Lenze EtherCAT Controller-based Automation User Manual
Automation Systems
Controller-based
Automation
EtherCAT®
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Communication Manual EN
Ä.O5ôä
13462095
L
Contents
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1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6
1.1 Document history _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8
1.2 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 9
1.3 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 10
1.4 Definition of the notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
2Safety instructions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 13
3 Controller-based Automation: Central motion control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14
4 The Lenze automation system with EtherCAT _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17
4.1 Brief description of EtherCAT _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17
4.1.1 Structure of the EtherCAT bus system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18
4.1.2 Communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
4.1.2.1 The EtherCAT state machine _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
4.1.2.2 Addressing of the slaves _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22
4.1.2.3 Working counter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
4.2 Required hardware components _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24
4.2.1 Field devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24
4.2.2 The Lenze Controller - the central component _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
4.2.3 EtherCAT product codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26
4.2.4 The EtherCAT interface of the Lenze Controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
4.3 Lenze Engineering tools _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
4.4 Interaction of the components _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30
4.4.1 The state machine of the Lenze control technology _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30
4.4.2 Communication between the Engineering PC and the field devices _ _ _ _ _ _ _ _ _ _ _ _ 32
4.4.2.1 EtherCAT bus not in operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
4.4.2.2 EtherCAT bus in operation (gateway function) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
5 Technical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
5.1 General data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
5.2 EtherCAT interface of the Lenze Controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
5.3 Communication times and drive-specific data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
6 Synchronisation with "Distributed clocks" (DC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36
6.1 Synchronous communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37
6.2 Test of DC synchronicity _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 38
2 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
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7 Commissioning of the system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
7.1 Sample projects (Application Samples) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
7.2 Overview of the commissioning steps _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 40
7.3 Detailed description of the commissioning steps _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42
7.3.1 Planning the bus topology _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42
7.3.2 Installing field devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
7.3.3 Create a project folder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
7.3.4 Commissioning the i700 servo inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 44
7.3.4.1 i700 parameter management in the Controller-based Automation
system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45
7.3.4.2 i700 parameter management in »EASY Starter« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 49
7.3.4.3 Exchanging i700 parameter sets between »PLC Designer« and
»EASY Starter« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 51
7.3.4.4 Overview of the commissioning steps _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 52
7.3.4.5 Checking the wiring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 53
7.3.4.6 Entering motor and controller settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54
7.3.4.7 Setting the feedback system for servo control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
7.3.4.8 Integrating the L_SMC_AxisBasicControl function block _ _ _ _ _ _ _ _ _ _ _ _ 59
7.3.4.9 Executing manual control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 65
7.3.4.10 Optimising control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 67
7.3.5 Commissioning other Lenze field devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 70
7.3.6 Creating a PLC program with a target system (Logic/Motion) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 71
7.3.7 Configuring the communication parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 73
7.3.8 Determining the physical EtherCAT configuration (fieldbus scan) _ _ _ _ _ _ _ _ _ _ _ _ _ 75
7.3.9 Importing missing devices / device description files _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78
7.3.10 Creating a control configuration (adding field devices) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
7.3.11 Creating a task _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82
7.3.12 Setting a DC synchronisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 87
7.3.13 Setting SoftMotion parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 92
7.3.14 Processing EtherCAT I/O mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 95
7.3.14.1 Entering the settings for PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 96
7.3.14.2 Configuring individual PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 97
7.3.14.3 PDO mapping for logic devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 100
7.3.14.4 Using PDO mapping settings from »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101
7.3.15 Compiling the PLC program code _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
7.3.16 Logging in on the controller with the »PLC Designer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
7.3.17 Starting the PLC program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
7.3.18 Start parameters of the Servo Drives 9400 HighLine CiA 402 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
7.3.19 Optimising the task utilisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 104
7.4 State diagram for commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 105
8 Mixed operation - EtherCAT with other bus systems _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 106
8.1 CANopen and EtherCAT _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 107
8.2 PROFIBUS as the logic bus and EtherCAT as a logic bus or motion bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 108
8.3 EtherCAT and PROFINET _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 109
Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 3
