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13451106

POWERLINK CN

Accessories

Servo Drives 9400

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Communication Manual EN

E94AYCEC

Summary of content (125 pages)

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Accessories POWERLINK CN 13451106 Ä.
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Contents ________________________________________________________________ 1 1.1 1.2 1.3 1.
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Contents ________________________________________________________________ 7 7.1 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Monitoring functions of the controlled node _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42 43 8 8.
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1 About this documentation ________________________________________________________________ 1 About this documentation Contents This documentation exclusively describes the E94AYCEC communication module (POWERLINK).  Note! This documentation supplements the mounting instructions supplied with the drive and the "Servo Drives 9400" hardware manual.
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1 About this documentation ________________________________________________________________ Target group This documentation is intended for all persons who plan, install, commission and maintain the networking and remote servicing of a machine.  Tip! Current documentation and software updates with regard to Lenze products can be found in the download area at: www.lenze.
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1 About this documentation 1.1 Document history ________________________________________________________________ 1.1 Document history Version 1.0 6 Description 11/2007 TD17 First edition General revision 2.0 09/2012 TD17 3.0 08/2014 TD17 • New layout • General updates Lenze · E94AYCEC Communication module (POWERLINK CN) · Communication Manual · DMS 3.
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1 About this documentation 1.2 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 Decimal separator Hexadecimal Binary • Nibble Standard notation Point 0x[0 ... 9, A ... F] In inverted commas Point Example: 1234 The decimal point is always used. For example: 1234.
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1 About this documentation 1.3 Terminology used ________________________________________________________________ 1.3 Terminology used Term Meaning Inverter Lenze controller of the "Servo Drives 9400" product series for which the communication module can be used. Application as directed ( 12) Standard device CN Controlled node (POWERLINK slave) Code Parameter which serves to parameterise and monitor the drive. In normal usage, the term is usually referred to as "Index".
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1 About this documentation 1.4 Notes used ________________________________________________________________ 1.
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2 Safety instructions 2.1 General safety and application notes ________________________________________________________________ 2 Safety instructions  Note! It is absolutely vital that the stated safety measures are implemented in order to prevent serious injury to persons and damage to material assets. Always keep this documentation to hand in the vicinity of the product during operation. 2.
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2 Safety instructions 2.2 Device and application-specific safety instructions ________________________________________________________________ 2.2 Device and application-specific safety instructions • During operation, the communication module must be securely connected to the standard device. • With external voltage supply, always use a separate power supply unit, safely separated to EN 61800-5-1 in every control cabinet (SELV/PELV). • Only use cables corresponding to the given specifications.
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3 Product description 3.1 Application as directed ________________________________________________________________ 3 Product description 3.1 Application as directed The communication module ... • is an accessory module that can be used in conjunction with the following standard devices: Product series Type designation Servo Drives 9400 HighLine E94AxHExxx From hardware version From software version VB 01.50 Servo Drives 9400 PLC E94AxPExxxx VA 02.
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3 Product description 3.3 Product features ________________________________________________________________ 3.3 Product features • Interface module for the POWERLINK communication system to be connected to the expansion slots of the Servo Drives 9400 • The communication module can either be supplied internally by the standard device or externally by a separate voltage source.
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3 Product description 3.4 Terminals and interfaces ________________________________________________________________ 3.
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4 Technical data 4.1 General data and operating conditions ________________________________________________________________ 4 Technical data 4.1 General data and operating conditions Range Values Order designation E94AYCEC Communication profile POWERLINK V2 Communication medium S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT 5e Interface for communication RJ45, Standard Ethernet (according to IEEE 802.
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4 Technical data 4.2 POWERLINK communication data ________________________________________________________________ 4.2 POWERLINK communication data Range Values Jitter synchronisation information approx. 1 s Minimum cycle time Controlled Node: 0.5 ms Total cycle times Controlled Node: 0.5 / 1.0 / 2.0 / 3.0 … 20.0 ms Buffer size Tx-iso: max. 92 bytes (64 bytes of PDO user data) Delay times (Controlled Node) TPreq - TRes: approx.
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4 Technical data 4.2 POWERLINK communication data ________________________________________________________________ 4.2.2 Communication time Parameter data (SDO) The communication time for parameter data is the time between the transmission of an SDO request and the arrival of the corresponding response. • The processing time in the Servo Drive 9400 is approx.
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4 Technical data 4.3 Protective insulation ________________________________________________________________ 4.3 Protective insulation  Danger! Dangerous voltage If the Servo Drives 9400 are operated on a phase earthed mains with a rated mains voltage  400 V, external measures need to be implemented in order to ensure protection against accidental contact.
