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EDSDEN
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Ä!P0hä
Communication Manual
DeviceNet
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Preface 1
Contents
1 Preface
Contents |
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1.1 |
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
1.1-1 |
1.2 |
Comparison of industrial fieldbus systems . . . . . . . . . . . . . . . . . . . . . . . . . . . |
1.2-1 |
1.3 |
About this Communication Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
1.3-1 |
1.4 |
Legal regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
1.4-1 |
EDSDEN EN 06/2004 |
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1-1 |
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Preface 1
Introduction 1.1
1.1Introduction
Lenze fieldbus systems in industrial applications
Decision support
The competitive situation in the mechanical and system engineering sector requires new means to optimise the production costs. This is why modular machine and system engineering is becoming increasingly more important, since individual solutions can now be set up easily and cost-effectively from a single modular system.
For an optimal communication between the single modules of a system, fieldbus systems are increasingly used for process automation. Lenze offers the following communication modules for the standard fieldbus systems:
ƒCAN (Lenze system bus)
ƒCANopen
ƒPROFIBUS-DP
ƒInterbus
ƒINTERBUS loop
ƒDeviceNet
ƒLON
ƒAS-i
The communication modules are especially designed for Lenze drive components and flexible use. You can use the same communication modules for Lenze servo inverters and Lenze frequency inverters.
This means for you: Easy communication.
ƒYou must only know one communication system.
ƒHandling is always the same.
ƒYou reduce your costs because you can make use of the knowledge gained once.
–Training is only required once.
–The planning time becomes shorter.
The decision for a fieldbus systems depends on many different factors. The following overviews will help you to find the solution for your application.
EDSDEN EN 06/2004 |
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1.1-1 |
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1 Preface
1.1Introduction
PROFIBUS-DP
Interbus
For bigger machines with bus lengths of more than 100 metres, INTERBUS or PROFIBUS-DP (PROFIBUS-Decentralised Periphery) are frequently used. The PROFIBUS-DP is always used together with a master control (PLC) – here the PROFIBUS master transmits e. g. the setpoints to the single PROFIBUS devices (e. g. Lenze controller).
When using the data baud rate of 1.5 Mbits/s typical for the PROFIBUS-DP, the sensors and actuators receive the process data. Due to the data transmission mode and the telegram overhead, a bus cycle time results at 1.5 Mbits/s, which is sufficient to control e. g. conveyors. If, for technical reasons, the process data must be transmitted faster to the sensors and actuators, the PROFIBUS can also be operated with a data transmission rate of maximally 12 Mbits/s.
The INTERBUS proves its worth primarily in commercial sized installation with many nodes, for example in the automotive industry.The ringstructure offers excellent diagnostic functions. It can be exactly detected, which node telegram is destroyed by electromagnetic interferences or if the INTERBUS cable is affected by a short circuit or earth fault. Moreover, the INTERBUS with a baud rate of 500 kbits/s is more efficient in the process data transmission than other bus systems with the same baud rate. If data is to be transmitted extremely fast, the INTERBUS can also be operated with 2 Mbits/s.
Lenze system bus (CAN)
CANopen
DeviceNet
LON
With the 9300 servo controller series, Lenze has implemented the system bus based on CAN (Controller Area Network). In this connection, functions of the CANopen communication profile according to DS301 were integrated. The main task of the system bus is to exchange data between the controllers and to easily communicate with sensors, actuators and operating/display units without the need of a master control. Furthermore, you can realise applications in which controllers are synchronised to each other by means of the system bus.
The CAN bus is available at a reasonable price and is suitable for smaller machines.
CANopen is a communication protocol specified to the CiA (CAN in Automation) user group. Lenze can provide communication modules for communicatingwithCANopenmasters.Thesemodulesarecompatiblewith the specification DS 301 V4.01.
The American automation specialist Allan Bradley developed the DeviceNet fieldbus based on the CAN controller. This communication profile is published by the ODVA user organisation. A great amount of sensors and actuators are available. Similar to CANopen, a DeviceNet master is used to control the DeviceNet.
The Echelon company (USA) has developed the Local Operation Network for distributed industrial applications with non-time critical demands. This bus system is mainly used in building automation. Each device has an own intelligence so that a master control system is only required in a restricted way or not at all.
