Lenze E94AYCET User Manual

Accessories

EtherCAT®

Servo Drives 9400

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

E94AYCET

Communication Manual EN

Ä.NZFä

13455737

L

Contents

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

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 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 Terminals and interfaces _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14

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

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

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

4.3 Protocol data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19

4.4 Communication time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19

4.5 Dimensions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21

5Installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22

5.1 Mechanical installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23

5.1.1 Assembly _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23

5.1.2 Disassembly _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23

5.2 Electrical installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24

5.2.1 EMC-compliant wiring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24

5.2.2 Network topology _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25

5.2.3 EtherCAT connection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26

5.2.4 Specification of the Ethernet cable _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27

5.2.5 External voltage supply _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29

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

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

6.2 Configuring the controller (EtherCAT master) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31

6.2.1 Installing device description files _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31

6.2.2 Automatic device identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32

6.2.3 Configuring process data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33

6.2.4 Determining the cycle time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33

6.3 Address allocation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34

6.4 Synchronisation with "Distributed Clocks" (DC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35

6.4.1 DC configuration in the master _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36

6.4.2 DC configuration in the Servo Drive 9400 (slave) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37

6.4.3 Response of the Lenze EtherCAT nodes during start-up _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 38

6.4.4 Process data mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39

6.5 Establishing an online connection with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 40

6.5.1 Gateway controller -> configure EtherCAT _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 41

6.5.2 Gateway controller -> configure EtherCAT ADS (Beckhoff) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43

6.6 EtherCAT ADS communication parameters in »TwinCAT« and »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ 45

6.6.1 Example: Structure without a Beckhoff controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45

6.6.2 Example: Structure with a Beckhoff DIN rail IPC CX1020 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 49

6.7 Initial switch-on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 53

2 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

Contents

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7 Data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54

7.1 EtherCAT-Frames _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55

7.2 EtherCAT datagrams _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 56

7.3 EtherCAT state machine _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57

8 Process data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 59

8.1 Configuring process data (PDO mapping) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 60

8.1.1 Setting PDO mapping with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 61

8.1.2 Mapping indices and codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 63

8.1.3 Structure of the mapping codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64

8.2 Example of a drive initialisation with the "CiA402" technology application _ _ _ _ _ _ _ _ _ _ _ _ _ 65

9 Parameter data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 68

9.1 Establishing a connection between master and slave _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 68

9.2 Reading and writing parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 69

9.2.1 Reading parameters (SDO upload) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 70

9.2.2 Writing parameters (SDO download) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 74

9.3 Implemented CoE objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79

9.4 SDO abort codes (Abort codes) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80

10 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 81

10.1 Interruption of EtherCAT communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 81

10.2 Interruption of internal communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82

10.3 Frame failure detection through the application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82

10.4 EtherCAT synchronisation loss _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82

11 Diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83

11.1 LED status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83

11.1.1 Module status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 84

11.1.2 EtherCAT status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85

11.1.3 Status display at the RJ45 sockets (X246 / X247) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 87

11.2 Diagnostics with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 88

11.3 Emergency requests / Emergency messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 89

12 Error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 90

12.1 Short overview of the EtherCAT error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 90

12.2 Possible causes and remedies _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 91

13 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 94

13.1 Communication-relevant parameters of the standard device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 94

13.2 Parameters of the communication module for slot MXI1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 97

13.3 Parameters of the communication module for slot MXI2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 114

13.4 Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 131

Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 134

Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 139

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 3

1 About this documentation

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

1 About this documentation

Contents

This documentation only contains descriptions for the E94AYCET communication module
(EtherCAT®).

 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 which 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 any software provided by other manufacturers. No warranty
can be given for corresponding data provided in this documentation. For information on how to use
the software, please refer to the control system documents (controller, EtherCAT master).

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

 Tip!

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

www.ethercat.org

4 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

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 with regard to 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

EtherCAT communication module E94AYCET VE 03.00

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 engineering tools installed
(e.g. »Engineer«, »TwinCAT«), the screenshots in this documentation may differ from the actual
screen representation.

From software

version

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 5

1 About this documentation

1.1 Document history

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

1.1 Document history

Version Description

1.0 04/2008 TD17 First edition

2.0 07/2009 TD17 General revision

3.0 11/2009 TD17 Amendment of the information on the fieldbus synchronisation and general

4.0 04/2010 TD17 General revision

5.0 11/2010 TD17 • General revision

6.0 03/2011 TD17 General revision

7.0 07/2012 TD17 • General revision

8.0 01/2013 TD17 • Update for C13861

9.0 02/2014 TD17 General updates

revision

• Update for SW version 03.00

• Information about the EtherCAT register "AL Status Code
supplemented.