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4 Technical data 4.3 Protective insulation ________________________________________________________________ The following illustration ... • shows the arrangement of the terminal strips and the separate potential areas of the Servo Drive 9400. • serves to determine the decisive protective insulation between two terminals located in differently insulated separate potential areas. X1 X2 Reinforced insulation X100 X3 MXI1 Basic insulation Bus Functional insulation Ext.
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4 Technical data 4.3 Protective insulation ________________________________________________________________ Example Which type of protective insulation is used between the bus terminal of the device module in slot MXI1 or MXI2 and the mains terminal X100? The separate potential area with the better protective insulation is decisive. • The separate potential area of the bus terminal of the device module has a "functional insulation".
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4 Technical data 4.4 Dimensions ________________________________________________________________ 4.4 Dimensions a 89 mm b 134 mm b1 87 mm e 23 mm E94YCXX005 [4-2] Dimensions Lenze · E94AYCEC Communication module (POWERLINK CN) · Communication Manual · DMS 3.
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5 Installation ________________________________________________________________ 5 Installation  Stop! Electrostatic discharge Electronic components within the communication module can be damaged or destroyed by electrostatic discharge. Possible consequences: • The communication module is defective. • Fieldbus communication is not possible or faulty. Protective measures • Before touching the module, be sure that you are free of electrostatic charge.
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5 Installation 5.1 Mechanical installation ________________________________________________________________ 5.1 Mechanical installation 5.1.1 Assembly E94YCXX001G [5-1] 5.1.2 Assembly Disassembly E94YCXX001H [5-2] Disassembly Lenze · E94AYCEC Communication module (POWERLINK CN) · Communication Manual · DMS 3.
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5 Installation 5.2 Electrical installation ________________________________________________________________ 5.2 Electrical installation  5.2.1 Documentation on standard device, host (PLC), system/machine Observe the notes and wiring instructions contained in this documentation. Wiring according to EMC guidelines In typical systems, standard shielding is sufficient for Ethernet cables.
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5 Installation 5.2 Electrical installation ________________________________________________________________ 5.2.2 Network topology E94YCEP012 [5-4] Network topology for POWERLINK  Note! The use of class I hubs and switches inside the POWERLINK network segment is not permitted. Inside the segment only Ethernet hubs may be used as infrastructure elements. The hubs must meet the requirements on class II repeaters acc. to IEEE 802.3u.
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5 Installation 5.2 Electrical installation ________________________________________________________________ Recommended topology For an easy configuration and due to many possible topology variants we recommend to create networks according to the following rules: 1. Create CN groups with up to 10 nodes. 2. Connect CN groups in star shape to the managing node. 3. Connect CN groups to the managing node via one external hub each. • For more than 2 CN groups, use an external 8-port hub (e.g.
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5 Installation 5.2 Electrical installation ________________________________________________________________ 5.2.3 Ethernet POWERLINK  Note! Standard Ethernet nodes are not permitted in the POWERLINK network segment. In order to use the real-time capability of the POWERLINK technology, POWERLINK nodes must be interconnected in a separate network segment. In accordance with the POWERLINK rules, only the Managing Node controls the access of POWERLINK nodes to the network.
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5 Installation 5.2 Electrical installation ________________________________________________________________ 5.2.4 Basic Ethernet Mode  Note! Operation in the "Basic Ethernet Mode" does not permit any real-time communication. The communication module can be operated in the "Basic Ethernet Mode" for a basic parameter setting provided that the following applies: 1. Operation of the module with network address  239. • IP address: 192.168.100.[Node ID] • see Node address setting ( 35) 2.
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5 Installation 5.2 Electrical installation ________________________________________________________________ 5.2.5 POWERLINK connection • The POWERLINK is wired using the two RJ45 sockets X251 and X252. • If possible, do not wire more than 10 nodes in a row in a network line. • In case of more than 10 nodes you should deactivate the automatic calculation of the hub level in the »Engineer« and enter it manually to increase the performance. • With a cycle time of 1 ms, 25 nodes can be operated.
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5 Installation 5.2 Electrical installation ________________________________________________________________ Mounting clearance When ordering and using your Ethernet cable, note the amount of free space available. E94AYCET017 [5-6] 30 Mounting clearance Lenze · E94AYCEC Communication module (POWERLINK CN) · Communication Manual · DMS 3.
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5 Installation 5.2 Electrical installation ________________________________________________________________ 5.2.6 Ethernet cable specification  Note! Only use cables that meet the listed specifications. Ethernet cable specification Ethernet standard Standard Ethernet (in accordance with IEEE 802.3), 100Base-TX (Fast Ethernet) Cable type S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT 5e Damping 23.