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9 Function library L_IODrvEtherCAT.lib _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 110
9.1 Overview of functions and function blocks _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 114
9.2 CoE Interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 115
9.2.1 Reading and writing parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 115
9.2.1.1 Reading parameters (SDO upload) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 116
9.2.1.2 Writing parameters (SDO download) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 120
9.2.2 L_ETC_CoE_SdoRead (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 125
9.2.3 L_ETC_CoE_SdoRead4 (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 127
9.2.4 L_ETC_CoE_SdoReadEx (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 129
9.2.5 L_ETC_CoE_SdoWrite (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 131
9.2.6 L_ETC_CoE_SdoWrite4 (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 133
9.2.7 L_ETC_CoE_SdoWriteEx (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 135
9.3 Device Interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 137
9.3.1 ETCSlave (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 137
9.3.2 L_ETC_GetSlave (FUN) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 138
9.3.3 L_ETC_IoControl (FUN) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 139
9.3.4 L_IODrvEtherCAT (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 140
9.4 Diagnostic Interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 141
9.4.1 L_ETC_GetEmergency (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 141
9.4.2 L_ETC_GetErrorString (FUN) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 143
9.4.3 L_ETC_GetMasterDiagnostic (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 144
9.4.4 L_ETC_ReadErrCnt (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 145
9.4.5 L_ETC_ResetErrCnt (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 146
9.5 FoE interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 147
9.5.1 L_ETC_FoE_Read (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 147
9.5.2 L_ETC_FoE_Write (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 149
9.6 State Machine Interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 151
9.6.1 L_ETC_GetMasterState (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 151
9.6.2 L_ETC_GetSlaveState (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 152
9.6.3 L_ETC_SetMasterState (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 153
9.6.4 L_ETC_SetSlaveState (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 154
9.7 Data types _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
9.7.1 L_ETC_COE_EMERGENCY _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
9.7.2 L_ETC_COE_EMERGENCY_BUFFER_DATA _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
9.7.3 L_ETC_COE_FLAGS _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
9.7.4 L_ETC_DIAGNOSTIC _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 156
9.7.5 L_ETC_EVTPARAM_PARAMETERTRANSFER _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 156
9.7.6 L_ETC_ERRORCODE _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157
9.7.7 L_ETC_IOCTLOPARMS _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157
9.7.8 L_ETC_LANGUAGE _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157
9.7.9 L_ETC_SLAVE_PORTS _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157
9.7.10 L_ETC_PARAMETERTRANSFERSERVICE_CODE _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 158
9.7.11 L_ETC_STATE (EtherCAT status) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 158
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10 Restarting the EtherCAT fieldbus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 159
11 Defining the cycle time of the PLC project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 160
11.1 Determining the task utilisation of the application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 160
11.2 Optimising the system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 162
12 Diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 163
12.1 Diagnostics with the »PLC Designer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 163
12.1.1 Representation in the online mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 163
12.1.2 Diagnostic tabs of the EtherCAT master _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 164
12.1.3 Display window for EtherCAT logbook messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 165
12.1.4 Visualisation of the function block L_ETC_GetMasterDiagnostic _ _ _ _ _ _ _ _ _ _ _ _ _ _ 166
12.2 Diagnostic codes in the »WebConfig« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 169
12.3 Logbook of the Lenze Controller in the »WebConfig« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 170
12.4 Error counters of the EtherCAT slaves _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 172
12.4.1 Error types "Errors" and "Forwarded Errors" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 172
12.4.2 Error counter reset from the application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 173
12.5 Error scenarios _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 174
12.5.1 The EtherCAT bus does not assume the "Pre-Operational" state. _ _ _ _ _ _ _ _ _ _ _ _ _ _ 175
12.5.2 The EtherCAT bus does not assume the "Operational" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 176
12.5.3 Messages: WKC Error / Not all slaves "Operational" / SyncManager Watchdog _ _ _ _ _ _ 177
12.5.4 Error during process data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 178
12.5.5 Message: EtherCAT cable not connected / connected _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 180
12.5.6 Message: Frame Response Error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 180
12.5.7 Shafts make clicking noises _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 181
12.5.8 Shafts do not rotate _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 182
12.6 System error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 183
12.6.1 General error codes (L_ETC_ERRORCODE) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 183
12.6.2 Lenze Controller logbook messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 190
12.6.3 SDO abort codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 195
13 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 196
Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 201
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 204
Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 5
1 About this documentation
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1 About this documentation
This documentation ...
• contains detailed information about the commissioning, configuration, and diagnostics of the
EtherCAT
• is part of the "Controller-based Automation" manual collection. It consists of the following sets
of documentation:
Documentation type Subject
System manuals System overview/sample topologies
Communication manuals
Online helps
Reference manuals
Online helps
Software manuals
Online helps
® bus system as part of the Lenze automation system "Controller-based Automation".