•Chapter EtherCAT ADS communication parameters in »TwinCAT« and

»Engineer« ( 45) supplemented.

/ C14861 (bus status)

•New layout

" ( 58)

6

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

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 ( 9) Optically highlighted reference to another page. Can be

Step-by-step instructions

In inverted commas

Point

Example: ’100’
Example: ’0110.0100’

software version of the device are highlighted accordingly in
this documentation.

Example: This function extension is available from software

version V3.0!

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

If several successive commands are required for executing a
function, the individual commands are separated from each
other by an arrow: Select the command File

Optically highlighted reference to another topic. Can be
activated with a mouse-click in this online documentation.

activated with a mouse-click in this online documentation.

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

 Open to...



Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 7

1 About this documentation

1.3 Terminology used

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

1.3 Terminology used

Term Meaning

Drive Lenze inverter of the "Servo Drives 9400" product range

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".

CoE CANopen over EtherCAT

Controller EtherCAT master

Control system

DC "Distributed clocks" for EtherCAT synchronisation

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

»PLC Designer«

ESI "EtherCAT slave information"

"Hot connect" This feature makes it possible to remove and connect slave field devices during

HW Hardware

I-1600.8 CoE index (hexadecimal representation)

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

Standard setting

PDO Process data object

SDO Service data object

SW Software

»TwinCAT« Beckhoff PC software for EtherCAT configuration

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".

(parameterisation, diagnostics, and configuration) throughout the entire life
cycle, i.e. from planning to maintenance of the commissioned machine.

(device description file in XML format)

EtherCAT® (Ethernet for Controller and Automation Technology) is an Ethernet­based fieldbus system which meets the application profile for industrial real­time systems.

EtherCAT® is a registered trademark and patented technology, licenced by
Beckhoff Automation GmbH, Germany.

operation.

In the example: index 0x1600, subindex 8

8

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

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 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



Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 9

2 Safety instructions

2.1 General safety and application notes

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

2 Safety instructions

 Note!

Always observe the specified safety measures to avoid severe injury to persons and
damage to property!

Always keep this documentation to hand in the vicinity of the product during operation.

2.1 General safety and application notes

 Danger!

If you ignore the following basic safety measures, severe injury to persons and damage
to material assets may result.

Lenze drive and automation components ...

• must only be used as directed.

Application as directed

• must never be commissioned if they display any signs of damage.

• must never be technically modified.

• must never be commissioned if they are not fully mounted.

• must never be operated without the covers required.

• during and after operation can have live, moving and rotating parts, depending on their degree
of protection. Surfaces can be hot.

For Lenze drive components ...

• only use the accessories approved.

• only use genuine spare parts supplied by the manufacturer of the product.

Observe all specifications contained in the enclosed documentation and related documentation.

• This is the precondition for safe and trouble-free operation and for obtaining the product
features specified.

Product features

• The specifications, processes, and circuitry described in this document are for guidance only and
must be adapted to your own specific application. Lenze does not take responsibility for the
suitability of the process and circuit proposals.

( 12)

( 13)

10

Only qualified personnel may work with and on Lenze drive and automation components.
According to IEC 60364 and CENELEC HD 384, these are persons ...

• who are familiar with the installation, assembly, commissioning and operation of the product.

• who have the corresponding qualifications for their work.

• who know all regulations for the prevention of accidents, directives and laws applicable on site
and are able to apply them.

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

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 to
EN 61800-5-1 in every control cabinet (SELV/PELV).

External voltage supply

• Only use cables that correspond to the given specifications.

Specification of the Ethernet cable

( 29)

( 27)

 Documentation for the standard device, control system, plant/machine

All the other measures prescribed in this documentation must also be implemented.
Observe the safety instructions and application notes stated in this manual.

2.3 Residual hazards

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 that can be damaged or destroyed by
electrostatic discharge.

Installation

( 22)

( 16)

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 11

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 with the following standard devices:

Product series Type designation From hardware

Servo Drives 9400 HighLine E94AxHxxxx VA 01.51

Servo Drives 9400 PLC E94AxPExxxx VA 02.00

Regenerative power supply module E94ARNxxxx VA 01.00

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

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

• may only be used in EtherCAT networks.