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5 Installation 5.2 Electrical installation ________________________________________________________________ Colour code of the Ethernet cable  Note! Wiring and colour code are standardised in EIA/TIA 568A/568B. In accordance with the industrial standard, the use of 4-pin Ethernet cables is permissible. The cable type only connects the assigned pins 1, 2, 3 and 6 to one another.
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5 Installation 5.2 Electrical installation ________________________________________________________________ 5.2.7 External voltage supply The communication module can be externally supplied with voltage via separate supply cables at the 2-pin plug connector X250.  Note! With external voltage supply, always use a separate power supply unit, safely separated to EN 61800-5-1 in every control cabinet (SELV/PELV).
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6 Commissioning 6.1 Before initial switch-on ________________________________________________________________ 6 Commissioning During commissioning, plant-specific data such as motor parameters, operating parameters, responses, and parameters for fieldbus communication are defined for the inverter. Lenze devices use codes for this purpose. The codes of the inverter and for communication are saved to the memory module in a non-volatile data set.
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6 Commissioning 6.2 Node address setting ________________________________________________________________ 6.2 Node address setting  Note! • Each network node address must only be used once. • The node address setting in the configuration software (e.g. »Engineer«) and the DIP switches must be identical for each node. • Switch the voltage supply of the communication module off and on again to activate changed settings. The POWERLINK node address (node ID) is set via the front DIP switches.
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6 Commissioning 6.
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6 Commissioning 6.3 Settings and displays in the »Engineer« ________________________________________________________________ 6.3 Settings and displays in the »Engineer« Setting / display Description General General information on the node type or the synchronisation of the application EPL address (project) Setting of the POWERLINK address (node ID: C13044 / C14044) You can set the address ’1’ ... ’100’ for the communication module.
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6 Commissioning 6.4 Initial switch-on ________________________________________________________________ 6.4 Initial switch-on  Documentation for the Servo Drive 9400  Note! Observe the safety instructions and information on residual hazards. Establishing communication In order to establish communication via an externally supplied communication module, the standard device must be switched on as well.
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6 Commissioning 6.4 Initial switch-on ________________________________________________________________  Initial switch-on and diagnosing 1. Switch on the Servo Drive 9400 and check whether it is ready for operation using the diagnostic LEDs of the communication module. • Red diagnostic LEDs must not be on.
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6 Commissioning 6.5 Drive synchronisation ________________________________________________________________ 6.5 Drive synchronisation Examples of the use of drive synchronisation via POWERLINK: • Implementation of the "electrical shaft" • Specification of cyclic position information • Exactly simultaneous data processing of several drives • Optimisation of the processing times of cyclic process data (PDO).
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6 Commissioning 6.6 Optimising the POWERLINK communication ________________________________________________________________ 6.6 Optimising the POWERLINK communication SDO bandwidth  Note! The channel bandwidth should only be increased if the network is below capacity limit. The SDO channel width (C13075 / C14075 is the size of the asynchronous channel used for parameter setting and diagnostics. A higher value improves the transmission of large amounts of data (e.g.
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7 Monitoring ________________________________________________________________ 7 Monitoring The communication module provides several monitoring functions. The standard settings can be changed in the »Engineer« under the Monitoring tab. For the settings, monitoring responses and monitoring thresholds can be specified. When the monitoring thresholds are exceeded, the response of the Servo Drive 9400 is specified together with the POWERLINK-specific monitoring response.
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7 Monitoring 7.1 Monitoring functions of the controlled node ________________________________________________________________ 7.1 Monitoring functions of the controlled node  Note! The E94AYCEC communication module only supports monitoring for the "LeaveDataExchange" status. In order to change the standard settings of the monitoring functions, press the settings" button. "Open advanced • The input fields for monitoring thresholds and monitoring responses are shown.
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7 Monitoring 7.1 Monitoring functions of the controlled node ________________________________________________________________ Settings Monitoring function 44 Description EPL frame error (CRC) Weighted number of received faulty frames • This error can occur due to very strong EMC interferences or by nonPOWERLINK-compliant nodes.
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8 Diagnostics 8.1 LED status displays ________________________________________________________________ 8 Diagnostics For fault diagnostics, the communication module is provided with the LEDs on the front. Furthermore, you can carry out a comprehensive diagnostics of the entire POWERLINK network using the »Engineer«. 8.1 LED status displays  Note! LED status displays for trouble-free operation: • The LEDs MS ( 46) and BS ( 47) are permanently lit.
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8 Diagnostics 8.1 LED status displays ________________________________________________________________ 8.1.1 Module status displays The LEDs MS, ME, BE and DE indicate the module status. MS: Module Status ME: Module Error BE: Bus Error DE: Device Error E94YCEP001E LED Colour Status MS Green On Description The communication module is supplied with voltage and is connected to the standard device.
