position 10655 0x299F E 1 UNSIGNED_8 1 

Service code 10344 0x2868 A 32 UNSIGNED_64 

Service code 10086 0x2766 A 1 UNSIGNED_8 1 

Service code 10044 0x273C A 32 UNSIGNED_64 

Service code 9786 0x263A A 1 UNSIGNED_8 1 

All words to scanner 9725 0x25FD A 32 UNSIGNED_16 1 

All words from scanner 9724 0x25FC A 32 UNSIGNED_16 1 

All words to the basic device 9723 0x25FB A 32 UNSIGNED_16 1 

All words to the basic device 9722 0x25FA A 32 UNSIGNED_16 1 

Length of ports mapped into receive PDO

Leng th of p orts ma pped i nto sen d PDO 9 720 0x2 5F8 A 1 UNSIG NED_8 1 

Module status 9714 0x25F2 E 1 UNSIGNED_16 1 

Network status 9713 0x25F1 E 1 UNSIGNED_16 1 

Baud rate 9712 0x25F0 E 1 UNSIGNED_8 1 

Active MAC ID 9711 0x25EF E 1 UNSIGNED_8 1 

Response in the case of comm. fault 9695 0x25DF A 3 UNSIGNED_8 1 

Data length of consumed I/O data 9692 0x25DC E 1 UNSIGNED_8 1 

Data length of produced I/O data 9691 0x25DB E 1 UNSIGNED_8 1 

Delete process data 9690 0x25DA E 1 UNSIGNED_8 1 

Firmware: Product type 9675 0x25CB E 1 VISIBLE_STRING 

Firmware: Compilation date 9674 0x25CA E 1 VISIBLE_STRING 

Firmware: Version 9673 0x25C9 E 1 VISIBLE_STRING 

Display: DIP switch position 9655 0x25B7 E 1 UNSIGNED_8 1 

10721 0x29E1 A 1 UNSIGNED_8 1 

9721 0x25F9 A 1 UNSIGNED_8 1 

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12 Implemented DeviceNet objects

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12 Implemented DeviceNet objects

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

Object Index Description

[hex] [dec]

Identity Class 0x01 1 Identification and general information relating to the

DeviceNet Class 0x03 3 Settings for the DeviceNet communication

Assembly Class 0x04 4 Input/output data of the scanner

Connection Class 0x05 5 Connection settings:

Acknowledge Handler Class 0x2B 43 Feedback/confirmation settings

Lenze Class (manufacturer-specific class)

0x65 101 Setting of error responses to communication faults

0x66 102 Setting of the data lengths for I/O data consumed and

0x67 103 I/O image of the data produced (process input data of

0x68 104 I/O image of the data consumed (process output data of

0x6E 110 Access to Lenze codes

device

• Explicit messages

• Poll I/O

• CoS/cyclic I/O

produced.

the scanner)

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12 Implemented DeviceNet objects

12.1 Identity Class (0x01 / 1)

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

12.1 Identity Class (0x01 / 1)

This object contains some information regarding the identification and general information relating to the device.

Instance 1

Attribute Service(s) Designation Data type Value

1 GET Vendor ID UINT 445 (0x1BD)

2 GET Device Type UINT 0 (generic)

3 GET Product Code UINT 9400 (0x24B8)

4 GET Revision Struct of

Major Revision USINT 1 (0x01)

Minor Revision USINT 1 (0x01)

5 GET Status WORD Depending on the current

6 GET Serial number UDINT Individually for the

7 GET Product Name SHORT_STRING E94AYCDN

1) The device commands "Load Lenze setting", "Save start parameters", and "Load start parameters" do not have an effect on this attribute.

GET / SET Heartbeat interval USINT 0 ... 255 s (0x0 ... 0xFF)

Services

state of the communication module

respective communication module

Lenze setting: 0s (0x0)

Service code Designation Description

0x05 Reset Reset of the communication module

0x0E Get_Attribute_Single Reading an attribute

0x10 Set_Attribute_Single Writing an attribute

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12 Implemented DeviceNet objects

12.2 DeviceNet Class (0x03 / 3)

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12.2 DeviceNet Class (0x03 / 3)

This object contains some information relating to the DeviceNet communication.

