Lenze EtherCAT control technology User Manual
KHBETCPCBAUTO
13369406
Ä.Eó'ä
L-force Controls
Communication Manual
PC-based automation
EtherCAT control technology
Commissioning & configuration
L
2 L DMS 3.1 EN 01/2011 TD17
Control technology | EtherCAT communication manual
Contents
1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1 Document history
1.2 Conventions used
1.3 Terminology used
1.4 Notes used
2 Safety instructions
3 The "PC-based automation" system
4 The Lenze control system with EtherCAT
4.1 Brief description of EtherCAT
4.1.1 Features
4.1.2 Structure of the EtherCAT bus system
4.1.3 Communication
4.2 Required hardware components
4.2.1 The industrial PC - the central component
4.2.2 Field devices
4.2.3 EtherCAT product codes
4.2.4 EtherCAT hardware for the industrial PC
4.3 Required engineering tools
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4.4 Interaction of the components
4.4.1 The state machine of the Lenze control technology
4.4.2 Communication between engineering PC and field devices
5 Technical data
5.1 General data of the EtherCAT bus
5.2 MC-ETC communication card
5.3 Communication times and drive-specific data
6 Synchronisation with "Distributed clocks"
6.1 Synchronous communication
6.2 Adjusting task cycle time and DC cycle time
6.3 Setting the DC synchronisation with the »EtherCAT Configurator«
6.4 Check of the DC synchronicity
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
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Control technology | EtherCAT communication manual
7 Commissioning of the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.1 Overview of commissioning steps
7.2 Detailed commissioning steps
7.2.1 Planning the bus topology
7.2.2 Installing field devices
7.2.3 Creating a project folder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.2.4 Determining the physical EtherCAT configuration (fieldbus scan)
7.2.5 Configuration in the »Engineer«
7.2.6 Inserting devices available on the fieldbus into the »EtherCAT Configurator«
project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
7.2.7 Creating the configuration in the »EtherCAT Configurator«
7.2.8 Configuration in the »PLC Designer«
7.3 Checking the system startup
7.3.1 Evaluation of the boot-up error message of the SM_DriveBasic.lib library
7.3.2 Evaluation of the Axis_IO_Group state
7.3.3 Evaluation of the axis state
7.4 Typical commissioning scenarios
7.4.1 Switching on a completely configured system
7.4.2 Switching on a system with an incomplete configuration
7.4.3 Updating the PLC application while the EtherCAT configuration remains
7.4.4 Stopping and starting the PLC while the configuration remains unchanged
unchanged . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
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. 89
7.5 Detailed overview of the commissioning steps
8 EtherCAT with CANopen or PROFIBUS
8.1 Addressing the PROFIBUS and CANopen stations
8.2 Addressing EtherCAT nodes using CANopen/PROFIBUS nodes
9 EtherCAT function libraries
9.1 Usability
9.2 Function blocks/functions required for a »PLC Designer« project (overview)
9.3 Properties of function blocks
9.4 The EC_T_STATE structure
9.5 Function blocks and functions for master/slave states
9.5.1 ecatStartAsync (FB)
9.5.2 ecatStopAsync (FB)
9.5.3 ecatSetMasterStateAsync (FB)
9.5.4 ecatSetSlaveStateAsync (FB)
9.5.5 ecatGetMasterState (FUN)
9.5.6 ecatGetSlaveState (FUN)
9.5.7 ecatGetSlaveStateAsync (FB)
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9.6 Functions for the network management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
9.6.1 ecatMasterIsConfigured (FUN)
9.6.2 ecatGetSlaveId (FUN)
9.6.3 ecatGetSlaveIdAtPosition (FUN)
9.6.4 ecatGetSlaveProp (FUN)
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9.7 Function blocks and functions for diagnosing the network
9.7.1 ecatGetNumConfiguredSlaves (FUN)
9.7.2 ecatGetNumConnectedSlaves (FUN)
9.7.3 ECATDiagnostic (FB)
9.7.4 ResetMasterStatus (FB)
9.7.5 SMC_ETCErrorString (FUN)
9.7.6 L_ECAT_ReadErrCnt (FB)
9.7.7 L_ECAT_ResetErrCnt (FB)
9.7.8 The global EtherCAT master structure ECAT_MASTER
9.8 Function blocks for CANopen over EtherCAT (CoE)
9.8.1 ecatCoeSdoDownloadReq (FB)
9.8.2 ecatCoeSdoUploadReq (FB)
10 Defining the minimum cycle time of the PLC project
10.1 Calculating the total access time to the peripheral devices (T
10.2 Detecting the task utilisation of the application (T
10.2.1 Display of the system utilisation in the »PLC Designer« with the task editor
10.2.2 Detecting the task utilisation
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Correction
Task utilisation
). . . . . . . . . . . . . . . . . . . . 126
) . . . . . . . . . . . . . 125
. 126
10.3 Calculating the minimum cycle time
10.4 Optimising the system
11 Diagnostics
11.1 Diagnostics with the »EtherCAT Configurator«
11.2 Diagnostics with the »PLC Designer«
11.3 Diagnostic codes
11.4 Logbook of the IPC
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11.1.1 "Diagnostics" tab