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8 Diagnostics 8.1 LED status displays ________________________________________________________________ 8.1.2 Fieldbus status displays The BS LED indicates the fieldbus status. BS: Bus Status E94YCEP001E LED Colour Status BS Green Off Description The communication module is not active on the fieldbus or is in the INIT state. Blinking 1s The POWERLINK network is in the initialisation phase.
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8 Diagnostics 8.1 LED status displays ________________________________________________________________ 8.1.3 Status displays at the RJ45 sockets (X251, X252) The LEDs at the RJ45 sockets X251 and X252 indicate the POWERLINK connection status. LEDs Colour Status Green Off Description No POWERLINK connection On POWERLINK connection has been established. Blinking 50 ms Data communication of POWERLINK connection is active. E94YCEP001E Red On POWERLINK collision has occurred.
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8 Diagnostics 8.2 Troubleshooting with module signalling ________________________________________________________________ 8.2 Troubleshooting with module signalling In the following, troubleshooting via the module signals will be described. Please particularly observe ... • the basic readiness for operation between the standard device and the communication module; • the network wiring. 1.
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8 Diagnostics 8.2 Troubleshooting with module signalling ________________________________________________________________ 2. Diagnostics - network wiring off Is at least one cable plugged? yes no X251/252, green LED on? on X251/252 green LED blinking? yes Point 3 no yes Is the module connected to it switched on? Check the cable connection and the cable. Check EPL master. BS on / blinking? yes no Switch on the EPL devices. Go back to point 2. no Create EPL wiring. Go back to point 1.
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8 Diagnostics 8.2 Troubleshooting with module signalling ________________________________________________________________ 3. Diagnostics - EPL operation yes EPL master: ME on? BE on? no Make a fault reset at the standard Device. Wait 30 s. EPL master: BS on / blinking? on End blinking / off Standard device: Make a fault reset. Then wait 30 s. yes EPL master: ME on? no Wait 30 s. EPL master: BS on / blinking? on End blinking / off Make further error search with the Engineer.
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8 Diagnostics 8.3 Diagnostic data ________________________________________________________________ 8.3 Diagnostic data Pending diagnostic data are signalled from the controlled node to the managing node by means of an emergency message. Errors and warnings in the Servo Drive 9400 and the plugged communication module are sent to the Managing Node as extended diagnostic messages. The diagnostic data is visible via the engineering software of the host (PLC). Bytes Meaning Value [hex] 1 ...
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8 Diagnostics 8.4 Diagnosing with the »Engineer« ________________________________________________________________ 8.4 Diagnosing with the »Engineer« In the »Engineer« under the Diagnostics tab, you will find POWERLINK diagnostics information. The "Open extended settings" tab serves to display further diagnostics information on the controlled node (node ID ’0’ ... ’239’): Lenze · E94AYCEC Communication module (POWERLINK CN) · Communication Manual · DMS 3.
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9 Error messages ________________________________________________________________ 9 Error messages This chapter supplements the error list in the reference manual and the »Engineer« online help for the Servo Drive 9400 by the error messages of the POWERLINK communication module.  54 Reference manual/»Engineer« online help for Servo Drive 9400 Here you will find general information on diagnostics & fault analysis and on error messages.
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9 Error messages 9.1 Error messages of the communication module ________________________________________________________________ 9.1 Error messages of the communication module This chapter describes all error messages of the communication module and their causes and remedies. 9.1.1 Short overview The following table contains all error messages of the communication module in numerical order of the error numbers.
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9 Error messages 9.1 Error messages of the communication module ________________________________________________________________ 9.1.2 Possible causes and remedies In this chapter, all error messages of the communication module are listed in numerical order of the error numbers. Possible causes and remedies and responses to the error messages are described in detail.
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9 Error messages 9.1 Error messages of the communication module ________________________________________________________________ EPL: Internal watchdog activated [0x00c86011] Response (Lenze setting printed in bold) Setting: not possible  None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information Cause Remedy Communication module is defective. Send communication module together with a description of the fault to Lenze.
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9 Error messages 9.1 Error messages of the communication module ________________________________________________________________ EPL: Fieldbus watchdog activated [0x00c88130] Response (Lenze setting printed in bold) Setting: not possible  None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  warning  Information Cause Remedy Communication module is defective. Send communication module together with a description of the fault to Lenze.
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9 Error messages 9.1 Error messages of the communication module ________________________________________________________________ EPL: Synchronisation lost from MN [0x00c88265] Response (Lenze setting printed in bold) Setting: C13891/3 / C14891/3  None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information Cause Remedy In the controlled node, the synchronisation cycle of the managing node has failed.