Any other use shall be deemed inappropriate!

3.2 Identification

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

[3-1] Identification data

E94YCET005

version

1 Type designation (type)

E94 Product series

AVersion

Y Module identification: Extension module

C Module type: Communication module

ET EtherCAT

2 Hardware version (HW)

3 Software version (SW)

From software

version

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Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

3 Product description

3.3 Product features

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

3.3 Product features

• Interface module for the EtherCAT communication system to be connected to the expansion
slots of the Servo Drives 9400

• The communication module can be supplied internally by the standard device and externally via
a separate voltage source.

• The CANopen device profile CiA402 in connection with Servo Drives 9400 HighLine is available
from software version 7.0.

• Supports the "Distributed Clocks" (DC) functionality for synchronisation via the fieldbus

•Cycle times:

• 1 ms or an integer multiple of 1 ms

• max. 15 ms if "Distributed Clocks" (DC) are used

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

• PDO transfer with CoE (CANopen over EtherCAT)

• Access to all Lenze parameters with CoE (CANopen over EtherCAT)

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 13

3 Product description

3.4 Terminals and interfaces

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

3.4 Terminals and interfaces

X245 External voltage supply of the communication

module
2-pole plug connector with spring connection

External voltage supply

X246 EtherCAT input (IN)

X247 EtherCAT output (OUT)

• RJ45 sockets

• with 2 LED status displays each for diagnostics

Network topology
EtherCAT connection
Status display at the RJ45 sockets (X246 / X247)

( 87)

5 LED status displays for diagnostics

MS

Module status displays

ME

RUN

EtherCAT status displays

ERR

DE

( 29)

( 25)

( 26)

( 84)

( 85)

E94YCET001B

[3-2] E94AYCET communication module (EtherCAT)

14

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

4Technical data

4.1 General data and operating conditions

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

4 Technical data

4.1 General data and operating conditions

Area Values

Order designation E94AYCET

Communication profile EtherCAT

Supported device profile and mailbox
protocol

Communication medium S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT 5e

Interface for communication RJ45: Standard Ethernet (in accordance with IEEE 802.3), 100Base-TX (Fast

Network topology Line, switch

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

Max. cable length between two
EtherCAT nodes

Bus device type EtherCAT slave

Vendor ID [hex] 0x3B

Product ID Depending on the basic device and the selected technology application (see

Revision ID Depending on the main software version of the communication module (see

Baud rate 100 Mbps, full duplex

Cycle times 1 ms or an integer multiple of 1 ms,

Voltage supply External supply via a separate power supply unit

Conformity, approvals • CE

CANopen over EtherCAT (CoE)

Ethernet)

100 m (typically)

chapter Automatic device identification

chapter Identification

max. 15 ms if "Distributed clocks" (DC) are used

+: U = 24 V DC (20.4 V - 0 % ... 28.8 V + 0 %), I = 130 mA

-: reference potential for external voltage supply

•UL

(see also hardware manual)

( 12)).

( 32)).

 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.

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 15

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 device modules, ...

• a double isolating distance must be available.

• the components to be connected must be provided with a second isolating distance.

 Note!

The existing protective insulation in the Servo Drives 9400 is implemented according to
EN 61800-5-1.

16

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

4Technical data

Ext. DC

I/O

X4

X6X6

X5

X7X7

X8X8

X3

X2

X1

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 in accordance with EN61800-5-1

Terminal strip Connection Terminal strip Connection

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

+UG, -UG X2 State bus

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

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

X106 Motor PTC X4 Digital outputs

X107 Control of the motor holding

brake

E94YCXX007

X5 Digital inputs

X6 Diagnostics

X7 Resolver

X8 Encoder

MXI1, MXI2 Extension module

MMI Memory module

MSI Safety module

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 17

4Technical data

4.2 Protective insulation

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

Example

Which type of protective insulation is used between the bus terminal of the device module in 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 "basic insulation".

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

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

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4Technical data

4.3 Protocol data

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

4.3 Protocol data

Area Values

Process data 1 ... 32 process data words for each direction

(max. 64 bytes, 16 bits / word)

Parameter data (mailbox size for CoE
transfer)

4.4 Communication time

Parameter data (SDO)

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

The processing time in the drive is approx. 30ms+20ms tolerance (typical)

Some codes may require a longer processing time (see reference manual/»Engineer« online help for
Servo Drive 9400).