1.1-2 |
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EDSDEN EN 06/2004 |
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Preface 1
Introduction 1.1
AS-i |
The AS-i (Actuator-Sensor-Interface) bus is frequently used at the lowest |
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sensor and actuator level. Binary I/O signals can be transmitted very |
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cost-effectively this way. The bus system is user-friendly, easy to configure |
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and flexible in terms of installation. The data and the auxiliary power for the |
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connected AS-i devices are transmitted via the two-core AS-i cable. |
INTERBUS loop
The INTERBUS Loop was developed as a pure sensor/actuator bus and provides a quick and easy means of connecting digital and analog devices via insulation piercing connecting devices. INTERBUS Loop is located lower down the hierarchy than INTERBUS (remote bus) and can be easily connected to it via a bus terminal.
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1.1-3 |
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1 |
Comparison of industrial fieldbus systems |
1.2 |
1.2Comparison of industrial fieldbus systems
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CAN / |
DeviceNet |
PROFIBUS-DP |
AS-i |
Interbus |
INTERBUS |
LON |
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CANOpen |
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loop |
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Topology |
Line with |
Line with |
Line with |
Line, tree, ring |
Ring |
Ring |
Line (2 wire) or any |
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terminating |
terminating |
terminating |
(possible) |
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other |
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resistors |
resistors |
resistors |
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Bus |
Multi master |
Single master |
Single master |
Single master |
Single master |
only together with |
Multi master |
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management |
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INTERBUS-S; single |
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master (bus |
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terminal) |
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Max. number |
64 |
64 |
124 (4 segments, 3 |
124 sensors/actors |
512 slaves, |
32 slaves |
32385 devices |
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of devices |
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repeaters), |
1 master |
1 master |
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distributed to 255 |
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(master and |
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max. 32 per |
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subnetworks with |
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segment |
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127 devices each |
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slaves) |
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Max. distance |
Dependent on the |
100 m (500 |
1.2 km (93.75 |
100 m |
1.5 m (local bus) |
10 m (max. 100 m |
2 km at 78 kbits/s |
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between |
baud rate |
kbits/s) |
kbits/s) |
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400 m (remote |
cable length |
(twisted pair), |
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devices |
1 km (50 kbits/s) |
250 m (250 |
100 m (12 Mbits/s) |
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bus) |
without repeater) |
6.1 km at 5.48 |
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25 m (1 Mbits/s) |
kbits/s) |
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2.5 km (optical |
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kbits/s (optical |
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without |
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500 m (125 |
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fibre) |
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fibre plastics) |
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repeater |
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kbits/s) |
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Max. distance |
General length |
Not specified |
10 km (93.75 |
300 m (2 |
13 km (remote |
No repeater |
Almost any |
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between |
reduction |
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kbits/s) |
repeaters) |
bus), |
required |
Expandable by |
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devices with |
Dependent on the |
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100 km (optical |
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subnetworks |
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repeater used |
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fibre) |
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(without |
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repeater |
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repeaters) |
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Transfer |
Shielded, twisted |
Shielded, twisted |
Shielded, twisted |
Unshielded and |
Shielded, twisted |
Unshielded, |
Unshielded and |
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medium |
pair cable |
pair cable |
pair cable |
untwisted flat pair |
5-wire cable |
twisted pair cable |
untwisted pair |
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cable |
Optical fibre, |
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cable |
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infrared |
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Radio, optical fibre, |
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power line |
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Auxiliary |
Possible via |
Possible via |
Possible via |
Current supply via |
Group via bus |
Current supply via |
Possible via |
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energy supply |
additional wires in |
additional wires in |
additional wires in |
data cable (2 to 8 |
terminal (remote |
data cable (approx. |
additional wires in |
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via bus cable |
the bus cable |
the bus cable |
the bus cable |
A) |
bus) |
1.5 A) |
the bus cable |
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Baud rate |
10 kbits/s - 1 |
125 kbits/s, |
9.6 kbits/s - 12 |
167 kbits/s |
500 kbits/s oder |
500 kbits/s |
78 kbits/s - 1.25 |
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Mbit/s |
250 kbits/s, |
Mbits/s |
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2 Mbits/s |
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Mbits/s |
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500 kbits/s |
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Typical update |
Approx. 1.32 ms at |
Approx. 2.64 ms at |
Approx. 2.5 ms at |
Typically 5 ms |
At least 2 ms |
At least 2 ms |
Approx. 70 ms |
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time (e.g. 8 |