Instance 0

Attribute Service(s) Designation Data type Value

1 GET Revision UINT 2 (0x02)

Instance 1

Attribute Service(s) Designation Data type Value

1 GET MAC ID USINT 0 ... 63 (0x0 ... 0x3F)

2 GET Baud rate USINT 0 ... 2 (0x0 ... 0x02)

3 GET BOI BOOL 0

4 GET / SET Bus-off counter USINT 0 ... 255 (0x0 ... 0xFF)

5 GET Allocation information Struct of

Allocation choice byte BYTE 0 ... 63 (0x0 ... 0x3F)

Scanner MAC ID USINT 0 ... 63 (0x0 ... 0x3F)

8 GET MAC ID switch value USINT 0 ... 63 (0x0 ... 0x3F)

9 GET Baud rate switch value USINT 0 ... 2 (0x0 ... 0x02)

Services

Service code Designation Description

0x0E Get_Attribute_Single Reading an attribute

0x10 Set_Attribute_Single Writing an attribute

0x4B Allocate_Master/

Slave_Connection_Set

0x4C Release_Group_2_Identifier

_Set

Requires the application of the "Predefined Master/Slave Connection Set"

Connections via the "Predefined Master/Slave Connection Set" are deleted.

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12 Implemented DeviceNet objects

12.3 Assembly Class (0x04 / 4)

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

12.3 Assembly Class (0x04 / 4)

This object contains some information relating to input and output data of the scanner.

Instance 768 ... 832 (scanner input data)

Attribute Service(s) Designation Data type Instance/value

1) The device commands "Load Lenze setting", "Save start parameters", and "Load start parameters" do not have an effect on this attribute.

GET / SET Data Array of BYTE Instance 768 (0x300):

0 bytes to the scanner

Instance 769 (0x301): 1 byte to the scanner

Instance 770 (0x302): 2 bytes to the scanner

Instance 771 (0x303): 3 bytes to the scanner

...

Instance 832 (0x340): 64 bytes to the scanner

Instance 833 ... 897 (scanner output data)

Attribute Service(s) Designation Data type Instance/value

3 GET / SET Data Array of BYTE Instance 833 (0x341):

0 bytes from the scanner

Instance 834 (0x342): 1 byte from the scanner

Instance 835 (0x343): 2 bytes from the scanner

Instance 836 (0x344): 3 bytes from the scanner

...

Instance 897 (0x381): 64 bytes from the scanner

1) The device commands "Load Lenze setting", "Save start parameters", and "Load start parameters" do not have an effect on this attribute.

Services

Service code Designation Description

0x0E Get_Attribute_Single Reading an attribute

0x10 Set_Attribute_Single Writing an attribute

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12 Implemented DeviceNet objects

12.4 Connection Class (0x05 / 5)

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

12.4 Connection Class (0x05 / 5)

This object contains some information relating to connection settings:

• "Explicit Messages" (instance 1)

• "Poll I/O" (instance 2)

• "CoS/Cyclic I/O" (instance 4)

Instance 1 ("Explicit Messages" connection)

Attribute Service(s) Designation Data type Value

1 GET state USINT Status of the object

0: Nonexistent 1: Configuring 2: Waiting for connection ID 3: Established 4: Timed Out 5: Deferred Delete

2 GET instance_type USINT 0 (Explicit Message)

3 GET transportClass_trigger BYTE 131 (0x83)

4 GET produced_connection_id UINT Transmitting CAN identifier

5 GET consumed_connection_id UINT Receiving CAN identifier

6 GET initial_comm_characteristics BYTE 33 (0x21)

7 GET produced_connection_size UINT 132 (0x84)

Maximum amount of data produced

8 GET consumed_connection_size UINT 132 (0x84)

Maximum amount of data consumed

10 - Not in use - Not defined

11 - Not in use - Not defined

13 GET produced_connection_path

14 GET produced_connection_path EPATH -

15 GET consumed_connection_path

16 GET consumed_connection_path EPATH -

17 GET production_inhibit_time UINT 0

1) The device commands "Load Lenze setting", "Save start parameters", and "Load start parameters" do not have an effect on this attribute.