• Controller-based Automation
• Visualising
Bus systems
• Controller-based Automation EtherCAT®
• Controller-based Automation CANopen®
• Controller-based Automation PROFIBUS®
• Controller-based Automation PROFINET®
Lenze Controller:
• Controller 3200 C
• Controller c300
• Controller p300
• Controller p500
Lenze Engineering Tools:
• »PLC Designer«: Programming
• »Engineer«: Inverter configuration
• »VisiWinNET® Smart«: Visualisation
• »Backup & Restore«: Back up/restore data
6 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
1 About this documentation
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
More technical documentation for Lenze components
Further information on Lenze products which can be used in conjunction with Controller-based
Automation can be found in the following sets of documentation:
Mounting & wiring Symbols:
Mounting instructions
• Controller
• Communication cards (MC-xxx)
• I/O system 1000 (EPM-Sxxx)
• Inverter, Servo Drives
•Communication modules
Operating instructions
• Controller
• Servo system ECS (ECSxE, ECSxM)
Sample applications/Using application templates
Online help/software manuals
• Application Sample i700
• Application Samples
• ApplicationTemplate
Parameter setting, configuration, commissioning
Online help/reference manuals
•L-force Controller
• Inverter, Servo Drives
• I/O system 1000 (EPM-Sxxx)
Online help/communication manuals
• Bus systems
•Communication modules
Operating instructions
• Servo system ECS (ECSxE, ECSxM)
Printed documentation
Online help in the Lenze Engineering
Tool (also available as PDF file at
www.lenze.com
.)
Tip!
Current documentation and software updates with regard to Lenze products can be found
in the download area at:
www.lenze.com
Target group
This documentation is intended for persons who plan, install, commission and maintain the
networking of devices as part of the Lenze automation system "Controller-based Automation".
Information on validity
The information provided in this documentation is valid for the Lenze automation system
"Controller-based Automation" from version 3.
Screenshots/application examples
All screenshots in this documentation are application examples. Depending on the firmware
version of the field devices and the software version of the Engineering tools installed (e.g. »PLC
Designer« ), screenshots in this documentation may differ from the representation on the screen.
Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 7
1 About this documentation
1.1 Document history
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.1 Document history
Version Description
1.0 09/2008 TD17 First edition
2.0 05/2009 TD17 General revision
3.0 10/2009 TD17 General revision
4.0 10/2010 TD17 Commissioning and configuration with the Lenze »PLC Designer« V3.x
4.1 03/2011 TD17 • Special features for the ECS servo system added.
• References to Lenze sample projects for EtherCAT logic field devices (device
application + PLC program) added.
Commissioning of the system
4.2 12/2011 TD17 • Revision on the Lenze automation system"Controller-based Automation",
Release 3.2
•Chapter Function library L_IODrvEtherCAT.lib
5.0 08/2012 TD17 • Revision on the Lenze automation system"Controller-based Automation",
Release 3.3
• Information on the Servo-Inverter i700 added.
• Information on the ECS servo system and »GDC« removed.
6.0 11/2012 TD17 • General corrections
•New layout
6.1 12/2012 TD17 New function block L_ETC_GetEmergency (FB)
system "Controller-based Automation", Release 3.4
6.3 11/2013 TD17 Revision on the Lenze automation system"Controller-based Automation",
release 3.6
6.4 04/2014 TD17 Revision on the Lenze automation system"Controller-based Automation",
release 3.8
( 39)
( 110) updated.
( 141) in the Lenze automation
8
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1 About this documentation
1.2 Conventions used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.2 Conventions used
This documentation uses the following conventions to distinguish different types of information:
Type of information Identification Examples/notes
Numbers
Decimal Normal spelling 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
Program name » « PC software
Window italics The message window... / The Options dialog box ...
Variable name Setting bEnable to TRUE...
Control element Bold The OK button ... / The Copy command ... / The Properties
Sequence of menu
commands
Shortcut <Bold> Use <F1> to open the online help.
Program code Courier IF var1 < var2 THEN
Keyword Courier bold
Hyperlink Underlined
Icons
Page reference ( 9) Optically highlighted reference to another page. Can be
Step-by-step instructions
0b[0, 1] Example: ’0b0110’
Example: ’0b0110.0100’
Example: Lenze »Engineer«
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
If a key combination is required for a command, a "+" is
placed between the key identifiers: With
<Shift>+<ESC>...
a = a + 1
END IF
Optically highlighted reference to another topic. Can be
activated with a mouse-click in this documentation.
activated with a mouse-click in this documentation.
