Lenze EMF2192IB User Manual
EDSMF2192IB
.K:ö
Ä.K:öä
L−force Communication
Communication Manual
EtherCAT®
EMF2192IB
Communication module
Contentsi
1 About this documentation 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Document history 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Conventions used 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Terminology used 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Notes used 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Safety instructions 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General safety information 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 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Product features 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Connections and interfaces 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Technical data 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 General data and operating conditions 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Protective insulation 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Communication time 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Dimensions 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Installation 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Mechanical installation 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Electrical installation 22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Wiring according to EMC (CE−typical drive system) 22 . . . . . . . . . . . . . . . . .
5.2.2 Network topology 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 EtherCAT connection 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.4 Specification of the Ethernet cable 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.5 Voltage supply 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.6 Synchronisation of the standard device 29 . . . . . . . . . . . . . . . . . . . . . . . . .
2
EDSMF2192IB EN 3.1
Contents i
6 Commissioning 30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Before switching on 30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Configuring the host system (master) 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Installing device description files 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 Automatic device detection 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.3 Configuring process data 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.4 Defining the cycle time 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.5 Address allocation 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.6 Specifying the station alias 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Synchronisation with "Distributed clocks" (DC) 33 . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.1 Preparation / installation 34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.2 DC configuration in the master 34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.3 DC configuration in the standard device (slave) 34 . . . . . . . . . . . . . . . . . . . .
6.3.4 Behaviour of the Lenze EtherCAT nodes during start−up 35 . . . . . . . . . . . .
6.4 Initial switch−on 36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Data transfer 37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 EtherCAT frame structure 38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 EtherCAT datagrams 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 EtherCAT state machine 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Process data transfer 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 Parameter data transfer 42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 Connection establishment between master and slave 42 . . . . . . . . . . . . . . . . . . . . . .
9.2 Reading and writing parameters 43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.1 Reading parameters (expedited upload) 44 . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.2 Writing parameters (expedited download) 48 . . . . . . . . . . . . . . . . . . . . . . .
9.3 SDO abort codes 52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 Diagnostics 53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 LED status displays 53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Emergency requests / emergency messages 54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 Appendix 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1 Implemented CoE objects 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2 Codes 57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3 Product codes of the Lenze standard devices 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 Index 62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EDSMF2192IB EN 3.1
3
About this documentation1
0Fig. 0Tab. 0
1 About this documentation
Contents
This documentation only contains descriptions for the EMF2192IB communication
module (EtherCAT).
Note!
This documentation supplements the mounting instructions supplied with the
communication module and the documentations for the standard devices
used.
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.
Furthermore this documentation contains the following:
ƒ Safety instructions that must be observed.
ƒ Key technical data relating to the communication module
ƒ Information on versions of Lenze standard devices to be used.
ƒ Notes on troubleshooting and fault elimination
The theoretical correlations are only explained in so far as they are necessary for
comprehending the function of the communication module.
This documentation does not describe the software of an original equipment
manufacturer. No responsibility is taken for corresponding information given in this
manual. Information on how to use the software can be obtained from the documents of
the host system (master).
All brand names mentioned in this manual are trademarks of their respective companies.
Tip!
Detailed information on EtherCAT can be found on the website of the
EtherCAT Technology Group:
http://www.EtherCAT.org
4
EDSMF2192IB EN 3.1
About this documentation 1
Target group
This documentation is intended for all persons who plan, install, commission and maintain
the networking and remote service of a machine.
Tip!
Information and auxiliary devices related to the Lenze products can be found
in the download area at
http://www.Lenze.com
Validity information
The information given in this documentation is valid for the following devices:
Extension module Type designation From hardware version
EtherCAT communication
module
EMF2192IB VA 1.0
upwards
From software version
upwards
EDSMF2192IB EN 3.1
5
1
1.1 Document history
About this documentation
Document history
Version Description
1.0 10/2009 TD17 First edition
2.0 09/2010 TD14 General revision
3.0 06/2011 TD17 General revision
3.1 11/2012 TD17 EtherCAT® is a registered trademark by Beckhoff Automation GmbH,
Your opinion is important to us!
These instructions were created to the best of our knowledge and belief to give you the
best possible support for handling our product.
If you have suggestions for improvement, please e−mail us to:
feedback−docu@Lenze.de
Thank you for your support.