GET / SET expected_packet_rate UINT Connection-dependent

Lenze setting: 2500 ms (0x9C4)

GET / SET watchdog_timeout_action USINT Defines time-out treatment

•

1 = Auto Delete (Lenze

setting)

• 3 = Deferred Delete

_length

UINT 0

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12 Implemented DeviceNet objects

12.4 Connection Class (0x05 / 5)

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

Instance 2 ("Poll I/O" connection)

Attribute Service(s) Designation Data type Value

1 GET state USINT Status of the object

0: Nonexistent 1: Configuring 2: Waiting for connection ID 3: Established 4: Timed Out 5: Deferred Delete

2 GET instance_type USINT 1 (0x01)

3 GET transportClass_trigger BYTE 128/130

(0x80/0x82)

4 GET produced_connection_id UINT Transmitting CAN identifier

5 GET consumed_connection_id UINT Receiving CAN identifier

6 GET initial_comm_characteristics BYTE 1 (0x01)

7 GET produced_connection_size UINT Depending on the number of

8 GET consumed_connection_size UINT Depending on the number of

10 - Not in use - Not defined

11 - Not in use - Not defined

12 GET watchdog_timeout_action USINT Defines time-out treatment

13 GET produced_connection_path_

14 GET produced_connection_path EPATH 0x20, 0x67, 0x25, 0x01, 0x00,

15 GET consumed_connection_path

16 GET consumed_connection_path EPATH 0x20, 0x68, 0x25, 0x01, 0x00,

17 GET production_inhibit_time UINT 0

1) The device commands "Load Lenze setting", "Save start parameters", and "Load start parameters" do not have an effect on this attribute.

GET / SET expected_packet_rate UINT Connection-dependent

UINT 7 (0x07)

length

UINT 7 (0x07)

_length

I/O data words

(0 = Transition to Timed Out)

0x30, 0x01

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12 Implemented DeviceNet objects

12.4 Connection Class (0x05 / 5)

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

Instance 4 ("CoS/Cyclic I/O" connection)

Attribute Service(s) Designation Data type Value

1 GET state USINT Status of the object

0: Nonexistent 1: Configuring 2: Waiting for connection ID 3: Established 4: Timed Out 5: Deferred Delete

2 GET instance_type USINT 1 (0x01)

3 GET transportClass_trigger BYTE 18/0 (0x12/0x00)

4 GET produced_connection_id UINT Transmitting CAN identifier

5 GET consumed_connection_id UINT Receiving CAN identifier

6 GET initial_comm_characteristics BYTE 1 (0x01)

7 GET produced_connection_size UINT Depending on the number of

8 GET consumed_connection_size UINT 0

10 - Not in use - Not defined

11 - Not in use - Not defined

12 GET watchdog_timeout_action USINT Defines time-out treatment

13 GET produced_connection_path_

14 GET produced_connection_path EPATH 0x20, 0x67, 0x25, 0x01, 0x00,

15 GET consumed_connection_path

16 GET consumed_connection_path EPATH 0x20, 0x68, 0x25, 0x01, 0x00,

1) The device commands "Load Lenze setting", "Save start parameters", and "Load start parameters" do not have an effect on this attribute.

GET / SET expected_packet_rate UINT Connection-dependent

UINT 7 (0x07)

length

UINT 7 (0x07)

_length

GET / SET production_inhibit_time UINT 0 ... 65535 ms

I/O data words

(0 = Transition to Timed Out)

0x30, 0x01

(0x0 ... 0xFFFF) Lenze setting: 0 ms (Inhibit

Time deactivated)

Services

Service code Designation Description

0x05 Reset • Resetting the watchdog timer

• The communication between the scanner and the device changes to the "Established State"

0x0E Get_Attribute_Single Reading an attribute

0x10 Set_Attribute_Single Writing an attribute

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12 Implemented DeviceNet objects

12.5 Acknowledge Handler Class (0x2B / 43)

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

12.5 Acknowledge Handler Class (0x2B / 43)

This object contains some information relating to feedbacks/confirmations:

Instance 1

Attribute Service(s) Designation Data type Value

2 GET Retry Limit USINT 1 ms (0x01)

3 GET CoS Producing Connection

1) The device commands "Load Lenze setting", "Save start parameters", and "Load start parameters" do not have an effect on this attribute.