Step-by-step instructions are marked by a pictograph.
Open to...
Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 9
1 About this documentation
1.3 Terminology used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.3 Terminology used
Term Meaning
CAN CAN (Controller Area Network) is an asynchronous, serial fieldbus system.
CANopen® is a communication protocol based on CAN. The Lenze system bus (CAN on board)
operates with a subset of this communication protocol.
CANopen® is a registered Community Trade Mark of the CAN User Organisation CiA® (CAN
in Automation e. V.).
Code Parameter for parameterising or monitoring the field device. The term is also referred to as
CoE CANopen over EtherCAT
Controller The controller is the central component of the automation system which controls the Logic
DC Distributed clocks (distributed synchronised clocks)
Engineering PC The Engineering PC and the Engineering tools installed serve to configure and parameterise
Engineering tools Lenze software solutions for simply engineering in all phases:
FB Function block (contained in a function library)
Fieldbus stations Controller (PLC) and inverter integrated in the bus system (EtherCAT)
Field device
FoE File Access over EtherCAT
FUN Function (contained in a function library)
Index Each object has a unique index for addressing purposes.
Inverter Generic term for Lenze frequency inverters, servo inverters
PLC Programmable Logic Controller
Object "Container" for one or more parameters with which you can parameterise or monitor the
"index" in common usage.
and Motion functionalities (by means of the runtime software).
The controller communicates with the field devices via the fieldbus.
the system.
The Engineering PC communicates with the controller via Ethernet.
•»EASY Starter«
• »Engineer«
•»PLC Designer«
•»WebConfig«
•»VisiWinNET®«
•»IPC Backup & Restore«
Lenze Engineering tools
EtherCAT® (Ethernet for Controller and Automation Technology) is an Ethernet-based
fieldbus system which meets the application profile for industrial real-time systems.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.
In this documentation, the index is shown as a hexadecimal value preceded by "0x", e.g.
"0x1000".
(German designation: SPS - Speicherprogrammierbare Steuerung)
PROFIBUS® (Process Fieldbus) is a common fieldbus system for the automation of machines
and production lines.
PROFIBUS® is a registered trademark and patented technology licensed by the PROFIBUS &
PROFINET International user organisation (PI).
PROFINET® (Process Field Network) is a real-time capable fieldbus system based on Ethernet.
PROFINET® is a registered trademark and patented technology licensed by the PROFIBUS &
PROFINET International (PI) user organisation.
fieldbus node.
( 29)
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1 About this documentation
1.3 Terminology used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Term Meaning
Subcode If a code contains several parameters, they are stored in so-called "subcodes".
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".
Subindex If a code contains several parameters, they are stored in so-called "subindices".
In this documentation, the slash "/" is used as a separator between an index and subindex,
e.g. "0x1018/1".
Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 11
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:
Pictograph and signal word!
(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
Refere nce to a n imm inent d ange r that m ay resu lt in deat h or s erious person al injury
if the corresponding measures are not taken.
Refere nce to a n imm inent d ange r that m ay resu lt in deat h or s erious person al 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.
Application notes
Pictograph Signal word Meaning
Note! Important note to ensure trouble-free operation
Tip! Useful tip for easy handling
Reference to other documentation
12
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2 Safety instructions
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2 Safety instructions
Observe the following safety instructions if you want to commission an inverter or a system with
the Lenze Controller.
Read the documentation supplied with the system components carefully before you
start commissioning the devices and the Lenze Controller!
The system manual contains safety instructions which must be observed!
Danger!
Risk of injury
There is risk of injury by ...
• unpredictable motor movements (e.g. an unintended direction of rotation, too high
speeds, or jerky movement);
• impermissible operating states during the parameterisation while there is an active
online connection to the device.
Possible consequences
Death or severe injuries
Protective measures
• If required, provide systems with installed inverters with additional monitoring and
protective devices according to the safety regulations valid in each case (e.g. law on
technical equipment, regulations for the prevention of accidents).
• During commissioning, maintain an adequate safety distance to the motor or the
machine parts driven by the motor.
Stop!
Damage or destruction of machine parts
Damage or destruction of machine parts can be caused by ...
• unpredictable motor movements (e.g. an unintended direction of rotation, too high
speeds, or jerky movement);
• impermissible operating states during the parameterisation while there is an active
online connection to the device.
Possible consequences
Damage or destruction of machine parts
Protective measures
If required, provide systems with installed inverters with additional monitoring and
protective devices according to the safety regulations valid in each case (e.g. law on
technical equipment, regulations for the prevention of accidents).
Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 13
3 Controller-based Automation: Central motion control
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3 Controller-based Automation: Central motion control
The Lenze automation system "Controller-based Automation" serves to create complex automation
solutions with central motion control. Here, the Controller is the control centre of the system.
System structure of the Controller-based Automation: "All from one single source"
[3-1] Example: EtherCAT bus system with a 3231 C controller, a 1000 I/O system and an i700 servo inverter
14 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
3 Controller-based Automation: Central motion control
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Lenze provides especially coordinated system components:
• Engineering software
The Lenze Engineering tools
to parameterise, configure and diagnose the system. The Engineering PC communicates with
the Controller via Ethernet.
•Controller
The Lenze Controller is available as Panel Controller with integrated touch display and as
Cabinet Controller in control cabinet design.
Cabinet Controllers provide a direct coupling of the I/O system 100 via the integrated backplane
bus.
The runtime software of the Lenze Controllers provides the control and/or visualisation of
motion sequences. The following software versions are available:
• "Logic": Sequence control in the Controller, motion control in the inverter
• "Motion": Sequence control and motion control in the Controller, inverter as actuating drive
• "Visu": Optional visualisation of the automation system, can be used separately or in addition
to "Logic" or "Motion"
An external monitor panel/display can be connected to the Cabinet Controller 3231 C/
3241 C.
• Without software: Controller as single component with operating system only
•Bus systems
EtherCAT is a standard "on board" bus system of the Controller-based Automation. EtherCAT
enables the control of all nodes (Motion/Logic) on one common fieldbus.
Optionally, CANopen, PROFIBUS and PROFINET can be used as extended topologies.
The Controllers c300/p300 have a CANopen interface "on board" as well (in addition to
EtherCAT).
• Inverter (e.g. Servo Inverter i700)
( 29) on your Engineering PC (Windows operating system ) serve
"Logic & Motion" runtime software
The "Controller-based Automation" system allows for the central control of devices for Logic and
Motion applications. The runtime software runs on the Controller.
In case of Logic applications, the sequence control is carried out in the Controller and the motion
control is carried out in the inverter.
In case of Motion applications , the sequence control and motion control are carried out in the
Controller. The inverter is used as actuating drive.
• Motion applications make special demands on the cycle time and real-time capability of the bus
system between the Controller and the subordinate fieldbus nodes.
• this is for instance the case if the field devices, for example, are to move in a synchronised way
or if position setpoints are to be transmitted.
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3 Controller-based Automation: Central motion control
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Fieldbus communication
The Lenze Controllers have different interfaces for fieldbus communication:
Area Cabinet Controller Panel Controller
c300 3221 C 3231 C 3241 C p300 p500
Interfaces (on board)
Ethernet1212
EtherCAT 1
CANopen 1
Optional interfaces (communication cards)
CANopen
MC-CAN2
PROFIBUS master
MC-PBM
PROFIBUS slave
MC-PBS
PROFINET device
MC-PND
1)
2)
- -
- -
- -
- -
11
-1
1)
2)
1
-
1) In preparation
2) Only the CAN master functionality is supported.
The Ethernet interface serves to connect the Engineering PC or to create line topologies (no
integrated switch for Controller c300/p300).
More information on the bus systems and configuration can be found in the
communication manuals:
• Controller-based Automation EtherCAT®
• Controller-based Automation CANopen®
• Controller-based Automation PROFIBUS®
• Controller-based Automation PROFINET®
16 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
4 The Lenze automation system with EtherCAT
4.1 Brief description of EtherCAT
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4 The Lenze automation system with EtherCAT
This chapter provides basic information about ...
• the structure of the Lenze automation system using the EtherCAT bus system;
• the Lenze Engineering tools required for commissioning;
• the interaction of the components.
4.1 Brief description of EtherCAT
Tip!
Detailed information on EtherCAT is provided on the Internet website of the EtherCAT
Technology Group:
www.ethercat.org
Product features
• EtherCAT is a high-performance bus system based on Ethernet.
• Due to its integrated synchronisation mechanisms based on "distributed clocks", EtherCAT
possesses outstanding real time characteristics.
Synchronisation with "Distributed clocks" (DC)
• EtherCAT provides a higher bandwidth compared to CANopen:
• This enables motion and logic applications to be operated by the same fieldbus.
• The number of the nodes to be controlled is higher.
• The maximally possible bus length is longer.
• EtherCAT can access all field devices via a common interface. Therefore, unlike for the Lenze
CANopen control technology, a division into Logic bus and Motion bus is not required.