11.1.2 Representation in the online mode
11.2.1 VISU_ETHERCATMaster visualisation template
11.2.2 VISU_ECATDiagnostic visualisation template
11.2.3 The global variable
11.2.4 Error scenario (example)
11.4.1 Displaying the EtherCAT entries of the logbook
11.4.2 Messages in the logbook of the industrial PC
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wState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
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11.5 Error counters of the EtherCAT slaves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
11.5.1 Error types: "Errors" and "Forwarded Errors"
11.5.2 Error counter reset from the application
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11.6 Error scenarios
11.6.1 Compilation error in »PLC Designer«
11.6.2 EtherCAT bus does not enter the Pre-Operational state
11.6.3 Control unit/PLC does not enter the RUN state
11.6.4 EtherCAT bus does not enter the Operational state
11.6.5 Error during EtherCAT data transmission
11.6.6 Shafts make clicking noises
11.6.7 Shafts do not rotate
11.6.8 Logbook message: "Cannot spawn Remote API Server"
11.6.9 Logbook message: "Ethernet cable not connected"
11.6.10 Logbook message: "Ethernet cable connected"
11.6.11 Logbook messages: "Slave at index X missing" with
"Cyclic command WKC error ..." . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
11.6.12 Logbook message: "Cyclic command WKC error ..."
11.7 System error messages
11.7.1 IPC logbook messages
11.7.2 General error codes (0x00000000
11.7.3 CANOpen over EtherCAT (CoE) SDO error codes
(0x98110040 ... 0x9811005D
11.7.4 Remote API error codes (0x98110181 ... 0x98110196
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
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, 0x98110001 ... 0x98110038
hex
) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
hex
). . . . . . . . . . . . . . . . . . . 163
hex
) . . . . . . 159
hex
11.8 SDO abort codes
12 Parameter reference
12.1 Parameters of the MC-ETC communication card in slot 1
12.2 Interface parameters of the MC-ETC communication card in slot 1
12.3 Parameters of the MC-ETC communication card in slot 2
12.4 Interface parameters of the MC-ETC communication card in slot 2
13 Index
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
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1 About this documentation
Note!
For industrial PCs of the EL 1xx, EL x8xx, CS x8xx and CPC x8xx series in control
technology release 2.5, EtherCAT is not supported.
This documentation ...
This documentation contains detailed information on how to commission, configure
and diagnose the EtherCAT bus system within the scope of Lenze's control technology.
belongs to the "PC-based automation" manual collection which consists of the
following documentation:
Documentation Subject
System manuals
"PC-based automation"
Communication manuals
"PC-based automation"
(Software) Manual
"PC-based automation"
Operating Instructions
"Embedded Line Panel PC"
Operating Instructions
"Command Station"
Operating Instructions
"Control Cabinet PC"
Operating Instructions
"HMI EL 100"
Further software manuals • »Global Drive Control« (»GDC«)
• Control technology - system structure & configuration
• Control technology - system structure & components
• CANopen control technology
• Control technology PROFIBUS
• EtherCAT control technology
• Industrial PC - parameter setting & configuration
• EL x7xx - built-in panel-PC with TFT display
• CS x7xx - stand-alone operator terminal
• CPC x7xx - control cabinet PC
• EL 1xx - HMI with Windows
• »Engineer«
• »PLC Designer« / »PLC Designer« / »PLC Designer - CANopen for Runtime
• »VisiWinNET® Smart«
About this documentation
® CE
–IPC as gateway - parameter setting & configuration
Systems«
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About this documentation
Further technical documentations for Lenze components
More information about Lenze components that can be used together with "PC-based
automation" can be found in the following documents:
Mounting & wiring Legend:
MAs for Inverter Drives 8400 Printed documentation
MAs for Servo Drives 9400 Online help/PDF
MA EPM-Txxx (I/O system IP20) Abbreviations used:
MA EPM-Sxxx (I/O system 1000) SHB System Manual
MA 8200 vector BA Operating Instructions
Wiring according to EMC, 8200 vector MA Mounting Instructions
MAs for the ECS servo system SW Software manual
MA communication card MC-CAN2 KHB Communication manual
MA communication card MC-ETC
MA communication card MC-ETH
MA communication card MC-PBM
MA communication card MC-PBS
MA communication card MC-MPI
MAs for communication modules
Parameter setting, configuration, commissioning
SW Inverter Drive 8400
BaseLine / StateLine / HighLine / TopLine
SW Servo Drive 9400 HighLine / PLC
Commissioning guide 9400 HighLine
SHB I/O system IP20 (EPM-Txxx)
SHB I/O system 1000 (EPM-Sxxx)
SHB 8200 vector
BAs for the ECS servo system
KHBs for communication modules
Programming
SW 9400 function library
Creating a network
KHBs for communication modules
Tip!
