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L EDS84DMOTECAT EN 2.
Communication manual 8400 motec EtherCAT® Contents Contents 1 2 3 4 5 6 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication manual 8400 motec EtherCAT® Contents 7 8 9 10 11 12 13 14 4 Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 7.1 EtherCAT frame structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 7.2 EtherCAT datagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication manual 8400 motec EtherCAT® About this documentation 1 About this documentation Contents This documentation exclusively contains descriptions of the EtherCAT bus system for the Inverter Drive 8400 motec. Note! This documentation supplements the mounting instructions and the "Inverter Drives 8400 motec" hardware manual supplied with the controller. The properties and functions of the EtherCAT for Inverter Drives 8400 motec are described in detail.
Communication manual 8400 motec EtherCAT® About this documentation Target group This documentation is aimed at people involved in configuring, installing, commissioning, and maintaining the networking and remote maintenance of a machine. Tip! Information and software updates for Lenze products can be found in the download area at: www.Lenze.
Communication manual 8400 motec EtherCAT® About this documentation Document history 1.1 Document history version Description 1.0 04/2011 TD17 First edition 2.0 11/2011 TD17 Information on the EtherCAT register "AL Status Code" ( 36) has been added. 2.1 11/2012 TD17 EtherCAT® is a registered trademark by Beckhoff Automation GmbH, Germany.
Communication manual 8400 motec EtherCAT® About this documentation Conventions used 1.2 Conventions used This documentation uses the following conventions to distinguish different types of information: Type of information Writing Examples/notes Numbers Decimal Hexadecimal Binary • Nibble Decimal separator Standard notation 0x[0 ... 9, A ... F] In inverted commas Point Point Example: 1234 Example: 0x60F4 Example: ’100’ Example: ’0110.0100’ The decimal point is generally used. Example: 1234.
Communication manual 8400 motec EtherCAT® About this documentation Terminology used 1.3 Terminology used Term Meaning EtherCAT® is a real-time capable Ethernet system with top performance. EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Communication manual 8400 motec EtherCAT® About this documentation Notes used 1.
Communication manual 8400 motec EtherCAT® Safety instructions General safety and application notes 2 Safety instructions Note! Always observe the specified safety measures to avoid severe injury to persons and damage to property! Always keep this documentation to hand in the vicinity of the product during operation. 2.1 General safety and application notes Danger! Disregarding the following basic safety measures may lead to severe personal injury and damage to material assets.
Communication manual 8400 motec EtherCAT® Safety instructions Device and application-specific safety instructions Only qualified personnel may work with and on Lenze drive and automation components. In accordance with IEC 60364 and CENELEC HD 384, these are persons ... – who are familiar with installing, mounting, commissioning, and operating the product. – who have the qualifications necessary for their occupation.
Communication manual 8400 motec EtherCAT® Product description Application as directed 3 Product description 3.1 Application as directed The EtherCAT Communication Unit ... is a unit that can only be used in conjunction with the following modules: Product series Type designation Inverter Drives 8400 motec Drive Unit E84DGDVxxxxxxxx Inverter Drives 8400 motec Wiring Unit E84DGVNxx is an item of equipment intended for use in industrial power systems.
Communication manual 8400 motec EtherCAT® Product description Features and variants 3.2 Features and variants The EtherCAT Communication Unit is available in the following versions: z z E84DGFCT9NP z z E84DGFCTAJP z z E84DGFCT9JP z z Safety E84DGFCTANP I/O: M12 Inverter Drives 8400 motec EtherCAT Communication Unit I/O: Terminal Features EtherCAT M12 Type designation Enclosure IP 65 Product series z z z z z z The EtherCAT Communication Unit is ...
Communication manual 8400 motec EtherCAT® Product description Connections and interfaces 3.3 Connections and interfaces E84DG029 [3-1] EtherCAT Communication Unit Pos.
Communication manual 8400 motec EtherCAT® Product description Connections and interfaces On delivery, the EtherCAT connections and the LEDs for the EtherCAT status displays are already mounted and wired: – EtherCAT input to plug connector X31 – EtherCAT output to plug connector X32 – LEDs to plug connector X55 It is also possible to connect the EtherCAT and other inputs and outputs (e.g. digital inputs) via the positions A1 ... A4 and B1 ... B4.