Max. 128 bytes

Process data (PDO)

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

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

• processing time in the drive (interval time of the application task, process data mode);

• Runtime on the fieldbus (frame length, number of nodes, PDO update time, instant of
transmission of the EtherCAT frame);

• Use of the "Distributed clocks" (DC) functionality for synchronised operation.

Synchronisation with "Distributed Clocks" (DC)

( 35)

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 19

4Technical data

4.4 Communication time

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

The mentioned basic conditions result in the following processing times for the process data in the
drive:

• DC use (synchronised operation):
The processing time starts with the acceptance of the setpoints by the drive with the Sync0

event (DC synchronisation cycle) and ends with the provision of the current actual values in the
EtherCAT interface.

Depending on the selected Process data mode
processing times result:

• Deterministic mode: 2.1 ms + interval time of the application task

• Optimised mode: 1.3 ms + interval time of the application task

• No DC use (non-synchronised operation):
The processing time starts with the acceptance of the setpoints by the drive at a time that is not

synchronised with the EtherCAT master and ends with the provision of the current actual values
in the EtherCAT interface.

The following processing time arises:

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

( 39) (C13892 / C14892), the following

 Documentation of the 9400 function library

Here you can find detailed information on how to set the interval time of the application
task.

20

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

4Technical data

4.5 Dimensions

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

4.5 Dimensions

a 89 mm

b 134 mm

b1 87 mm

e 23 mm

[4-2] Dimensions

E94YCXX005

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 21

5 Installation

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

5 Installation

 Stop!

Electrostatic discharge

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

Possible consequences:

• The communication module is defective.

• Fieldbus communication is faulty or not possible.

Protective measures:

Before touching the module, make sure that you are free of electrostatic charge.

22 Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

5 Installation

5.1 Mechanical installation

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

5.1 Mechanical installation

5.1.1 Assembly

[5-1] Assembly

5.1.2 Disassembly

[5-2] Disassembly

E94YCXX001G

E94AYCXX001H

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 23

5 Installation

5.2 Electrical installation

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

5.2 Electrical installation

 Documentation for the standard device, control system, plant/machine

Observe the notes and wiring instructions stated.

5.2.1 EMC-compliant wiring

In typical systems, standard shielding is sufficient for Ethernet cables.

However, in environments with a very high level of interference, EMC resistance can be improved
by earthing both sides of the cable shield as well.

For this purpose, observe the following notes:

1. The distance of the additional earthing from the Ethernet plug depends on the slot of the
module. The distance is:

• approx. 10 cm for the upper slot (MXI1)

• approx. 20 cm for the lower slot (MXI2)

2. Measure the appropriate distance along the cable and, starting from this point, remove 2 cm of
the cable's plastic sheath.

3. Fasten the cable shield to the shield sheet of the Servo Drive 9400.

A Fastening to the shield sheet of the Servo Drive

E94YCXX008

[5-3] EMC-compliant wiring

9400

B Outgoing EtherCAT line at X247 (OUT)

C IncomingEtherCAT line at X246 (IN)

D Communication module in slot MXI1 of the

Servo Drive 9400

24

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

5 Installation

M

SD

SD

SD

IN

INOUT

INOUT

M

S

SD

SD

M

IN IN

5.2 Electrical installation

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

5.2.2 Network topology

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

Line topology

M = master

SD = slave device

E94AYCET006

[5-4] Line topology

The devices are interconnected successively.

In order to ensure trouble-free operation, it is required to assign and wire the EtherCAT inputs (IN)
and EtherCAT outputs (OUT) correctly.

The receiving line is plugged into socket X246 (IN), the forwarding line into socket X247 (OUT).

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

 Tip!

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

Switch topology

M = master

S = switch

SD = slave device

E94AYCET007

[5-5] Switch topology

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

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 25

5 Installation

5.2 Electrical installation

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

5.2.3 EtherCAT connection

The EtherCAT connection is established via the RJ45 sockets X246 (IN) and X247 (OUT).

A standard Ethernet patch cable is suitable for connecting the communication module to the
EtherCAT fieldbus.

Specification of the Ethernet cable

( 27)

 Note!

In order to prevent damage to the RJ45 socket, plug or remove the Ethernet cable
connector straight (at a right angle) into/from the socket.