Manuals and software updates for Lenze products can be found in the download
area at:
http://ww.Lenze.com
8 L DMS 3.1 EN 01/2011 TD17
Target group
This documentation is intended for all persons who plan, install, commission and maintain
the networking of devices in the field of control technology.
1.1 Document history
Material no. Version Description
- 1.0 09/2008 TD11
13296253 2.0 05/2009 TD17 General revision
13317335 3.0 10/2009 TD17 General revision
13369406 3.1 01/2011 TD17 • General updates
Your opinion is important to us!
Control technology | EtherCAT communication manual
About this documentation
Document history
First edition
TD17
• Information on control technology release 2.5 has been added.
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
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About this documentation
Conventions used
1.2 Conventions used
This documentation uses the following conventions to distinguish between different types
of information:
Type of information Writing Examples/notes
Spelling of numbers
Decimal separator Point The decimal point is always used.
For example: 1234.56
Text
Version information Blue text colour All information valid for or from a certain software
Program name » « The Lenze PC software »Engineer«...
Window Italics The Message window... / The Options dialog box...
Variable identifier By setting bEnable to TRUE...
Control element Bold The OK button... / the Copy command... / the
Sequence of menu
commands
Shortcut <Bold> Use <F1> to open the online help.
Program code Courier
Keyword Courier bold
version, is indicated accordingly in this
documentation.
Example: This function extension is available from
software version V3.0!
Characteristics tab... / the Name input field...
If the execution of a function requires several
commands in a row, the individual commands are
separated by an arrow: Select File
If a key combination is required for a command, a "+"
is placed between the key identifiers: With
<Shift>+<ESC>...
IF var1 < var2 THEN
a = a + 1
END IF
Open to ...
Hyperlink Underlined
Symbols
Page reference ( 10) Optically highlighted reference to another page. It is
Step-by-step instructions
Optically highlighted reference to another topic. It is
activated with a mouse-click in this documentation.
activated with a mouse-click in this documentation.
Step-by-step instructions are indicated by a
pictograph.
10 L DMS 3.1 EN 01/2011 TD17
1.3 Terminology used
Term Meaning
»Engineer« Lenze engineering tools supporting you during the entire life cycle of a machine
»EtherCAT Configurator«
»Global Drive Control« (GDC)
»PLC Designer«
Code "Container" for one or several parameters used for Lenze Servo Drives parameter
Subcode If a code contains several parameters, they are stored in "subcodes".
IPC Industrial PC
PLC Programmable Logic Controller
AT-EM EtherCAT master
CoE CANopen over EtherCAT
DC Distributed clocks (distributed synchronised clocks)
EoE Ethernet over EtherCAT
FoE File access over EtherCAT
MCF Master configuration file (XML file for EtherCAT bus configuration)
SoE Servo drive profile over EtherCAT
FB Function block (contained in a function library)
FUN Function (contained in a function library)
Control technology | EtherCAT communication manual
About this documentation
Terminology used
- from the planning phase to maintenance.
setting or monitoring.
In the documentation the diagonal slash "/" is used as a separator between the
designation of the code and subcode (e.g. "C00118/3").
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About this documentation
Notes used
1.4 Notes used
The following signal words and symbols are used in this documentation to indicate
dangers and important information:
Safety instructions
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 Signal word Meaning
Danger! Danger of personal injuries through dangerous electrical voltage
Danger! Danger of personal injury through a general source of danger
Application notes
Pictograph Signal word Meaning
Stop! Danger of property damage
Note! Important note for trouble-free operation
Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.
Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.
Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Tip! Useful tip for easy handling
Reference to another documentation
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2 Safety instructions
Please observe the following safety instructions when you want to commission a controller
or system using an industrial PC.
Read the documentation supplied with the system components thoroughly
before starting to commission the devices and the industrial PC!
The System Manual contains safety instructions which must be observed!
Danger!
According to our present level of knowledge it is not possible to ensure the
absolute freedom from errors of a software.
If necessary, systems with built-in controllers must be provided with additional
monitoring and protective equipment according to relevant safety regulations
(e.g. law on technical equipment, regulations for the prevention of accidents) so
that an impermissible operating status does not endanger persons or facilities.
Safety instructions
During commissioning persons must keep a safe distance from the motor or the
machine parts driven by the motor. Otherwise there would be a risk of injury by
the moving machine parts.
Stop!
If you change parameters in an engineering tool during an existing online
connection to a device, the changes are directly added to the device!
A wrong parameter setting can cause unpredictable motor movements. By
unintentional direction of rotation, too high speed or jerky operation, the driven
machine parts may be damaged!
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The "PC-based automation" system
3 The "PC-based automation" system
Industrial PCs (IPCs) are increasingly finding their way into automation technology. With
their scaling characteristics and the possible combination of visualisation and control in
one device, industrial PCs offer clear advantages for many applications.
Lenze industrial PCs are available with the following software equipments:
Industrial PC as component (optional with operating system) without any further
software
Industrial PC as visualisation system
Industrial PC as control and visualisation system
The "PC-based automation" system allows the central control of Logic and Motion systems.
For this purpose, Lenze provides coordinated system components:
Industrial PCs as control and visualisation system
– The IPC is the central component of the PC-based automation which control the
Logic and Motion functionalities by means of the runtime software.
– The IPC communicates with the field devices via the fieldbus.
– The IPCs are available in different designs.
Note!
Moreover, the HMI series EL 1xx PLC belongs to the "PC based automation"
system. These devices differ considerably from the industrial PCs in performance
and various other details. However the devices of the HMI series EL 1xx PLC are
able to fulfil smaller control functions.
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The "PC-based automation" system
Engineering tools for the Engineering PC
– The Engineering PC communicates with the IPC via Ethernet.
– The different engineering tools are used to configure and parameterise the system.
Fieldbuses
Field devices
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The Lenze control system with EtherCAT
Brief description of EtherCAT
4 The Lenze control system with EtherCAT
Note!
For industrial PCs of the EL 1xx, EL x8xx, CS x8xx and CPC x8xx series in control
technology release 2.5, EtherCAT is not supported.
This chapter provides basic information about ...
the EtherCAT bus system;
the structure of the Lenze control system with the EtherCAT bus system;
the Lenze engineering tools required for commissioning.
the interaction of the components.
4.1 Brief description of EtherCAT
Tip!
More detailed information about EtherCAT can be found on the Internet website of
the EtherCAT Technology Group under:
www.EtherCAT.org
4.1.1 Features
EtherCAT is a high-performance bus system based on Ethernet.
Thanks to the integrated synchronisation mechanisms via "distributed clocks",
EtherCAT offers excellent real-time characteristics.
Synchronisation with "Distributed clocks"
EtherCAT provides a higher bandwidth compared to CANopen:
– This enables motion and logic applications to be operated by the same bus.
– 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, a division into
Logic fieldbus and MotionBus is not required.
( 36)
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4.1.2 Structure of the EtherCAT bus system
Basic structure
The Lenze control system with EtherCAT
Brief description of EtherCAT
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 going 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.
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The Lenze control system with EtherCAT
Brief description of EtherCAT
4.1.3 Communication
Compared with the conventional Ethernet, the collision-free transfer of telegrams on the
bus makes EtherCAT a real-time capable bus system.
Communication is always initiated by the EtherCAT master, i.e. the industrial PC. 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.
With EtherCAT, telegram processing completely takes place on the hardware level. The
slaves take the data intended for them from the Ethernet frame and write their data back
to the Ethernet frame. Every datagram can be passed on with a minimum delay.
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4.1.3.1 The EtherCAT state machine
Before communication via EtherCAT is possible, the bus runs through the EtherCAT state
machine during power-up. The following illustration shows the possible state change from
an EtherCAT slave's point of view:
The Lenze control system with EtherCAT
Brief description of EtherCAT
Init
Pre-Operational
Safe-Operational
Operational
Status 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 is transmitted to the master and evaluated.