Communication manual 8400 motec EtherCAT® Technical data General data and operating conditions 4 Technical data 4.1 "Inverter Drives 8400 motec" hardware manual Here you will find the ambient conditions and information on the electromagnetic compatibility (EMC) that also apply to the Communication Unit.
Communication manual 8400 motec EtherCAT® Technical data Protocol data 4.2 Protocol data Area Values Process data words 1 ... 10 process data words to master (max. 20 bytes, 16 bits / word) 1 ... 8 process data words from master (max. 16 bytes, 16 bits / word) Parameter data (mailbox size for CoE Max. 128 bytes transfer) 4.
Communication manual 8400 motec EtherCAT® Installation 5 Installation Stop! Electrostatic discharge Electronic components within the Communication Unit can be damaged or destroyed by electrostatic discharge. Possible consequences: • The Communication Unit is defective. • Fieldbus communication is troubled or not possible. • I/O signals are faulty. • The safety function is faulty. Protective measures • Discharge electrostatic charges before touching the Communication Unit. EDS84DMOTECAT EN 2.
Communication manual 8400 motec EtherCAT® Installation Mechanical installation 5.1 Mechanical installation Mounting instructions for "Inverter Drives 8400 motec" Here you will find detailed information on the installation. 0.37 ... 3.0 kW 4.0 ... 7.5 kW E84DG023a E84DG023b [5-1] Mechanical installation of the 8400 motec components Legend for Fig. [5-1] 20 1 Drive Unit 2 Communication Unit 3 Wiring Unit A Cover of the Drive Unit EDK84DG...
Communication manual 8400 motec EtherCAT® Installation Electrical installation 5.2 Electrical installation "Inverter Drives 8400 motec" hardware manual Here you will find detailed information about ... • the digital and analog inputs/outputs; • the relay output; • the integrated safety system (safety option); • the wiring of the connections. Observe the notes and wiring instructions included. 5.2.1 Network topology An EtherCAT telegram is sent through a pair of wires from the master to the slaves.
Communication manual 8400 motec EtherCAT® Installation Electrical installation Switch topology M M = master S S = switch SD = slave device IN SD IN SD E94AYCET007 [5-3] Switch topology The wiring can also be carried out in a star structure via an appropriate switch. For this, observe the additional runtimes. 22 L EDS84DMOTECAT EN 2.
Communication manual 8400 motec EtherCAT® Installation Electrical installation 5.2.
Communication manual 8400 motec EtherCAT® Installation Electrical installation 5.2.3 External voltage supply The external voltage supply can be used to establish EtherCAT communication for commissioning purposes and to query the data of the digital and analog inputs. Moreover, the external voltage supply serves to keep up EtherCAT communication in the event of a main supply failure. The digital inputs RFR, DI1 ... DI5 and the analog inputs can be evaluated as before.
Communication manual 8400 motec EtherCAT® Commissioning Before initial switch-on 6 Commissioning During commissioning, system-related data such as motor parameters, operating parameters, responses, and parameters for fieldbus communication are defined for the controller. For Lenze devices, this is done via the codes. The codes of the controller and communication are saved non-volatilely as a data set in the memory module.
Communication manual 8400 motec EtherCAT® Commissioning Configuring the host (master) 6.2 Configuring the host (master) To be able to communicate with the Communication Unit the host (master) must be configured first. In order to configure EtherCAT networks, you always need a configuration software for the host (master), e.g.: Lenze »PLC Designer« Beckhoff »TwinCAT« These are software systems for the programming of control programs, EtherCAT configuration, real-time execution and diagnostics.
Communication manual 8400 motec EtherCAT® Commissioning Configuring the host (master) 6.2.2 Automatic device identification For troublefree integration of the EtherCAT slaves in a master configuration it is necessary to select the correct Lenze device from the EtherCAT configuration software. The configuration software unambiguously identifies an EtherCAT node by the product code (identical to CoE object I-1018.2), the manufacturer code (0x3B), and the main software version of the Communication Unit.
Communication manual 8400 motec EtherCAT® Commissioning Configuring the host (master) 6.2.3 Configuring process data The process data configuration is determined during the initialisation phase of the master (PDO mapping). A maximum of 10 process data words (max. 20 bytes) can be sent to the master. A maximum of 8 process data words (max. 16 bytes) can be sent by the master.