Services

GET / SET Acknowledge Timer UINT 1 ... 65534 ms

(0x0001 ... 0xFFFE) Lenze setting: 16 ms (0x10)

UINT 4 (0x04)

Instance

Service code Designation Description

0x0E Get_Attribute_Single Reading an attribute

0x10 Set_Attribute_Single Writing an attribute

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12 Implemented DeviceNet objects

12.6 Lenze Class (0x65 / 101)

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

12.6 Lenze Class (0x65 / 101)

This object contains some information regarding responses to communication faults.

Interruption of the DeviceNet communication

( 39)

Instance 0

Attribute Service(s) Designation Data type Value

1 GET Revision UINT 1 (0x01)

Instance 1

Attribute Service(s) Designation Data type Value

1 GET / SET Response to "Idle Mode" USINT Corresponds to the value in

2 GET / SET Response to communication

4 GET / SET Response to I/O timeout USINT Corresponds to the value in

errors

USINT Corresponds 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:

 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 code Designation Description

0x0E Get_Attribute_Single Reading an attribute

0x10 Set_Attribute_Single Writing an attribute

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12 Implemented DeviceNet objects

12.7 Lenze Class (0x66 / 102)

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

12.7 Lenze Class (0x66 / 102)

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

Attribute Service(s) Designation Data type Value

1 GET Revision UINT 1 (0x01)

Instance 1

Attribute Service(s) Designation Data type Value

2 GET / SET Data length of the

consumed

3 GET / SET Data length of produced I/O

data

I/O data

USINT Corresponds to the value in

C13883 0 ... 64 (0x00 ... 0x40)

USINT Corresponds 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 code Designation Description

0x0E Get_Attribute_Single Reading an attribute

0x10 Set_Attribute_Single Writing an attribute

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12 Implemented DeviceNet objects

12.8 Lenze Class (0x67 / 103)

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12.8 Lenze Class (0x67 / 103)

This object contains some information relating to the I/O image of the data produced (process input data of the scanner).

Instance 0

Attribute Service(s) Designation Data type Value

1 GET Revision UINT 1 (0x01)

Instance 1

Attribute Service(s) Designation Data type Value

1 GET I/O image of the data

produced (process input data of the scanner)

Services

USINT Connection-dependent

Service code Designation Description

0x0E Get_Attribute_Single Reading an attribute

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17

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12 Implemented DeviceNet objects

12.9 Lenze Class (0x68 / 104)

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12.9 Lenze Class (0x68 / 104)

This object contains some information relating to the I/O image of the data consumed (process output data of the scanner).

Instance 0

Attribute Service(s) Designation Data type Value

1 GET Revision UINT 1 (0x01)

Instance 1

Attribute Service(s) Designation Data type Value

1 GET / SET I/O image of the data

consumed (process output data of the scanner)

Services

USINT Connection-dependent

Service code Designation Description

0x0E Get_Attribute_Single Reading an attribute

0x10 Set_Attribute_Single Writing an attribute

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12 Implemented DeviceNet objects

12.10 Lenze Class (0x6E / 110)

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12.10 Lenze Class (0x6E / 110)

This object contains some information regarding the access to Lenze codes.

Instance 0

Attribute Service(s) Designation Data type Value

1 GET Revision UINT 1 (0x01)

Instance (Lenze code)

Attribute Service(s) Designation Data type Value

Lenze subcode

GET / SET Access to Lenze code

(0x6E)

Data type of the Lenze code

Value of the Lenze code/ subcode

 Note!

• If the corresponding Lenze code does not have a subcode, the value 1 must be entered in the attribute.

• A display code cannot be configured by the "SET" service.

Services

Service code Designation Description

0x0E Get_Attribute_Single Reading an attribute

0x10 Set_Attribute_Single Writing an attribute

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17

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12 Implemented DeviceNet objects

12.11 Examples for reading/writing with the »Class Instance Editor«

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12.11 Examples for reading/writing with the »Class Instance Editor«

The »Class Instance Editor« is a function of the Rockwell software »RSNetWorx«.