1 Mbit/s (high |
500 kbits/s (high |
500 kbits/s |
(every 4 bits) |
(process data) |
(process data) |
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priority) |
priority) |
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devices, 4 |
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bytes user |
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data) |
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Telegram |
0 to 8 bytes |
0 to 8 bytes |
0 to 246 bytes |
4 bits |
1 to 64 bytes data; |
1 to 64 bytes data; |
1 to 228 bytes |
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length (user |
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up to 246 bytes |
up to 246 bytes |
data; |
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data) |
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parameters |
parameters |
typically approx. |
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11 bytes |
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Telegram |
106 bits at 8 bytes |
106 bits at 8 bytes |
User data + |
21 bits, of which: |
User data + |
User data + |
Max. 255 bytes, |
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length (total) |
user data |
user data |
6 to 11 bytes |
14 bits master, 7 |
6 bytes |
6 bytes |
User data + 27 |
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bits slave |
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bytes |
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Bus access |
CSMA/CA message |
CSMA/CA message |
Cyclic polling |
Cyclic polling |
Time grid / |
Time grid / |
Modified |
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methods |
oriented |
oriented |
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distributed shift |
distributed shift |
CSMA/CD |
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register |
register |
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1.2-1 |
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1 Preface
1.2Comparison of industrial fieldbus systems
CAN / |
DeviceNet |
PROFIBUS-DP AS-i |
Interbus |
INTERBUS |
LON |
CANOpen |
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loop |
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Lenze communication modules for Lenze basic devices
z9300 Servo Inverter and Servo PLC
z8200 vector frequency inverter
zFrequency inverter 8200 motec
zDrive PLC
zstarttec
on board (only |
2175 (pluggable) |
2133 (pluggable) |
Not available |
2111 and 2113 |
2112 (pluggable) |
2141 (pluggable) |
parts of CANopen) |
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(both pluggable) |
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CANopen 2175 |
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(pluggable |
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Function module |
Function module |
Function module |
E82ZAFFC010 |
Function module |
2112 (pluggable) |
2141 (pluggable) |
System bus (only |
(in preparation) |
E82ZAFPC010 or |
function module |
E82ZAFIC010 (can |
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parts of CANopen) |
Pluggable 2175 |
2133 (pluggable) |
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be integrated) or |
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E82ZAFCC010 |
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2111 or 2113 (both |
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E82ZAFCC100 or |
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pluggable) |
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E82ZAFCC210 |
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or pluggable 2175 |
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(CANopen) |
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2171, 2172 (parts |
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of CANopen) |
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Function module |
(In preparation) |
Function module |
Function module |
Function module |
- |
- |
System bus (only |
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E82ZAFPC001 |
E82ZAFFC001 |
E82ZAFIC001 (can |
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parts of CANopen) |
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be integrated) |
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E82ZAFCC001 |
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Function module |
2175 (pluggable) |
2133 (pluggable) |
- |
2111 and 2113 |
2112 (pluggable) |
2141 (pluggable) |
System bus (only |
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(both pluggable) |
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parts of CANopen) |
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E82ZAFCC010 |
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or 2175 |
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(pluggable) |
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Function module |
(In preparation) |
Function module |
Can be integrated |
Function module |
- |
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System bus (only |
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E82ZAFPC001 |
into the basic |
E82ZAFIC001 (can |
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parts of CANopen) |
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device as variant |
be integrated) |
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E82ZAFCC001 |
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1.2-2 |
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Preface |
1 |
About this Communication Manual |
1.3 |
1.3About this Communication Manual
Target group
Contents
How to find information
This Manual is intended for all persons who plan, install, commission, and maintain a network for a machine.
This Manual only describes Lenze communication modules of a bus system. The Manual completes the Mounting Instructions coming with the device.
ƒThe features and functions of the communication modules are described in detail.
ƒTypical applications are shown by examples.
ƒIt also contains
–safety instructions which must be observed at any means.
–the essential technical data of the communication module.
–information about versions of the basic Lenze devices to be used. Basic devices include servo inverters, frequency inverters, Drive PLC and (starttec) motor starters.
–notes on troubleshooting and fault elimination.
This Manual does not describe software of a third party manufacturer. Lenze does not take responsibility for corresponding data given in this Manual. Information on how to use the software can be obtained from the documentation of the master system.
The theoretical background is only explained if absolutely necessary to understand a function of the corresponding communication module.
All brand names used in this Manual are trademarks of their respective owners.
Every chapter is about a certain topic and gives you all necessary information.
ƒThe table of contents and the index help you to find information on a certain topic.
ƒDescriptions and data of the Lenze products (controllers, Drive PLC, Lenze geared motors, Lenze motors) are included in the corresponding catalogues, Operating Instructions, and Manuals. You can either order the documentation required from your Lenze representative or download it from the Internet as a PDF file.