Communication manual 8400 motec EtherCAT® Commissioning Configuring the host (master) The process data configuration is predefined in the device description file for each application and can be adjusted by the user if required. Configuring the port interconnection of the process data objects (PDO) ( 39) The last internal information of the configured data must be deleted to shorten the configured length of the process data. Process data words to the master must keep their last two I/O data words. 6.
Communication manual 8400 motec EtherCAT® Commissioning Address allocation 6.3 Address allocation The EtherCAT nodes are normally addressed via a fixed 16-bit address defined by the EtherCAT master. During start-up, the master assigns this address to each node, depending on the physical order in the EtherCAT network. The address is not saved and is lost when the device is switched off. Via the Station alias address input field you can assign a fixed address to the EtherCAT slave.
Communication manual 8400 motec EtherCAT® Commissioning Initial switch-on 6.4 Initial switch-on Establishing communication To establish communication, the controller must be supplied with mains voltage. The external voltage supply serves to keep up EtherCAT communication in the event of a main supply failure. External voltage supply ( 24) During mains connection, all parameters (codes) are read. If an error occurs, the error message "CE04: MCI communication error" (error no. 01.0127.
Communication manual 8400 motec EtherCAT® Data transfer 7 Data transfer EtherCAT transmits data in so-called "EtherCAT frames". The EtherCAT nodes only extract the data intended for them while the EtherCAT frame passes through the device. At the same time output data are inserted into the frame while it passes through the device. Read and write accesses are only executed on a small section of the entire EtherCAT frames – the datagrams.
Communication manual 8400 motec EtherCAT® Data transfer EtherCAT frame structure 7.1 EtherCAT frame structure EtherCAT frames have the following structure: Ethernet header Ethernet data 48 bits 48 bits 16 bits 11 bits Destination Source EtherType 1 bit 4 bits Frame header Length Reserved FCS 48 ...
Communication manual 8400 motec EtherCAT® Data transfer EtherCAT datagrams 7.2 EtherCAT datagrams EtherCAT datagrams have the following structure: EtherCAT Command header Data WKC 10 bytes Max. 1486 bytes 2 bytes EtherCAT command header The EtherCAT command header contains the following information: Command to be executed Addressing information Length of the data area (Data) Interrupt field Data The data area contains the data of the command to be executed.
Communication manual 8400 motec EtherCAT® Data transfer EtherCAT state machine 7.3 EtherCAT state machine Before communication is possible via EtherCAT, the fieldbus passes through the EtherCAT state machine during start-up.
Communication manual 8400 motec EtherCAT® Data transfer EtherCAT state machine AL Status Code Information on how to access the "AL Status Code" EtherCAT register (address 0x0134:0x0135) can be found in the documentation for the EtherCAT master.
Communication manual 8400 motec EtherCAT® Process data transfer 8 Process data transfer Process data are transmitted by means of so-called EtherCAT datagrams ( 34) via the process data channel. The Inverter Drive 8400 motec is controlled by means of the process data. Transferring process data is time-critical. Process data are cyclically transferred between the host (master) and the controllers (slaves) (continuous exchange of current input and output data).
Communication manual 8400 motec EtherCAT® Process data transfer Accessing process data / PDO mapping 8.1 Accessing process data / PDO mapping Process data are transferred via the MCI/CAN interface. Max. 8 words (16 bits/word) per direction can be exchanged. The process data are accessed via the port blocks LP_Network_In and LP_Network_Out. These port blocks are also called process data channels. The LP_Network_In port block maps the received MCI-PDOs.
Communication manual 8400 motec EtherCAT® Process data transfer Configuring the port interconnection of the process data objects (PDO) 8.2 Configuring the port interconnection of the process data objects (PDO) Note! The following »Engineer« screenshots are only examples of the setting sequence and the resulting displays. Depending on the software version of the controller and of the installed »Engineer« software, the screenshots may vary from your »Engineer« depiction.
Communication manual 8400 motec EtherCAT® Process data transfer Configuring the port interconnection of the process data objects (PDO) 3. Click the port to be configured and press the Change Variable... button. 40 L EDS84DMOTECAT EN 2.
Communication manual 8400 motec EtherCAT® Process data transfer Configuring the port interconnection of the process data objects (PDO) 4. The button serves to assign signals to the process data words in the Assignment Signal --> Function Block dialog box. Select signals and then click the OK button. EDS84DMOTECAT EN 2.