–The output data have the "Safe" state. It is not forwarded to the basic device.
Operational • Normal operation
–SDO communication
–PDO communication
–Fieldbus synchronisation has been successful (if used)
Note!
• Scanning of the EtherCAT fieldbus is possible in all states:
Determining the physical EtherCAT configuration (fieldbus scan)
• SDO communication via the EtherCAT fieldbus is only possible when at least
the Pre-Operational state has been reached.
E94AYCET009
( 47)
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The Lenze control system with EtherCAT
Brief description of EtherCAT
4.1.3.2 Addressing of the slaves
The EtherCAT system uses two types of addressing for the slaves:
Auto-increment addressing
Fixed-address 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 FixedAddress addressing.
Auto-increment addressing
The auto-increment addressing is based on the bus topology. Each slave can be addressed
by means of its physical position within the fieldbus.
Slave 1 = address 0
Slave 2 = address -1
Slave 3 = address -2 etc.
The master transmits a telegram to the slave address. Each slave increments the address
during the telegram cycle. A slave to which a telegram is addressed recognises the
telegram by means of the address 0.
A configuration example is given under:
Determining the physical EtherCAT configuration (fieldbus scan)
Fixed-address addressing
With the fixed-address addressing, the slaves are addressed via the station address
distributed by the master in the start-up phase.
In the EtherCAT bus topology in the »PLC Designer«, the first slave gets the address 1001,
the second slave the address 1002, etc. The EtherCAT addresses cannot be changed.
The EtherCAT address of the master is 0. Master objects with this address can also be
accessed via CoE.
Example
The first slave of a configuration obtains the following addresses:
0 by the auto-increment mode
( 47)
1001 by the fixed addressing mode (default address of the first slave in the »EtherCAT
Configurator«).
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4.1.3.3 Working counter
Each EtherCAT datagram contains a working counter (WKC) which is incremented by each
slave after the data have been processed successfully.
In every cycle, the control unit compares the expected value of the working counter with
the value read back via the fieldbus. If the read-back value is lower than the expected value,
the telegram has not reached all addressed slaves. The control unit recognises this and
signals an error.
The working counter (WKC) can be used as a diagnostics option to check the processing of
the EtherCAT telegrams by the slaves.
Example
10 slaves read/write process data in the Operational status
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 control.
Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Brief description of EtherCAT
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The Lenze control system with EtherCAT
Required hardware components
4.2 Required hardware components
4.2.1 The industrial PC - the central component
The industrial PC is the central component in the EtherCAT bus system:
The industrial PC is the EtherCAT master.
The industrial PC acts as EtherCAT gateway to be able to access the field devices from
the engineering PC via Ethernet and EtherCAT.
The devices must be connected in a line. To ensure that the system operates properly,
the physical arrangement of the EtherCAT field devices must comply with the bus
topology created in the »EtherCAT Configurator«.
Each EtherCAT slave has two EtherCAT ports.
– In contrast to Ethernet, one port is assigned as input, the other one as output.
– Input (IN) and output (OUT) must not be reversed!
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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4.2.2 Field devices
The Lenze control system supports the following EtherCAT-capable logic and motion
components:
Field devices EtherCAT bus
Industrial PCs EL x1xx PLC z -
Servo Drives 9400 1) HighLine z
Inverter Drives 8400 2) BaseLine z
I/O system 1000 EPM-Sxxx z
ECS servo system 3) ECSxE z
1) With EtherCAT E94AYCET communication module
2) With EtherCAT E84AYCET communication module
3) With EtherCAT EMF2192IB communication module
Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Required hardware components
Logic Motion
EL x7xx zz
CS x7xx zz
CPC x7xx zz
Highline with CiA402 zz
PLC z
StateLine z
HighLine z
TopLine z
ECSxS (Speed & Torque) z
ECSxP (Posi & Shaft) z
ECSxM (Motion) z
ECSxA (Application) z
Field devices of other manufacturers can be integrated as logic nodes if they provide a
standard-compliant EtherCAT device description.
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The Lenze control system with EtherCAT
Required hardware components
4.2.3 EtherCAT product codes
The product codes serve to assign device descriptions to the corresponding devices. Device
descriptions can be installed via the device repository.
Importing missing field devices
The product codes are part of the device ID.