12.11.1 Writing integer codes

The maximum speed (n

Enter the following in the input fields of the »Class Instance Editor« (fig. [12-1]

• Description: Set Single Attribute (write code)

• Class: 6E (access to Lenze code)

•Instance: B (hex value of the code)

•Attribute: 1 (hex value of the subcode)

• ”Data sent to the device”: 4500 = 4500 [min

• Transmit data size: Double (4 bytes)

) is to be set to 4500 rpm using code C00011.

max

-1

]=FD2 (speed as hex value)

[12-1] »Class Instance Editor«: Writing integer codes

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12 Implemented DeviceNet objects

12.11 Examples for reading/writing with the »Class Instance Editor«

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12.11.2 Reading integer codes

The maximum speed (n

Enter the following in the input fields of the »Class Instance Editor« (fig. [12-2]

• Description: Get Single Attribute (read code)

• Class: 6E (access to Lenze code)

•Instance: B (hex value of the code)

•Attribute: 1 (hex value of the subcode)

•Output size format: Double (4 bytes)

• Output radix format: Decimal

• Read the decimal data that are returned: ”Data received from the device”: 4050 = 4050 [min

) is to be read from code C0011.

max

-1

]

[12-2] »Class Instance Editor«: Reading integer codes

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12 Implemented DeviceNet objects

12.11 Examples for reading/writing with the »Class Instance Editor«

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12.11.3 Writing codes with two decimal positions

The current controller reset time is to be set to 6.50 ms using code C00076.

Enter the following in the input fields of the »Class Instance Editor« (fig. [12-3]

• Description: Set Single Attribute (write code)

• Class: 6E (access to Lenze code)

•Instance: 4C (hex value of the code)

•Attribute: 1 (hex value of the subcode)

• ”Data sent to the device”: 28A =650 "6.50" is written.

• Transmit data size: Double (4 bytes)

[12-3] »Class Instance Editor«: Writing codes with two decimal positions

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12 Implemented DeviceNet objects

12.11 Examples for reading/writing with the »Class Instance Editor«

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

12.11.4 Reading codes with two decimal positions

The current controller reset time is to be read from code C00076.

Enter the following in the input fields of the »Class Instance Editor« (fig. [12-4]

• Description: Get Single Attribute (read code)

• Class: 6E (access to Lenze code)

•Instance: 4C (hex value of the code)

•Attribute: 1 (hex value of the subcode)

•Output size format: Double (4 bytes)

• Output radix format: Decimal

• Read the decimal data that are returned: ”Data received from the device”: 650  The code has the value "6.50" [ms].

[12-4] »Class Instance Editor«: Reading codes with two decimal positions

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13 DIP switch positions for setting the station address

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13 DIP switch positions for setting the station address

The station address results from the sum of the binary values of switches 1 ... 32.

The following table shows the switch positions for the valid address range 0 ... 63.