Communication manual 8400 motec EtherCAT® Process data transfer Configuring the port interconnection of the process data objects (PDO) For some process data words, you can also assign signals to the individual bits via the and buttons. Select the signals and then confirm the selection with OK. The current interconnection is only displayed if the following has been set for the control mode in code C00007 = 40: Network (MCI/CAN). 5.
Communication manual 8400 motec EtherCAT® Parameter data transfer Establishing a connection between master and slave 9 Parameter data transfer Parameter data are transmitted via the fieldbus as so-called SDOs (Service Data Objects). The SDO services provide for the write and read access to the object directory. The SDO channel provides for the access to Implemented CoE objects ( 53) and Lenze codes by means of the CoE protocol. In general, the parameter data transfer is not time-critical.
Communication manual 8400 motec EtherCAT® Parameter data transfer Reading and writing parameters 9.2 Reading and writing parameters Parameters ... are set e.g. for one-time system settings or if materials are changed within a machine. are transmitted with a low priority. In the case of Lenze controllers, the parameters to be changed are contained in codes. Indexing of the Lenze codes The codes of the Inverter Drive 8400 motec are addressed by the index when accessed via the Communication Unit.
Communication manual 8400 motec EtherCAT® Parameter data transfer Reading and writing parameters 9.2.1 Reading parameters (SDO Upload) 1. The master sends "Initiate Domain Upload Request". 2. The slave acknowledges the request with a positive response ("Initiate Domain Upload Response"). In the event of an error the slave responds with "Abort Domain Transfer". Note! In the case of jobs for the controller, please make sure that you convert the code into an index.
Communication manual 8400 motec EtherCAT® Parameter data transfer Reading and writing parameters SDO Upload Expedited Response An "SDO Upload Expedited Response" is carried out if the data length of the parameter data to be read amounts to a maximum of 4 bytes.
Communication manual 8400 motec EtherCAT® Parameter data transfer Reading and writing parameters SDO Upload Normal Response An "SDO Upload Normal Response" is carried out if the data length of the parameter data to be read amounts to ≥ 4 bytes.
Communication manual 8400 motec EtherCAT® Parameter data transfer Reading and writing parameters Example The transmitted response structure during an Upload to index 0x5FD8 (standard value of C00039/1, Fixed_Setpoint_1 = 0x0FA0) includes the following data: SDO frame area Data field Data type / length Value / description Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data Address WORD 2 bytes 0x00 Channel WORD 6 bits (0 ...
Communication manual 8400 motec EtherCAT® Parameter data transfer Reading and writing parameters 9.2.2 Writing parameters (SDO Download) 1. The master sends "Initiate Domain Download Request". 2. The slave acknowledges the request with a positive response ("Initiate Domain Download Response"). In the event of an error the slave responds with "Abort Domain Transfer". Note! In the case of jobs for the controller, please make sure that you convert the code into an index.
Communication manual 8400 motec EtherCAT® Parameter data transfer Reading and writing parameters SDO Download Normal Request An "SDO Download Normal Request" is carried out if the data length of the parameter data to be written amounts to ≥ 4 bytes.
Communication manual 8400 motec EtherCAT® Parameter data transfer Reading and writing parameters SDO Download Response Detailed breakdown of the data for an "SDO Download Response": SDO frame area Data field Data type / length Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data Address WORD 2 bytes Station address of the source if an EtherCAT master is the instructing party. Station address of the target if an EtherCAT slave is the instructing party.
Communication manual 8400 motec EtherCAT® Parameter data transfer Reading and writing parameters Example The transmitted request structure during a Download to index 0x1600 includes the following data: SDO frame area Data field Data type / length Value / description Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data Address WORD 2 bytes 0x00 Channel WORD 6 bits (0 ... 5) 0x00: Reserved Priority 2 bits (6, 7) 0x00: Lowest priority Type 4 bits (8 ...
Communication manual 8400 motec EtherCAT® Parameter data transfer Implemented CoE objects 9.3 Implemented CoE objects Lenze devices can be parameterised with both Lenze codes and the manufacturerindependent "CoE objects". In order to comply fully with EtherCAT communication, you may only use the CoE objects for parameterisation. The CoE objects described in this manual are defined in the "EtherCAT Specification, Part 6 – Application Layer Protocol Specification".