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1 Preface
1.3About this Communication Manual
Paper or PDF |
The Manual is designed as a loose-leaf collection so that we are able to |
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inform you quickly and specifically about news and changes of our |
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communication modules. Each page is marked by a publication date and a |
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version number. |
X Tip!
Current documentations and software updates for Lenze products can be found on the Internet in the ”Downloads” area under
http://www.Lenze.com
1.3-2 |
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Preface |
1 |
Legal regulations |
1.4 |
1.4Legal regulations
Labelling
Manufacturer
CE conformity
Application as directed
Lenze communication modules and Lenze function modules are unambiguously identified by their nameplates.
Lenze Drive Systems GmbH, Postfach 101352, D-31763 Hameln
Conforms to the EC Low Voltage Directive
The communication module and the function module
ƒmust only be operated as described in this Communication Manual and under the conditions stated.
ƒare accessory modules which are used for Lenze controllers and Drive PLCs as an option. More details can be found in chapter ”General information”.
ƒmust be connected and mounted in a way that it fulfils its function without being a hazard for persons.
Observe all notes given in the chapter ”Safety information”.
Please observe all notes and information on the corresponding communication module and function module given in this Communication Manual.This means:
ƒRead this part of the Communication Manual carefully before you start working on the system.
ƒThis Communication Manual must always be available while the communication module or function module is in operation.
Any other use shall be deemed as inappropriate!
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1.4Legal regulations
Liability |
The information, data, and notes given in the Communication Manual met |
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the state of the art at the time of printing. Claims on modifications referring |
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to communication modules or function modules which have already been |
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supplied cannot be derived from the information, illustrations, and |
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descriptions. |
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The specifications, processes, and circuitry in this Communication Manual |
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are for guidance only and must be adapted to your own specific application. |
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Lenze does not take responsibility forthe suitabilityof theprocess andcircuit |
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proposals. |
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The indications given in this Communication Manual describe the features |
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of the product without warranting them. |
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Lenze does not accept any liability for damage and operating interference |
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caused by: |
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ƒ Disregarding the Communication Manual |
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ƒ Unauthorised modifications to the communication module/function |
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module |
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ƒ Operating faults |
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ƒ Improper working on and with the communication module/function |
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module |
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Warranty |
See Sales and Delivery Conditions of Lenze Drive Systems GmbH. |
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Warranty claims must be made immediately after detecting defects or |
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faults. |
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The warranty is void in all cases where liability claims cannot be made. |
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Waste disposal |
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Material |
recycle |
dispose |
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Metal |
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Plastic |
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Assembled PCBs |
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D |
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Short Instructions/Operating |
D |
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Instructions |
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1.4-2 |
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Safety instructions |
2 |
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Contents |
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2 |
Safety instructions |
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Contents |
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2.1 |
Persons responsible for safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
2.1-1 |
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2.2 |
General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
2.2-1 |
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2.3 |
Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
2.3-1 |
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2-1 |
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Safety instructions |
2 |
Persons responsible for safety |
2.1 |
2.1Persons responsible for safety
Operator
Qualified personnel
An operator is any natural or legal person who uses the drive system or on behalf of whom the drive system is used.
The operator or his safety personnel is obliged
ƒto ensure the compliance with all relevant regulations, instructions and legislation.
ƒto ensure that only qualified personnel works on and with the drive system.
ƒto ensure that the personnel has the Operating Instructions available for all work.
ƒto ensure that all unqualified personnel are prohibited from working on and with the drive system.
Qualified personnel are persons who - due to their education, experience, instructions, and knowledge about relevant standards and regulations, rules for the prevention of accidents, and operating conditions - are authorised by the person responsible for the safety of the plant to perform the required actions and who are able to recognise potential hazards.
(Definition for skilled personnel to VDE 105 or IEC 364)
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2.1-1 |
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Safety instructions |
2 |
General safety instructions |
2.2 |
2.2General safety instructions
ƒThese safety instructions do not claim to be complete. If you have any questions or problems please contact your Lenze representative.
ƒThe communication module meets the state of the art at the time of delivery and generally ensures safe operation.
ƒThe data in this manual refer to the stated hardware and software versions of the communication modules.
ƒThe communication module may create a hazard for personnel, for the equipment itself or for other property of the operator, if:
–non-qualified personnel work on and with the communication module.
–the communication module is used improperly.