Germany.
Your Lenze documentation team
6
EDSMF2192IB EN 3.1
1.2 Conventions used
This documentation uses the following conventions to distinguish between different
types of information:
Type of information Identification Examples/notes
Spelling of numbers
Decimal separator
Decimal Standard notation For example: 1234
Hexadecimal 0x[0 ... 9, A ... F] For example: 0x60F4
Binary
l Nibble
Text
Program name » « PC software
Icons
Page reference Reference to another page with additional
About this documentation
Conventions used
Point In general, the decimal point is used.
For instance: 1234.56
In quotation marks
Point
For example: ´100´
For example: ´0110.0100´
For example: »Engineer«, »Global Drive
Control« (GDC)
information
For instance: 16 = see page 16
1
EDSMF2192IB EN 3.1
7
1
About this documentation
Terminology used
1.3 Terminology used
Term Meaning
EtherCAT® EtherCAT® is a real−time capable Ethernet system with top performance.
Standard device
Controller
»Global Drive Control« /
»GDC«
»Engineer«
»PLC Designer«
»TwinCAT« EtherCAT configuration software by Beckhoff Automation GmbH, Germany
Code Parameter used for controller parameterisation or monitoring. The term is usually
Subcode If a code contains several parameters, the individual parameters are stored under
Lenze setting
Basic setting
HW Hardware
SW Software
ESI EtherCAT Slave Information (device description file in XML format)
CoE CANopen over EtherCAT
I−1600.20 CoE index (hexadecimal representation)
DC "Distributed clocks" for EtherCAT synchronisation
PDO Process data object
SDO Service data object
"Hot connect" This feature enables the slave nodes to be coupled/decoupled during operation.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.
Lenze controllers with which the communication module can be used.
12
Lenze PC software which supports you in "engineering" (parameterisation, diagnostics
and configuration) throughout the whole life cycle, i.e. from planning to maintenance
of the commissioned machine.
called "index".
"subcodes".
This manual uses a slash "/" as a separator between code and subcode (e.g. "C118/3").
The term is usually called "subindex".
This setting is the default factory setting of the device.
l In the example: Index 0x1600, subindex 0x20
8
EDSMF2192IB EN 3.1
1.4 Notes used
The following pictographs and signal words are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of safety instructions:
Danger!
(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
Danger!
Danger!
Stop!
About this documentation
Notes used
Danger of personal injury through dangerous electrical voltage.
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger of personal injury through a general source of danger.
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger of property damage.
Reference to a possible danger that may result in property
damage if the corresponding measures are not taken.
1
Application notes
Pictograph and signal word Meaning
Note!
Tip!
Important note to ensure troublefree operation
Useful tip for simple handling
Reference to another documentation
EDSMF2192IB EN 3.1
9
2
Safety instructions
General safety information
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 information
Danger!
Disregarding the following basic safety measures may lead to severe personal
injury and damage to material assets!
ƒ Lenze drive and automation components ...
... must only be used for the intended purpose.
... must never be operated if damaged.
... must never be subjected to technical modifications.
... must never be operated unless completely assembled.
... must never be operated without the covers/guards.
... can − depending on their degree of protection − have live, movable or rotating parts
during or after operation. Surfaces can be hot.
ƒ For Lenze drive components ...
... only use permitted accessories.
... only use original manufacturer spare parts.
ƒ All specifications of the corresponding enclosed documentation must be observed.
This is vital for a safe and trouble−free operation and for achieving the specified product
features.
The procedural notes and circuit details provided in this document are proposals which
the user must check for suitability for his application. The manufacturer does not
accept any liability for the suitability of the specified procedures and circuit proposals.
ƒ Only qualified skilled personnel are permitted to work with or on Lenze drive and
automation components.
According to IEC 60364 or CENELEC HD 384, these are persons ...
... who are familiar with the installation, assembly, commissioning and operation of
the product,
... possess the appropriate qualifications for their work,
... and are acquainted with and can apply all the accident prevent regulations, directives
and laws applicable at the place of use.
10
EDSMF2192IB EN 3.1
Device− and application−specific safety instructions
2.2 Device− and application−specific safety instructions
ƒ During operation, the communication module must be securely connected to the
standard device.
ƒ 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").
ƒ Only use cables that comply with the given specifications ( 25).