• The "Modular Device Profile for IPC" (MDP) is based on the "Modular Device Profile Specification"
of the EtherCAT Technology Group. All (software and hardware) components of the Lenze
Controller or Embedded PC are divided into modules. The list of the modules available is
generated dynamically, depending on the physically available components. The Lenze I/O
system 1000 with the EPM-S130 head end supports the "Modular Device Profile".
( 36)
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4 The Lenze automation system with EtherCAT
4.1 Brief description of EtherCAT
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.1.1 Structure of the EtherCAT bus system
Basic structure
[4-1] Example: EtherCAT bus system with 3231 C controller and i700 servo inverter
Physical structure
An EtherCAT master can communicate with one or more nodes (slaves).
Internally, the EtherCAT bus has a ring topology. Since Ethernet cables are provided with a feed
conductor and a return conductor within one cable, for the installer the topology seems to be a line.
The last slave closes the ring.
Switches, hubs, or other infrastructure components known from the Ethernet standard must not be
used because they impair the real-time performance.
18
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4 The Lenze automation system with EtherCAT
4.1 Brief description of EtherCAT
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.1.2 Communication
Compared with conventional Ethernet, the collision-free transfer of telegrams on the fieldbus
makes EtherCAT a real-time capable bus system.
Communication is always initiated by the EtherCAT master, i.e. the Lenze Controller. A telegram
sent by the master passes through all EtherCAT slaves. The last slave of the communication chain
sends the telegram back to the EtherCAT master. On the way back, the telegram is directly sent to
the EtherCAT master, without being processed in the slaves.
When EtherCAT is used, data are transferred in so-called "EtherCAT frames". The fieldbus nodes
only remove the data intended for them and do so while the EtherCAT frame is passing through the
device. Output data are inserted into the frame at the same time. Read and write access is always
carried out on a small section of the overall EtherCAT frame – the datagrams. This means that a
frame does not have to be received completely before it is processed. Each datagram is passed on
with minimal delay.
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4 The Lenze automation system with EtherCAT
Operational
Pre-Operational
Init
Safe-Operational
4.1 Brief description of EtherCAT
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.1.2.1 The EtherCAT state machine
Before communication via EtherCAT is possible, the fieldbus is scanned by the EtherCAT state
machine when the installation is being powered up. The following illustration shows the possible
status changes from the point of view of an EtherCAT slave.
E94AYCET009
[4-2] EtherCAT state machine
State Description
Init • Initialisation phase
• No SDO/PDO communication with the slaves
• Device can be detected by fieldbus scan
Pre-operational • The fieldbus is active.
• SDO communication (mailbox communication) is possible.
• No PDO communication
Safe-operational • SDO communication (mailbox communication) is possible.
• PDO communication:
• The input data in the process image are updated.
• The output data from the process image are not transferred to the slaves.
Operational Normal operation
• SDO communication
• PDO communication
• Fieldbus synchronisation has been successful (if used)
Note!
• A fieldbus scan is possible in any EtherCAT state.
Determining the physical EtherCAT configuration (fieldbus scan)
• The SDO communication via the EtherCAT bus is only possible if at least the "PreOperational" state has been reached.
• Only in the transitional phases between states can bus nodes be in different states.
( 75)
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4 The Lenze automation system with EtherCAT
4.1 Brief description of EtherCAT
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
AL Status Code
Possible errors during transitions between states are entered in the EtherCAT register "AL Status
Code" (address 0x0134:0x0135).
AL Status Code
[hex]
0x0000 No error
0x0011 Invalid status change requested
0x0012 Unknown status requested
0x0013 "Bootstrap" status is not supported
0x0016 Invalid mailbox configuration "Pre-operational"
0x001A Synchronisation error
0x001B Sync manager watchdog
0x001D Invalid output data configuration
0x001E Invalid input data configuration
0x002B Invalid input and output data
0x0030 Invalid configuration of DC synchronisation
0x9001 Firmware watchdog error
0x9002 Mapping error
Description
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4 The Lenze automation system with EtherCAT
4.1 Brief description of EtherCAT
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.1.2.2 Addressing of the slaves
The EtherCAT system uses two types of addressing for the slaves:
Auto-increment addressing
The auto-increment addressing is used by the master during the initialisation phase of the fieldbus.
When the "Pre-Operational" state has been reached, the master uses the Fixed-Address addressing.
Fixed-address addressing
With the fixed-address addressing, the slaves are addressed via the station address distributed by
the master during the start-up phase.