ƒThe specifications, processes, and circuitry described in this Manual are for guidance only and must be adapted to your own specific application.
ƒProvide appropriate measures to prevent injury to persons or damage to material assets.
ƒThe drive system must only be operated when it is in perfect condition.
ƒRetrofitting or changes of the communication module are generally prohibited. In any case, Lenze must be contacted.
ƒThe communication module is a device intended for use in industrial power systems. During operation, the communication module must be firmly connected to the corresponding controllers. In addition, all measures described in the Manual of the controller used must be taken. Example: Mounting of covers to ensure protection against accidental contact.
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2.2-1 |
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Safety instructions |
2 |
Definition of notes used |
2.3 |
2.3Definition of notes used
Safety instructions
Application notes
The following signal words and symbols are used in this documentation to indicate dangers and important information:
Structure of safety instructions:
Pictograph and signal word!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous situations)
Pictograph and signal word |
Meaning |
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Danger! |
Danger of personal injury through dangerous |
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electrical voltage. |
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Reference to an imminent danger that may result in |
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death or serious personal injury if the corresponding |
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measures are not taken. |
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Danger! |
Danger of personal injury through a general source |
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of danger |
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Reference to an imminent danger that may result in |
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death or serious personal injury if the corresponding |
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measures are not taken. |
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Stop! |
Danger of property damage. |
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Reference to a possible danger that may result in |
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property damage if the corresponding measures are |
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not taken. |
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Pictograph and signal word |
Meaning |
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Note! |
Important note to ensure trouble-free operation |
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X Tip! |
Useful tip for simple handling |
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H |
Reference to another documentation |
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EDSDEN EN 06/2004 |
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2.3-1 |
Show/Hide Bookmarks
Communication Manual
DeviceNet
EMF2179IB
Communication module
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EMF2179IB communication module (DeviceNet) |
5 |
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Contents |
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5 |
EMF2179IB communication module |
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Contents |
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5.1 |
Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.1-1 |
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5.1.1 |
Your opinion is important to us . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.1-1 |
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5.1.2 |
Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.1-1 |
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5.2 |
General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.2-1 |
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5.3 |
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.3-1 |
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5.3.1 |
General data and operating conditions . . . . . . . . . . . . . . . . . . . |
5.3-1 |
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5.3.2 |
Protective insulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.3-1 |
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5.3.3 |
Terminal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.3-2 |
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5.3.4 |
Protocol data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.3-2 |
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5.3.5 |
Communication times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.3-3 |
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5.3.6 |
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.3-5 |
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5.4 |
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.4-1 |
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5.4.1 |
Elements at the front of the communication module . . . . . . . |
5.4-1 |
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5.4.2 |
Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.4-2 |
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5.4.3 |
Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.4-3 |
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5.4.4 |
Communication connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.4-9 |
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5.4.5 |
Voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.4-11 |
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5.5 |
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.5-1 |
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5.5.1 |
Possible settings via DIP switch . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.5-1 |
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5.5.2 |
Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.5-5 |
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5.5.3 |
First switch-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.5-6 |
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5.5.4 |
Preparing the basic device for communication . . . . . . . . . . . . . |
5.5-7 |
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5.5.5 |
Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.5-11 |
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5.6 |
Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.6-1 |
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5.7 |
Lenze codes and DeviceNet objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.7-3 |
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5.7.1 |
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.7-3 |
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5.7.2 |
Implemented DeviceNet objects . . . . . . . . . . . . . . . . . . . . . . . . . |
5.7-4 |
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5.7.3 |
Specific features for parameterising the controller . . . . . . . . . . |
5.7-19 |
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5.8 |
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.8-1 |
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5.9 |
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.9-1 |
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5.9.1 |
Program examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
5.9-1 |
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5.10 |
Index . . |
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5.10-1 |
EDSDEN EN 02/2006 |
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5-1 |
EMF2179IB communication module (DeviceNet) |
5 |
Before you start |
5.1 |
Your opinion is important to us |
5.1.1 |
5.1Before you start
Tip!
Current documentation and software updates concerning Lenze products can be found on the Internet in the ”Services & Downloads” area under
http://www.Lenze.com
5.1.1Your opinion is important to us
These instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product.
If you have suggestions for improvement, please e-mail us to: feedback-docu@Lenze.de
Thank you for your support. Your Lenze documentation team
5.1.2Document history
Edition date |
Altered chapters |
Notes |
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08 /2006 |
- |
First edition |
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EDSDEN EN 02/2006 |
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5.1-1 |
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