Documentation for the standard device, control system, system/machine
All the other measures prescribed in this documentation must also be
implemented. Observe the safety instructions and application notes stated in
this manual.
2.3 Residual hazards
Safety instructions
2
Protection of persons
ƒ If the controllers are used on a phase earthed mains with a rated mains voltage
³ 400 V, protection against accidental contact is not ensured without implementing
external measures. (See chapter "4.2", 17)
Device protection
ƒ The module contains electronic components that can be damaged or destroyed by
electrostatic discharge.
EDSMF2192IB EN 3.1
11
3
Product description
Application as directed
3 Product description
3.1 Application as directed
The communication module ...
ƒ is a device intended for use in industrial power systems.
ƒ is only to be used in EtherCAT networks.
ƒ can be used in connection with the following standard devices (nameplate data):
Device type Design
82EVxxxxxBxxxXX ³ Vx ³ 1x 8200 vector
82CVxxxxxBxxxXX ³ Vx ³ 1x 8200 vector, cold plate
82DVxxxKxBxxxXX ³ Vx ³ 1x 8200 vector, thermally
EPL 10200 E ³ 1x ³ 1x Drive PLC
33.93xx xE. ³ 2x ³ 1x Vxxx 9321 − 9332 vector
33.938X xE. ³ 1x ³ 0x 9381 − 9383 vector
33.93xx xC. ³ 2x ³ 1x Vxxx 9321 − 9332, vector with cold
33.93xx EI / ET ³ 2x ³ 1x Vxxx 9300 Servo PLC
33.93xx CI / CT ³ 2x ³ 1x Vxxx 9300 Servo PLC, cold plate
ECSxSxxxx4xxxxXX ³ 1A ³ 7.0 ECSxS "Speed & Torque"
ECSxPxxxx4xxxxXX ³ 1A ³ 7.0 ECSxP "Posi & Shaft"
ECSxMxxxx4xxxxXX ³ 1A ³ 7.0 ECSxM "Motion"
ECSxAxxxx4xxxxXX ³ 1A ³ 7.0 ECSxA "Application"
ECSxExxxx4xxxxXX ³ VA ³ 5.0 ECSxE power supply module
1) Operating system software versions of the controllers
Version
HW SW
Variant Explanation
1)
separated
plate design
Any other use shall be deemed inappropriate!
12
EDSMF2192IB EN 3.1
3.2 Identification
L
Type
Id.-No.
Prod.-No.
Product description
Identification
3
E82AF000P0B201XX
Type code 33.2192IB VA 1.0
Device series
Hardware version
Software version
2192ECAT013
EDSMF2192IB EN 3.1
13
3
Product description
Product features
3.3 Product features
ƒ Interface module for the EtherCAT communication system to the AIF slots of the
Lenze device series 8200 vector, 9300, and ECS ( 12)
ƒ Support of the EtherCAT slave functionality
ƒ External 24V supply for maintaining the EtherCAT network if the standard device
fails
ƒ Support of the "Distributed clocks" (DC) functionality for synchronisation via the
fieldbus
ƒ PDO transfer with CoE (CANopen over EtherCAT)
ƒ Access to all Lenze parameters with CoE (CANopen over EtherCAT)
Front panel connector elements
ƒ Two sockets (RJ45) for the connection to EtherCAT
ƒ 2−pin plug connector for the external supply of the communication module
ƒ 3−pin plug connector (electrically isolated) for the synchronisation of the standard
device
Front panel LED status displays
ƒ Voltage supply of the communication module
ƒ Connection from the communication module to the EtherCAT bus system
ƒ Connection from the communication module to the standard device
ƒ Bus state according to EtherCAT specification
14
EDSMF2192IB EN 3.1
3.4 Connections and interfaces
Fig. 3−1 EMF2192IB (EtherCAT) communication module
Legend for the illustration
Pos. Description
...