In the EtherCAT bus topology in »PLC Designer«, the first slave is given the address ’1001’, the
second the address ’1002’ and so on. The EtherCAT addresses cannot be changed.
The EtherCAT address of the master is ’0’. Access to master objects with the address ’0’ is possible.
Example
The first slave of a configuration is given the following addresses ...
• ’0’ due to the automatic incrementation procedure;
• ’1001’ due to the fixed addressing procedure.
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4 The Lenze automation system with EtherCAT
4.1 Brief description of EtherCAT
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.1.2.3 Working counter
Each EtherCAT datagram contains a working counter (WKC) which is incremented by each slave
after the data have been processed successfully.
The working counter (WKC) can be used as a diagnostics option to check the processing of the
EtherCAT telegrams by the slaves.
In each cycle, the Lenze Controller compares the expected value of the working counter with the
value read back via the fieldbus. If the read-back value is smaller than the expected value, not all
addressed slaves have been reached. The controller detects this and reports an error.
Messages: WKC Error / Not all slaves "Operational" / SyncManager Watchdog
Example
• 10 slaves read/write process data in the "Operational" state
Expected value of the WKC: 10
• A cable break between the 8th and 9th slave causes the master to be unable to access slave 9
and slave 10:
• Value of the restored WKC: 8
• An error response is initiated in the Lenze Controller.
• The EtherCAT bus changes to the state "Pre-Operational".
( 177)
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4 The Lenze automation system with EtherCAT
4.2 Required hardware components
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.2 Required hardware components
4.2.1 Field devices
The Lenze automation system supports the following EtherCAT-capable logic and motion
components:
Field devices EtherCAT
Logic Motion
Controller Controller 32xx C
Controller c300
Controller p300
Controller p500
i700 servo inverter Single axis
Double axis
Servo Drives 9400 1) HighLine
Highline with CiA402
PLC
Regenerative power supply
module
Inverter Drives 8400 2) StateLine
HighLine
TopLine
I/O-System 1000 EPM-Sxxx
1) With EtherCAT E94AYCET communication module
2) With EtherCAT E84AYCET communication module
Field devices of other manufacturers can be integrated as Logic nodes if they provide a standardcompliant EtherCAT device description.
24
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4 The Lenze automation system with EtherCAT
4.2 Required hardware components
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.2.2 The Lenze Controller - the central component
[4-3] Example: EtherCAT bus system with 3231 C controller as gateway and i700 servo inverter
The Lenze Controller is the central component in the EtherCAT bus system:
• The controller is the EtherCAT master.
• The Lenze Controllers have an EtherCAT interface "on-board".
• The controller acts as an EtherCAT gateway in order to enable access to the field devices from
the Engineering PC via Ethernet and EtherCAT.
• The devices are interconnected successively in line. For correct operation, it is nec essary that th e
physical sequence of the EtherCAT field devices matches the bus topology created in »PLC
Designer«.
Otherwise the system will not become "Operational". (An error message indicates which slave
(product code) is expected at what position.)
• Each EtherCAT slave has two EtherCAT ports.
In contrast to Ethernet, one port is assigned as input, the other one as output.
The inputs (IN) and outputs (OUT) must be correctly wired to each other
• A bus termination at the last slave is not required since the bus system at the last slave is
terminated automatically.
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4 The Lenze automation system with EtherCAT
4.2 Required hardware components
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.2.3 EtherCAT product codes
Device descriptions can be assigned to the corresponding devices with the help of the product
codes. In »PLC Designer«, you can install device descriptions with the menu command Tools
Device repository....
Importing missing devices / device description files
Structure of the device ID: <Manufacturer ID>_<Productcode><Revision number
Identification Meaning
Manufacturer ID Unique identification for the manufacturer, for Lenze devices: 0x3B
Product code Product code of the product range/the device
Revision number Revision number
If, for instance, a device available at the fieldbus without an installed device description is detected
during a Determining the physical EtherCAT configuration (fieldbus scan)
device ID as hexadecimal value is displayed:
( 78)
(59)
( 75) a message with the
In this example, the device description for a Lenze Servo Drive 9400 HighLine, actuating drive speed, is not installed (0x38079CD9 = 940023001).