Pin assignment of the RJ45 sockets

RJ45 socket Pin Signal

1Tx +

2Tx -

3Rx +

4-

5-

6Rx -

E94AYCXX004C

7-

8-

 Tip!

The EtherCAT interfaces are provided with an auto auto MDIX function. This function
adjusts the polarity of the RJ45 interfaces so that a connection can be established
irrespective of the polarity of the opposite EtherCAT interface and irrespective of the type
of cable used (standard patch cable or crossover cable).

26

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

5 Installation

5.2 Electrical installation

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

Mounting clearance

When ordering and using the Ethernet cable, observe the mounting clearances provided.

E94YCET017

[5-6] Mounting clearance

5.2.4 Specification of the Ethernet cable

 Note!

Only use cables that correspond to the given specifications.

Specification of the Ethernet cable

Ethernet standard Standard Ethernet (acc. to IEEE 802.3), 100Base-TX (Fast Ethernet)

Cable type S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT 5e

Damping 23.2 dB (for 100 MHz and 100 m each)

Crosstalk damping 24 dB (for 100 MHz and 100 m each)

Return loss 10 dB (100 m each)

Surge impedance 100 

Structure of the Ethernet cable

A Cable insulation

B Braid

C Foil shielding

TP1

Twisted core pairs 1 ... 4

...

Colour code of the Ethernet cable

TP4

( 28)

E94YCEP016

[5-7] Structure of the Ethernet cable (S/FTP, CAT 5e)

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 27

5 Installation

5.2 Electrical installation

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

Colour code of the Ethernet cable

 Note!

Wiring and colour code are standardised in EIA/TIA 568A/568B.

The use of 4-pole Ethernet cables according to industrial standard is permissible. The
cable type only connects the assigned pins 1, 2, 3 and 6.

E94YCEI004A

[5-8] Ethernet plugs in accordance with EIA/TIA 568A/568B

Pair Pin Signal EIA/TIA 568A EIA/TIA 568B

3 1 Tx + white / green white / orange

2 Tx - green orange

2 3 Rx + white / orange white / green

1 4 blue blue

5 white / blue blue / white

2 6 Rx - orange green

4 7 white / brown white / brown

8brown brown

28

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17

5 Installation

5.2 Electrical installation

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

5.2.5 External voltage supply

The communication module can be supplied externally with voltage via separate supply cables at
the 2-pole plug connector X245.

 Note!

With external voltage supply, always use a separate power supply unit, safely separated
to EN 61800-5-1 in every control cabinet (SELV/PELV).

External voltage supply of the communication module is necessary if the bus communication is to
be continued in the event of a failure of the supply of the standard device.

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

Assignment of the X245 plug connector

Designation Description

+ U = 24 V DC (20.4 V -0 % ... 28.8 V +0 %)

I = 130 mA

- Reference potential for the external voltage supply

Terminal data

Area Values

Electrical connection 2-pole plug connector (spring connection/screw connection)

Possible connections Fixed:

2

1.5 mm

Flexible:

Without wire end ferrule

1.5 mm

With wire end ferrule, without plastic sleeve

1.5 mm

With wire end ferrule, with plastic sleeve

0.5 mm

Starting torque 0.5 ... 0.6 Nm / 4.4 ... 5.3 lb-in (only with screw connection)

Stripping length 6 mm with screw connection

9 mm with spring connection

(AWG 16)

2

(AWG 16)

2

(AWG 16)

2

(AWG20)

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17 29

6 Commissioning

6.1 Before initial switch-on

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

6 Commissioning

During commissioning, plant-specific data such as motor parameters, operating parameters,
responses, and parameters for fieldbus communication are defined for the drive. Lenze devices use
codes for this purpose.

The codes of the drive and for communication are saved to the memory module in a non-volatile
data set.

In addition, there are codes for diagnosing and monitoring the stations.

 Note!

When parameterising the communication module, please observe that the code number
depends on the slot of the Servo Drive 9400 in which the communication module has
been inserted.

The first two digits of the code number specify the slot:

•C13nnn for slot MXI1

Parameters of the communication module for slot MXI1

•C14nnn for slot MXI2

Parameters of the communication module for slot MXI2

You also have to set the Communication-relevant parameters of the standard device

( 94)

.

( 97)

( 114)

6.1 Before initial switch-on

 Stop!

Before you switch on the Servo Drive 9400 and the communication module for the first
time, check the entire wiring for completeness, short circuit and earth fault.

30

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17