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9 Error messages 9.1 Error messages of the communication module ________________________________________________________________ EPL: MN address assigned double [0x00c88283] Response (Lenze setting printed in bold) Setting: not possible  No reaction  System fault  Fault  Trouble  Quick stop by trouble  WarningLocked  Warning  Information Cause Remedy The address setting of the Managing Node has been Correct address setting. assigned several times (node ID = ’240’).
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9 Error messages 9.2 POWERLINK error messages ________________________________________________________________ 9.2 POWERLINK error messages • The POWERLINK error messages are displayed via code C13910 / C14910. • In order to distinguish between the error responses, the displayed error messages are preceded with 3 characters: Response Meaning EL_... Trouble (Fault) QL_... Quick stop by trouble WL_... Warning locked I__...
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9 Error messages 9.2 POWERLINK error messages ________________________________________________________________ Error number 62 Name Description Faulty Ethernet frames (CRC error) have been detected.
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10 Parameter reference 10.1 Parameters of the standard device that are relevant to communication ________________________________________________________________ 10 Parameter reference This chapter supplements the parameter list and the table of attributes contained in the reference manual and in the »Engineer« online help for the Servo Drive 9400 with the parameters of the E94AYCEC (POWERLINK) communication module.  10.
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10 Parameter reference 10.1 Parameters of the standard device that are relevant to communication ________________________________________________________________ C00637 Parameter | Name: C00637 | Resp. to new module in MXI2 Data type: UNSIGNED_32 Index: 23939 = 0x5D83 Response if a new module has been plugged into module slot 2 of the standard device.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ 10.2 Parameters of the communication module for slot MXI1 This chapter lists the parameters of the E94AYCEC communication module (POWERLINK) for slot MXI2 of the Servo Drive 9400 in numerically ascending order.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13003 Parameter | Name: Data type: UNSIGNED_32 Index: 11572 = 0x2D34 EPL index: See subcodes C13003 | EPL IP address router The code describes the IP address of the router which connects the EPL segment to the higher-level network. The standard entry corresponds to the standard router address of the EPL specification:  192.168.100.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13028 Parameter | Name: Data type: UNSIGNED_32 Index: 11547 = 0x2D1B EPL index: See subcodes C13028 | EPL node declaration CN The code describes the controlled nodes 1 ... 100 and their properties. Value is bit-coded: Bit 0 ... 31 see below Subcodes Lenze setting Info EPL index C13028/1 0 EPL node declaration CN 0x1F81.0x01 ... ... ... ...
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13029 Parameter | Name: Data type: UNSIGNED_32 Index: 11546 = 0x2D1A EPL index: See subcodes C13029 | EPL node declaration MN The code describes managing node, diagnostic device, and EPL router as well as their properties. Value is bit-coded: Bit 0 ...
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13030 Parameter | Name: Data type: UNSIGNED_32 Index: 11545 = 0x2D19 EPL index: 0x1000 C13030 | EPL device type The code indicates the device type of the EPL node.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13040 Parameter | Name: Data type: UNSIGNED_32 Index: 11535 = 0x2D0F EPL index: 0x1F82 C13040 | EPL feature flags The code displays the POWERLINK functions implemented by the EPL node. Value is bit-coded: Bit 0 ... 31 see below  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Description of the bits 0 ...
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13041 Parameter | Name: Data type: UNSIGNED_8 Index: 11534 = 0x2D0E EPL index: not available C13041 | EPL version The code describes the version of the POWERLINK communication profile implemented by the communication module. The higher-order nibble describes the major version, the lower order nibble describes the minor version.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13045 Parameter | Name: C13045 | EPL host name Data type: VISIBLE_STRING Index: 11530 = 0x2D0A EPL index: 0x1F9A The code defines a DNS-compatible device name. The length is limited to 15 characters. The device name must be unambiguous within the network domain.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13066 Parameter | Name: Data type: UNSIGNED_16 Index: 11509 = 0x2CF5 EPL index: See subcodes C13066 | EPL CN: Max. user data PRes RPDO The code defines the reserved user data length of the PRes telegrams for controlled nodes 1 ... 100. Each subcode number corresponds to one EPL node with the same node ID. The EPL node must be enabled via code C13028.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13075 Parameter | Name: Data type: UNSIGNED_16 Index: 11500 = 0x2CEC EPL index: 0x1F98.0x08 C13075 | EPL SDO channel width The code defines the maximum user data size of asynchronous frames. Protocol-specific headers for POWERLINK, UDP/IP and others as well as service-specific headers are to be interpreted as part of the user data.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13095 Parameter | Name: Data type: UNSIGNED_8 Index: 11480 = 0x2CD8 EPL index: 0x1F8C C13095 | EPL communication status The code indicates the current NMT status of the EPL node.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13126 Parameter | Name: Data type: UNSIGNED_32 Index: 11449 = 0x2CB9 EPL index: See subcodes C13126 | EPL CN: Frame collisions The code indicates the number of POWERLINK collisions detected by the controlled node. Each event is counted. Every single event is followed by an error message. No threshold value management is implemented. Setting range (min.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13132 Parameter | Name: Data type: UNSIGNED_32 Index: 11443 = 0x2CB3 EPL index: 0x1C10 C13132 | EPL CN: Link interruptions The code indicates the counter of the Controlled Node for POWERLINK connection interruptions. Each event is counted. Every single event is followed by an error message. No threshold value management is implemented. Display area (min.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13225 Parameter | Name: Data type: UNSIGNED_16 Index: 11350 = 0x2C56 EPL index: See subcodes C13225 | EPL MN: Max. user data RPDO The code defines the reserved user data length of the PRes frames. Each subcode number corresponds to an EPL node with the same node ID. The subcode describes the PRes frames received. The value must be within the limits of 36 .