Product codes for Servo Drives 9400
Product code [dec] Meaning
9 4 0 0 2 1 x x x Servo Drive 9400 in general
9 4 0 0 2 2 x x x Servo Drive 9400 StateLine
9 4 0 0 2 3 x x x Servo Drive 9400 HighLine
9 4 0 0 2 4 x x x Servo Drive 9400 TopLine
9 4 0 0 2 5 x x x Servo Drive 9400 PLC
9 4 0 0 2 6 x x x Servo Drive 9400 V/R (regenerative power supply module)
Applications:
0 0 0 Empty application
0 0 1 Actuating drive - speed
0 0 2 Actuating drive - torque
0 0 3 Electronic gearbox
0 0 4 Synchronism with mark synchronisation
0 0 5 Table positioning
0 0 6 Positioning sequence control
0 0 7 PLC application
000
89Reserved
...
...
9
Reserved
1 x x Reserved for device profiles
1 0 1 CiA402
2 x x Reserved for Lenze applications
2 0 1 Regenerative power supply module application
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Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
4 The Lenze automation system with EtherCAT
4.2 Required hardware components
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Product codes for Inverter Drives 8400
Product code [dec] Meaning
8 4 0 0 2 2 Inverter Drive 8400 StateLine
8 4 0 0 2 3 Inverter Drive 8400 HighLine
8 4 0 0 2 4 Inverter Drive 8400 TopLine
Product codes for i700 servo inverter
Product code [hex] Meaning
1 7 6 2 0 6 6 4 3 3 Single axis
1 7 6 2 0 6 6 4 3 4Double axis
Product codes for the I/O system 1000
Product code
[dec]
1 3 0 0 I/O system EPM-S130
Meaning
Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 27
4 The Lenze automation system with EtherCAT
4.2 Required hardware components
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.2.4 The EtherCAT interface of the Lenze Controller
The EtherCAT interface links the controller to an EtherCAT network.
Note!
In the case of a correct connection to the field devices, the LEDs of the EtherCAT interface
are lit.
EtherCAT interface of the Lenze Controller
Example
( 34)
ETC1: EtherCAT network connection
[4-4] EtherCAT interface at the 3231 C controller
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Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
4 The Lenze automation system with EtherCAT
4.3 Lenze Engineering tools
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.3 Lenze Engineering tools
The Lenze Engineering tools enable the configuration and operation of controller-based Lenze
automation systems according to individual requirements.
Use the corresponding Engineering tool applicable to the field device.
»EASY Navigator«: Starting the suitable Engineering tool
The Lenze Engineering software consists of the Engineering tools optimised for the respective
Engineering stage.
The »EASY Navigator« represents the Lenze Engineering tools installed on the Engineering PC. Start
the desired Engineering tool via the corresponding button:
The »EASY Navigator« ...
• simplifies orientation for selecting the suitable Engineering tool;
• allows for the simple start of the required Engineering tool (depending on the application):
What would you like to do? Button Engineering tool
Programming
• Program the controller
• Parameterise/commission the Servo-Inverter i700
• Parameterise the I/O system 1000
Parameterising/configuring the inverter
• Parameterising and configuring the automation/drive
system
• Parameterising Inverter Drives 8400/Servo Drives 9400
Visualising
• Visualising the applications of the automation system
• Creating the visualisation/user interfaces
Online diagnostics
• Easy online diagnostics of the controllers (from »EASY
Starter« V1.2) and other Lenze devices
Online parameterisation
• Online parameterisation/commissioning of Lenze
devices
• Direct online parameterisation when the online
connection to the Lenze devices is active.
»PLC Designer«
»Engineer«
»VisiWinNET«
»EASY Starter«
(reading parameters)
»EASY Starter«
(reading/writing
parameters)
Further Engineering tools that are not called via the »EASY Navigator« are:
• »WebConfig« (web-based parameterisation, configuration, and online diagnostics)
• »Backup & Restore« (data backup/recovery, software update).
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4 The Lenze automation system with EtherCAT
4.4 Interaction of the components
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4.4 Interaction of the components
4.4.1 The state machine of the Lenze control technology
In the Lenze control technology, the states of the PLC and the EtherCAT bus are coupled. The PLC
controls the fieldbus.
After switch-on, the system automatically powers up if the following conditions are fulfilled:
• There is an executable PLC boot project on the controller (»PLC Designer« project).
• The slaves that are on the fieldbus and have been configured in »PLC Designer« are accessible.
The following illustration shows the linkage of the states in the state machine of the Lenze control
technology when the conditions for the automatic acceleration of the system are fulfilled (boot
project with EtherCAT configuration):
[4-5] States in the Lenze control technology
Legend
Transitional state, automatic change to next state
Stationary state, change to next state by external actions
PLC State of the PLC
EtherCAT State of the EtherCAT bus
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Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
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