Station address (MAC ID

0 OFF OFF OFF OFF OFF OFF

1 OFF OFF OFF OFF OFF ON

2 OFF OFF OFF OFF ON OFF

3 OFF OFF OFF OFF ON ON

4 OFF OFF OFF ON OFF OFF

5 OFF OFF OFF ON OFF ON

6 OFF OFF OFF ON ON OFF

7 OFF OFF OFF ON ON ON

8OFFOFFON OFF OFF OFF

9 OFF OFF ON OFF OFF ON

10 OFF OFF ON OFF ON OFF

11 OFF OFF ON OFF ON ON

12 OFF OFF ON ON OFF OFF

13 OFF OFF ON ON OFF ON

14 OFF OFF ON ON ON OFF

15 OFF OFF ON ON ON ON

16 OFF ON OFF OFF OFF OFF

17 OFF ON OFF OFF OFF ON

18 OFF ON OFF OFF ON OFF

19 OFF ON OFF OFF ON ON

20 OFF ON OFF ON OFF OFF

21 OFF ON OFF ON OFF ON

22 OFF ON OFF ON ON OFF

23 OFF ON OFF ON ON ON

24 OFF ON ON OFF OFF OFF

25 OFF ON ON OFF OFF ON

26 OFF ON ON OFF ON OFF

27 OFF ON ON OFF ON ON

28 OFF ON ON ON OFF OFF

29 OFF ON ON ON OFF ON

30 OFF ON ON ON ON OFF

31 OFF ON ON ON ON ON

32 ON OFF OFF OFF OFF OFF

33 ON OFF OFF OFF OFF ON

34 ON OFF OFF OFF ON OFF

35 ON OFF OFF OFF ON ON

36 ON OFF OFF ON OFF OFF

37 ON OFF OFF ON OFF ON

38 ON OFF OFF ON ON OFF

DIP switch

32 16 8 4 2 1

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13 DIP switch positions for setting the station address

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Station address (MAC ID

39 ON OFF OFF ON ON ON

40 ON OFF ON OFF OFF OFF

41 ON OFF ON OFF OFF ON

42 ON OFF ON OFF ON OFF

43 ON OFF ON OFF ON ON

44 ON OFF ON ON OFF OFF

45 ON OFF ON ON OFF ON

46 ON OFF ON ON ON OFF

47 ON OFF ON ON ON ON

48 ON ON OFF OFF OFF OFF

49 ON ON OFF OFF OFF ON

50 ON ON OFF OFF ON OFF

51 ON ON OFF OFF ON ON

52 ON ON OFF ON OFF OFF

53 ON ON OFF ON OFF ON

54 ON ON OFF ON ON OFF

55 ON ON OFF ON ON ON

56 ON ON ON OFF OFF OFF

57 ON ON ON OFF OFF ON

58 ON ON ON OFF ON OFF

59 ON ON ON OFF ON ON

60 ON ON ON ON OFF OFF

61 ON ON ON ON OFF ON

62 ON ON ON ON ON OFF

63 ON ON ON ON ON ON

32 16 8 4 2 1

DIP switch

Possible settings by DIP switch

( 33)

84 Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17

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Index

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

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

Baud rate 15 Baud rate (C13863) 54 Baud rate (C14863) 60 Before initial switch-on 30 Bus cable length 28

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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Index

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

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)

Explicit Message Timeout (error message) 45

Fault: Error: Lenze Setting Loaded (error message) 45

Idle mode (error message) 45 Internal error (error message) 44 Internal mapping error (error message) 45 Invalid Parameter Set (error message) 45 Memory: Read error (error message) 44 Online (error message) 46 Produced I/O data length is contradictory (error message) 46 Restart by Watchdogreset (error message) 44

Timeout I/O Poll connection (error message) 45 DeviceNet (memory): Write error (error message) 44 DeviceNet Class (0x03 / 3) 68 DeviceNet connection 24 DeviceNet error messages 47

Causes and remedies 44

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)

DIP switch settings 32 Dismounting 21

Display

DIP switch position (C13920)

DIP switch position (C14920) 63 Document history 6

EDS file 31 Electrical installation 22 E-mail to Lenze 88 Error messages 43

Causes and remedies 44 Short overview 43

Error number

0x00c85532

0x00c85533 44 0x00c86010 44 0x00c86011 44 0x00c86101 44 0x00c86110 45 0x00c8641f 45 0x00c86420 45 0x00c88111 45 0x00c88112 45 0x00c88121 46 0x00c88132 45 0x00c88141 46 0x00c88151 46

0x00c88152 46 Establishing communication 33 Explicit messages (parameter data) 35 Explicit Messages connection 70

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

General data 15 General safety instructions and application notes 10

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

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Index

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

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

Mechanical installation 21 Module state (C13861) 53 Module state (C14861) 60 Monitoring 39 Mounting 21

Nameplate 12 Network status (C13862) 53 Network status (C14862) 60 Network topology 15 Number of nodes 15

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

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

Operating conditions 15

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

Table of attributes 64 Target group 5 Technical data 15 Telegram types 35 Terminology used 8

Use of the communication module 12

Validity information 5 Vendor ID 15 Voltage supply 15, 29

Wiring of the DeviceNet 22

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E94AYCDN communication module (DeviceNet™) · Communication Manual · EDS94AYCDN · 13451097 · DMS 5.0 EN · 02/2014 · TD17

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