Communication manual 8400 motec EtherCAT® Parameter data transfer EtherCAT objects of the Communication Unit 9.4 EtherCAT objects of the Communication Unit The object directory displays the Parameters relevant for EtherCAT communication ( 67) as objects: Index Code Index name Subindex Subindex name Type Bits Access 0x29E5 C13850 All words from drive to master 0 ... 10 All words from drive to master UNSIGNED 16 R 0x29E4 C13851 All words from master to drive 0 ...
Communication manual 8400 motec EtherCAT® Parameter data transfer SDO abort codes (Abort codes) 9.5 SDO abort codes (Abort codes) If an SDO request is evaluated negatively, a corresponding error code is output.
Communication manual 8400 motec EtherCAT® Monitoring Interruption of EtherCAT communication 10 Monitoring 10.1 Interruption of EtherCAT communication An interruption of the EtherCAT communication in the "Operational" state, e.g. due to cable break of failure of the EtherCAT master, is detected by the slave. The response to the communication interruption is controlled via the following settings: 1.
Communication manual 8400 motec EtherCAT® Monitoring Fault of the internal communication 3. Via standard device code C00002, execute the "11: Save all parameter sets" device command to activate the changed parameter settings and to save it to the memory module. 10.2 Fault of the internal communication The response to a communication error between the Communication Unit and the Drive Unit can be set in code C01501.
Communication manual 8400 motec EtherCAT® Diagnostics LED status displays 11 Diagnostics EtherCAT communication faults can be diagnosed via the LEDs of the Communication Unit. Moreover, the »Engineer« providesEtherCAT diagnostic information. 11.1 LED status displays E84DG056 LED Colour Status Link / Activity 1 (A2) green off Description • There is no cable connected to the EtherCAT input (IN). • No communication on A cable is connected to the EtherCAT input (IN).
Communication manual 8400 motec EtherCAT® Diagnostics LED status displays LED Colour Status RUN green off Description The Communication Unit is not active on the fieldbus or is in the "Init" state. on The Communication Unit is in the "Operational" state. blinking 200 ms 200 ms "Pre-operational" status is active: • Access to parameters and objects is possible. • No process data exchange.
Communication manual 8400 motec EtherCAT® Diagnostics Diagnostics with the »Engineer« 11.2 Diagnostics with the »Engineer« In the »Engineer« under the Diagnostics tab, various EtherCAT diagnostics information is displayed. 60 L EDS84DMOTECAT EN 2.
Communication manual 8400 motec EtherCAT® Diagnostics Emergency requests / Emergency messages 11.3 Emergency requests / Emergency messages Emergency messages are sent to the EtherCAT master once when the error status changes, i.e ... if an error of the Inverter Drive 8400 motec or the Communication Unit occurs; if an internal error of the Communication Unit is no longer pending.
Communication manual 8400 motec EtherCAT® Error messages Short overview of EtherCAT error messages 12 Error messages This chapter complements the error list in the software manual and the »Engineer« online help for the Inverter Drive 8400 motec by EtherCAT error messages. 12.1 Software manual/»Engineer« online help for Inverter Drives 8400 motec Here you can find general information on diagnostics & fault analysis and on error messages.
Communication manual 8400 motec EtherCAT® Error messages Possible causes and remedies 12.2 Possible causes and remedies This chapter contains all EtherCAT error messages in numerical order of the error number. Possible causes and remedies as well as responses to the error messages are described in detail.
Communication manual 8400 motec EtherCAT® Error messages Possible causes and remedies Internal error [0x01bc6011] Response (Lenze setting printed in bold) ; No response : Error Setting: C01501/2 (; adjustable response) Fault ; Warning locked Cause Remedy Device is damaged. Send the device and a description of the fault to Lenze.
Communication manual 8400 motec EtherCAT® Error messages Possible causes and remedies Operational status quit [0x01bc8131] Response (Lenze setting printed in bold) : No response ; Error Setting: C13880/1 (; Adjustable response) Fault ; Warning locked Cause Remedy The EtherCAT data exchange was stopped in the "Operational" state. • See also chapter "Interruption of EtherCAT communication" ( 56). • Check cables and terminals. • Connect network cable to EtherCAT terminals.
Communication manual 8400 motec EtherCAT® Parameter reference Communication-relevant parameters of the operating system 13 Parameter reference This chapter complements the parameter list and table of attributes in the software manual and the »Engineer« online help for the Inverter Drive 8400 motec by the parameters for the EtherCAT communication. 13.1 Software manual/»Engineer« online help "Inverter Drives 8400 motec" Here you will find general information about parameters.