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13232 Parameter | Name: Data type: UNSIGNED_64 Index: 11343 = 0x2C4F EPL index: See subcodes C13232 | EPL RPDO EPL RPDO-2 Subcodes Lenze setting Info EPL index C13232/1 0 EPL RPDO 0x1601.0x01 ... ... ... ... C13232/32 0 EPL RPDO 0x1601.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13236 Parameter | Name: Data type: UNSIGNED_64 Index: 11339 = 0x2C4B EPL index: See subcodes C13236 | EPL RPDO EPL RPDO-6 Subcodes Lenze setting Info EPL index C13236/1 0 EPL RPDO 0x1605.0x01 ... ... ... ... C13236/32 0 EPL RPDO 0x1605.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13240 Parameter | Name: Data type: UNSIGNED_64 Index: 11335 = 0x2C47 EPL index: See subcodes C13240 | EPL RPDO EPL RPDO-10 Subcodes Lenze setting Info EPL index C13240/1 0 EPL RPDO 0x1609.0x01 ... ... ... ... C13240/32 0 EPL RPDO 0x1609.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13531 Parameter | Name: Data type: UNSIGNED_64 Index: 11044 = 0x2B24 EPL index: See subcodes C13531 | EPL TPDO The code describes the mapping for the TPDO channel.C13789.1 describes the number of valid mapping object entries in this code. Subcodes 1 ... 32 describe the mapping of the single objects.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13882 Parameter | Name: Data type: UNSIGNED_8 Index: 10693 = 0x29C5 EPL index: not available C13882 | EPL reset cycle counter The value "1" (TRUE) enables the code to reset the cycle counter (C13136). After reset termination the code automatically assumes the value "0" (FALSE). Setting range (min. value | unit | max.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13891 Parameter | Name: Data type: UNSIGNED_8 Index: 10684 = 0x29BC EPL index: See subcodes C13891 | EPL module error responses The subcodes of C13891 determine the response to errors (e.g. communication errors) of the EPL stack.
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10 Parameter reference 10.
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10 Parameter reference 10.2 Parameters of the communication module for slot MXI1 ________________________________________________________________ C13920 Parameter | Name: C13920 | EPL DIP switch Data type: UNSIGNED_8 Index: 10655 = 0x299F EPL index: not available The code outputs the current DIP switch setting of the communication module. • The switch with the labelling "128" is displayed on the most significant bit, the switch "1" on the least significant bit.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ 10.3 Parameters of the communication module for slot MXI2 This chapter lists the parameters of the E94AYCEC communication module (POWERLINK) for slot MXI2 of the Servo Drive 9400 in numerically ascending order.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14003 Parameter | Name: Data type: UNSIGNED_32 Index: 10572 = 0x294C EPL index: See subcodes C14003 | EPL IP address router The code describes the IP address of the router which connects the EPL segment to the higher-level network. The standard entry corresponds to the standard router address of the EPL specification:  192.168.100.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14028 Parameter | Name: Data type: UNSIGNED_32 Index: 10547 = 0x2933 EPL index: See subcodes C14028 | EPL node declaration CN The code describes the controlled nodes 1 ... 100 and their properties. Value is bit-coded: Bit 0 ... 31 see below Subcodes Lenze setting Info EPL index C14028/1 0 EPL node declaration CN 0x1F81.0x01 ... ... ... ...
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14029 Parameter | Name: Data type: UNSIGNED_32 Index: 10546 = 0x2932 EPL index: See subcodes C14029 | EPL node declaration MN The code describes managing node, diagnostic device, and EPL router as well as their properties. Value is bit-coded: Bit 0 ...