LED status displays
53
Connection to the external voltage supply (24 V) of the communication module
l Plug connector with screw connection, 2−pin
27
Connection to EtherCAT synchronisation
l Plug connector with screw connection, 3−pin
29
EtherCAT output (OUT)
l RJ45 socket in accordance with IEC 60603−7
24
EtherCAT input (IN)
l RJ45 socket in accordance with IEC 60603−7
24
Nameplate
13
Product description
Connections and interfaces
3
2192ECAT001B
EDSMF2192IB EN 3.1
15
4
Technical data
General data and operating conditions
4 Technical data
4.1 General data and operating conditions
Area Values
Order designation EMF2192IB
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 (acc. to IEEE 802.3), 100Base−TX (Fast Ethernet)
Network topology Line, switch
Node type EtherCAT slave
Number of nodes max. 65535 (in the entire network)
Cable length between two
EtherCAT nodes
Cycle times 1 ms or an integer multiple of 1 ms,
Vendor−ID 0x3B
Product−ID depending on the standard device used
Revision−ID depending on the main software version of the EtherCAT module
Baud rate 100 Mbps, full duplex
Voltage supply
Conformities, approvals
CANopen over EtherCAT (CoE)
max. 100 m (typical)
max. 15 ms when "Distributed clocks" (DC) are used
External supply via separate external power supply unit
l Terminal "+": U = 24VDC(20.4 V − 0%... 28.8 V+ 0%)
l Terminal "−": Reference potential for external voltage supply
CE
I = 140 mA
Documentation for Lenze series of devices 8200 vector, 9300 and ECS
Here you can find the ambient conditions and the electromagnetic
compatibility (EMC) specifications applying to the communication module.
16
EDSMF2192IB EN 3.1
4.2 Protective insulation
Danger!
Dangerous electrical voltage
If Lenze controllers are used on a phase earthed mains with a rated mains
voltage ³ 400 V, protection against accidental contact is not ensured without
implementing external measures.
Possible consequences:
ƒ Death or serious injury
Protective measures:
ƒ If protection against accidental contact is required for the control terminals
of the controller and the connections of the plugged device modules, ...
– a double isolating distance must exist.
– the components to be connected must be provided with the second
isolating distance.
Technical data
Protective insulation
4
Insulation between bus and ... Type of insulation
(in accordance with EN 61800−5−1)
l Earth reference / PE Functional insulation
l With external supply Functional insulation
l Power stage
– 8200 vector Reinforced insulation
– 9300 servo inverter Reinforced insulation
– 93xx servo position controller Reinforced insulation
– 93xx servo register control Reinforced insulation
– 93xx servo cam profiler Reinforced insulation
– 9300 vector / Servo PLC Reinforced insulation
– ECS devices Reinforced insulation
l Control terminals
– 8200 vector Functional insulation
– 9300 servo inverter Basic insulation
– 93xx servo position controller Basic insulation
– 93xx servo register control Basic insulation
– 93xx servo cam profiler Basic insulation
– 9300 vector / Servo PLC Basic insulation
– ECS devices Basic insulation
EDSMF2192IB EN 3.1
17
4
Technical data
Communication time
4.3 Communication time
Processing times in the controller
The parameter data and process data are independent of each other.
Processing times Parameter data Process data
Processing time within the
controller
Additional times outside
the controller
l Approx. 30 ms + a tolerance of 20 ms
for parameters within the controller
l In the case of some codes the
processing time can be longer. (See
documentation for the controller)
l In the case of ECS devices the
processing time depends on the
application loaded (duration of the
system task).
l Communication transmission times
l Communication processing times of the transmitting node
l Time for 8200 vector: approx. 3 ms +
tolerance of 2 ms
l Time for devices of the 9300 series:
approx. 2 ms + tolerance of 1 ms
(depending on the basic cycle time in
each case)
l Time for ECS devices:
– In synchronous operation a
minimum of 1 ms (AIF
communication) or according to
the fastest task
– Otherwise 1 ms + task cycle time
l A synchronisation depends on the
controller used ( 61) and has to be
configured accordingly ( 33 et
seqq.).
18
EDSMF2192IB EN 3.1
4.4 Dimensions
All dimensions in mm
Technical data
Dimensions
4
2192ECAT001B
EDSMF2192IB EN 3.1
19
Installation5
5 Installation
Danger!
Inappropriate handling of the communication module and the standard device
can cause serious personal injury and material damage.
Observe the safety instructions and residual hazards described in the
documentation for the standard device.
Stop!
The device contains components that can be destroyed by electrostatic
discharge!
Before working on the device, the personnel must ensure that they are free of
electrostatic charge by using appropriate measures.
20
EDSMF2192IB EN 3.1
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