Structure of the device ID: <Manufacturer ID>_<Productcode><Revision number
Identification Meaning
Manufacturer ID Clear identification for the manufacturer, for Lenze devices: 0x3B
Product code Product code of the product range/the device
Revision number Revision number, consists of Major Revision (CANopen behaviour) and
If, for instance, a device available at the fieldbus witout an installed device description is
detected during a Fieldbus scan with the »EtherCAT Configurator«
the device ID as hexidecimal value is displayed.
( 59)
Minor Revision (device version)
(59
hex
dec
( 47) , a message with
)
In the example, the device description for a Lenze Servo Drive 9400 HighLine, actuator –
speed, is not installed (0x38079CD9
= 940023001
hex
dec
).
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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Product codes for Inverter Drives 8400
Product code [dec] Meaning
8 4 0 0 2 1 Inverter Drive 8400 BaseLine
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 the I/O system 1000
The Lenze control system with EtherCAT
Required hardware components
Product code
[dec]
1 3 0 0 I/O system EPM-S130
Meaning
Product codes for the ECS servo system
Product code [dec] Meaning
2 1 9 2 0 7 0 0 ECSxA axis module "Application"
2 1 9 2 0 7 0 1 ECSxM axis module "Motion"
2 1 9 2 0 7 0 2 ECSxP axis module "Posi & Shaft"
2 1 9 2 0 7 0 3 ECSxS axis module "Speed & Torque"
2 1 9 2 0 7 1 1 ECSxE power supply module
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The Lenze control system with EtherCAT
Required hardware components
4.2.4 EtherCAT hardware for the industrial PC
MC-ETC communication card
The MC-ETC communication card is a plug-in card for connecting an industrial PC to an
EtherCAT network.
Note!
In case of a correct connection to the field devices, the LEDs of the
communication card are lit.
Connection RJ45 socket / LEDs
( 34)
A Front panel
B Board
C Coding
D Connection
E EtherCAT connection
Connection RJ45 socket / LEDs
( 34)
MC-ETC-001
Technical data of the
MC-ETC communication card ( 34)
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The Lenze control system with EtherCAT
Required hardware components
Possible applications
Note!
The industrial PC only supports one communication card MC-ETC!
Industrial PC Can be combined with CANopen Communication card for CANopen
EL x7xx yes MC-CAN2
CS x7xx no
CPC 2700 yes MC-CAN2
Example: Industrial PC EL x7xx with MC-ETC
Legend
EL x7xx Industrial PC of the EL x7xx series
ETC1 EtherCAT network connection
MC-ETC MC-ETC communication card
MC-ETC_ELx7xx
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The Lenze control system with EtherCAT
Required engineering tools
4.3 Required engineering tools
The engineering tools required for configuration and parameter setting are installed on
the engineering PC.
»Engineer«, »EtherCAT Configurator« and »PLC Designer« are engineering PC tools
which are independent of each other.
The EtherCAT bus, the industrial PC and the EtherCAT-capable field devices are
configured with the engineering tools highlighted in grey.
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The Lenze control system with EtherCAT
Required engineering tools
Brief description of the engineering tools
L-force »Engineer«
With the »Engineer«, you can ...
parameterise, configure and diagnose ...
– Servo Drives 9400;
– Inverter Drives 8400;
– the I/O system 1000.
access the supported field devices via the gateway function of the industrial PC.
»Global Drive Control« ((GDC))
With (GDC) you can ...
parameterise, configure and diagnose controllers which are not supported by the
»Engineer« (e.g. devices of the ECS servo system).
access the supported field devices via the gateway function of the industrial PC (not
with PROFIBUS).
L-force »PLC Designer«
The »PLC Designer« is needed to ...
create the control program for the industrial PC;
transfer the PLC projects to the industrial PC.
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The Lenze control system with EtherCAT
Interaction of the components
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 fieldbuses are
coupled. The PLC controls the fieldbus.
After switch-on the system automatically powers up if the following conditions are
fulfilled:
The IPC is provided with the configuration file for the EtherCAT master (master-XML
file), the contents of which corresponds to the real bus topology.
The IPC is provided with an executable PLC boot project.
The slaves at the fieldbus can be accessed.
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 BusInterface and EtherCAT master configuration):
Switch on industrial PC and field devices
PLC: Original
EtherCAT: Unknown
PLC: Original
EtherCAT: Init
PLC: Original
EtherCAT: Pre-Operational
PLC: Running
EtherCAT: Safe-Operational
PLC: Running
EtherCAT: Operational
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 fieldbus
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