Communication manual 8400 motec EtherCAT® Parameter reference Parameters relevant for EtherCAT communication 13.2 Parameters relevant for EtherCAT communication This chapter lists the EtherCAT parameters of the Communication Unit in numerically ascending order. C13850 Parameter | Name: Data type: UNSIGNED_16 Index: 10725d = 29E5h C13850 | All words from drive to master Display of the process data words (subcodes 1 ... 10) which are transferred from the controller to the master.
Communication manual 8400 motec EtherCAT® Parameter reference Parameters relevant for EtherCAT communication C13860 Parameter | Name: Data type: UNSIGNED_16 Index: 10715d = 29DBh C13860 | All words from standard device Number of process data words to be received Display area (min. value | unit | max.
Communication manual 8400 motec EtherCAT® Parameter reference Parameters relevant for EtherCAT communication C13880 Parameter | Name: Data type: UNSIGNED_8 Index: 10695d = 29C7h C13880 | Reaction on communication failure The set response will be executed if the node detects that it is no longer in the "Operational" state and the monitoring time (C13881) has elapsed.
Communication manual 8400 motec EtherCAT® Parameter reference Parameters relevant for EtherCAT communication C13900 Parameter | Name: Data type: VISIBLE_STRING Index: 10675d = 29B3h C13900 | Firmware product type The code contains a string with a length of 8 bytes. The following identification code is displayed: "E84DFFET".
Communication manual 8400 motec EtherCAT® Parameter reference Table of attributes 13.3 Table of attributes The table of attributes contains information required for communicating with the controller via parameters. How to read the table of attributes: Column Meaning Code Parameter name Cxxxxx Name Parameter short text (display text) Text Index by which the parameter is addressed. The subindex for array variables corresponds to the Lenze subcode number.
Communication manual 8400 motec EtherCAT® Parameter reference Table of attributes Table of attributes Code 72 Name Index Data Data type Access dec hex DS DA Factor R 29E5 A 9 UNSIGNED_16 1 ; W C13850 All words from drive to master 10725 C13851 All words from master to drive 10724 29E4 A 8 UNSIGNED_16 1 ; C13859 All words to standard device 10716 29DC E 1 UNSIGNED_16 1 ; C13860 All words from standard device 10715 29DB E 1 UNSIGNED_16 1 ; C13861 Bus state 1
Communication manual 8400 motec EtherCAT® Index 14 Index A Abort codes 55 Accessing process data 38 Active station address (C13864) 68 Address allocation 30 AL Status Code 36 All words from drive to master (C13850) 67 All words from master to drive (C13851) 67 All words from standard device (C13860) 68 All words to standard device (C13859) 67 Application as directed 13 Application notes (representation) 10 Application of the Communication Unit 13 Approvals 17 Automatic device identification 27 B Baud rat
Communication manual 8400 motec EtherCAT® Index EtherCAT error messages Causes and remedies 63 Short overview 62 EtherCAT frame structure 33 EtherCAT input (IN) 23 EtherCAT objects of the Communication Unit 54 EtherCAT output (OUT) 23 EtherCAT parameters 67 EtherCAT state machine 35 External voltage supply 24 Network topology 17, 21 Notes used 10 Number of nodes 17 O Operating conditions 17 Operational status quit (error message) 65 P Parameter data transfer 43 Parameter reference 66 Parameters relevant
Communication manual 8400 motec EtherCAT® Index U Upload 45 V Validity of the documentation 6 Variants 14 Vendor ID 17 Voltage supply 17, 24 W Writing parameters (SDO Download) 49 EDS84DMOTECAT EN 2.
© 11/2012 ) Lenze Drives GmbH P.O. Box 10 13 52 D-31763 Hameln Germany Service +49 (0)51 54 / 82-0 Lenze Service GmbH Breslauer Straße 3 D-32699 Extertal Germany 00 80 00 / 24 4 68 77 (24 h helpline) ¬ +49 (0)51 54 / 82-28 00 ¬ +49 (0)51 54 / 82-11 12 | Lenze@Lenze.de | Service@Lenze.de Þ www.Lenze.com EDS84DMOTECAT 13422593 EN 2.