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14030 Parameter | Name: Data type: UNSIGNED_32 Index: 10545 = 0x2931 EPL index: 0x1000 C14030 | EPL device type The code indicates the device type of the EPL node.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14040 Parameter | Name: Data type: UNSIGNED_32 Index: 10535 = 0x2927 EPL index: 0x1F82 C14040 | EPL feature flags The code displays the POWERLINK functions implemented by the EPL node. Value is bit-coded: Bit 0 ... 31 see below  Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT Description of the bits 0 ...
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14041 Parameter | Name: Data type: UNSIGNED_8 Index: 10534 = 0x2926 EPL index: not available C14041 | EPL version The code describes the version of the POWERLINK communication profile implemented by the communication module. The higher-order nibble describes the major version, the lower order nibble describes the minor version.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14045 Parameter | Name: C14045 | EPL host name Data type: VISIBLE_STRING Index: 10530 = 0x2922 EPL index: 0x1F9A The code defines a DNS-compatible device name. The length is limited to 15 characters. The device name must be unambiguous within the network domain.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14066 Parameter | Name: Data type: UNSIGNED_16 Index: 10509 = 0x290D EPL index: See subcodes C14066 | EPL CN: Max. user data PRes RPDO The code defines the reserved user data length of the PRes telegrams for controlled nodes 1 ... 100. Each subcode number corresponds to one EPL node with the same node ID. The EPL node must be enabled via code C14028.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14075 Parameter | Name: Data type: UNSIGNED_16 Index: 10500 = 0x2904 EPL index: 0x1F98.0x08 C14075 | EPL SDO channel width The code defines the maximum user data size of asynchronous frames. Protocol-specific headers for POWERLINK, UDP/IP and others as well as service-specific headers are to be interpreted as part of the user data.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14095 Parameter | Name: Data type: UNSIGNED_8 Index: 10480 = 0x28F0 EPL index: 0x1F8C C14095 | EPL communication status The code indicates the current NMT status of the EPL node.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14126 Parameter | Name: Data type: UNSIGNED_32 Index: 10449 = 0x28D1 EPL index: See subcodes C14126 | EPL CN: Frame collisions The code indicates the number of POWERLINK collisions detected by the controlled node. Each event is counted. Every single event is followed by an error message. No threshold value management is implemented. Setting range (min.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14132 Parameter | Name: Data type: UNSIGNED_32 Index: 10443 = 0x28CB EPL index: 0x1C10 C14132 | EPL CN: Link interruptions The code indicates the counter of the Controlled Node for POWERLINK connection interruptions. Each event is counted. Every single event is followed by an error message. No threshold value management is implemented. Display area (min.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14225 Parameter | Name: Data type: UNSIGNED_16 Index: 10350 = 0x286E EPL index: See subcodes C14225 | EPL MN: Max. user data RPDO The code defines the reserved user data length of the PRes frames. Each subcode number corresponds to an EPL node with the same node ID. The subcode describes the PRes frames received. The value must be within the limits of 36 .
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14232 Parameter | Name: Data type: UNSIGNED_64 Index: 10343 = 0x2867 EPL index: See subcodes C14232 | EPL RPDO EPL RPDO-2 Subcodes Lenze setting Info EPL index C14232/1 0 EPL RPDO 0x1601.0x01 ... ... ... ... C14232/32 0 EPL RPDO 0x1601.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14236 Parameter | Name: Data type: UNSIGNED_64 Index: 10339 = 0x2863 EPL index: See subcodes C14236 | EPL RPDO EPL RPDO-6 Subcodes Lenze setting Info EPL index C14236/1 0 EPL RPDO 0x1605.0x01 ... ... ... ... C14236/32 0 EPL RPDO 0x1605.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14240 Parameter | Name: Data type: UNSIGNED_64 Index: 10335 = 0x285F EPL index: See subcodes C14240 | EPL RPDO EPL RPDO-10 Subcodes Lenze setting Info EPL index C14240/1 0 EPL RPDO 0x1609.0x01 ... ... ... ... C14240/32 0 EPL RPDO 0x1609.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14531 Parameter | Name: Data type: UNSIGNED_64 Index: 10044 = 0x273C EPL index: See subcodes C14531 | EPL TPDO The code describes the mapping for the TPDO channel.C14789.1 describes the number of valid mapping object entries in this code. Subcodes 1 ... 32 describe the mapping of the single objects.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14882 Parameter | Name: Data type: UNSIGNED_8 Index: 9693 = 0x25DD EPL index: not available C14882 | EPL reset cycle counter The value "1" (TRUE) enables the code to reset the cycle counter (C14136). After reset termination the code automatically assumes the value "0" (FALSE). Setting range (min. value | unit | max.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14891 Parameter | Name: Data type: UNSIGNED_8 Index: 9684 = 0x25D4 EPL index: See subcodes C14891 | EPL module error responses The subcodes of C14891 determine the response to errors (e.g. communication errors) of the EPL stack.
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10 Parameter reference 10.
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10 Parameter reference 10.3 Parameters of the communication module for slot MXI2 ________________________________________________________________ C14920 Parameter | Name: C14920 | EPL DIP switch Data type: UNSIGNED_8 Index: 9655 = 0x25B7 EPL index: not available The code outputs the current DIP switch setting of the communication module. • The switch with the labelling "128" is displayed on the most significant bit, the switch "1" on the least significant bit.
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10 Parameter reference 10.4 Table of attributes ________________________________________________________________ 10.4 Table of attributes The table of attributes contains information required for communicating with the Servo Drive 9400 via parameters. How to read the table of attributes: Column Meaning Code Parameter name Cxxxxx Name Parameter short text (display text) Text hex Index under which the parameter is addressed.
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11 POWERLINK objects ________________________________________________________________ 11 POWERLINK objects The following objects specified by the POWERLINK communication profile are supported: EPL index Index name Subindex name Type MN CN Reference / description Lenze 0x1000 NMT_DeviceType_U32 - U32 R R C13030 / C14030 0x1001 ERR_ErrorRegister_U8 - I8 R R C13110 / C14110 0x1006 NMT_CycleLen_U32 - U32 RW RW C13060 / C14060 0x1018.
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11 POWERLINK objects ________________________________________________________________ 114 EPL index Index name Subindex name Type MN CN Reference / description Lenze Values 0x1406.0x02 PDO_RxCommParam_06h_REC MappingVersion_U8 U8 R R Version of PDO mapping 0 0 0x1407.0x00 PDO_RxCommParam_07h_REC NumberOfEntries U8 R R - 2 2 0x1407.0x01 PDO_RxCommParam_07h_REC NodeID_U8 U8 RW RW C13484/8 / C14484/8 0x1407.
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11 POWERLINK objects ________________________________________________________________ EPL index Index name Subindex name Type MN CN Reference / description Lenze 0x1C01.0x01 DLL_MNCollision_REC CumulativeCnt_U32 U32 R - - 0x1C02.0x00 DLL_MNCycTimeExceed_REC NumberOfEntries U8 R - - 0x1C02.0x01 DLL_MNCycTimeExceed_REC CumulativeCnt_U32 U32 R - - 0x1C02.0x02 DLL_MNCycTimeExceed_REC ThresholdCnt_U32 U32 R - - 0x1C02.
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11 POWERLINK objects ________________________________________________________________ 116 EPL index Index name Subindex name Type MN CN Reference / description Lenze Values 0x1E40.0x04 NWL_IpAddrTable_0h_REC ReasmMaxSize_U16 U16 R R Maximum frame size which can be reconstructed from frames arriving in fragments [byte]. 1518 1518 0x1E40.0x05 NWL_IpAddrTable_0h_REC DefaultGateway_IPAD U32 RW RW C13003/1 / C14003/1 0x1E4A.
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11 POWERLINK objects ________________________________________________________________ EPL index Index name Subindex name Type MN CN Reference / description Lenze Values 0x1F8B.0xF1 ...0xFC NMT_MNPReqPayloadList_ AU32 CNPReqPayload U32 - - not supported 36 36 0x1F8B.0xFD ...0xFE NMT_MNPReqPayloadList_ AU32 CNPReqPayload U32 RW - Maximum user data size in the CNaddressing PReq frame [byte], Node ID = subcode no.
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11 POWERLINK objects ________________________________________________________________ 118 EPL index Index name Subindex name Type MN CN Reference / description Lenze 0x1F99 NMT_CNBasicEthernetTimeout _U32 - U32 - RW C13078 / C14078 0x1F9A NMT_HostName_VSTR - VS32 RW RW C13045 / C14045 0x1F9B.0x01 ...0x64 NMT_MultiplCycleAssign_AU8 CycleNo U8 RW RW C13079 / C14079 0 0x1F9B.0xF0 NMT_MultiplCycleAssign_AU8 CycleNo U8 RW RW C13229/1 / C14229/1 0 0x1F9B.
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Index ________________________________________________________________ A Activating changed setting 38 Application as directed 12 Application notes (representation) 9 Approvals 15 Assembly 23 B Basic Ethernet Mode 28 Baud rate 15 Before initial switch-on 34 Buffer size 16 C C00615 | Resp. to imp. device conf. 63 C00636 | Resp. to new module in MXI1 63 C00637 | Resp. to new module in MXI2 64 C01501 | Resp. to comm. error with MXI1 64 C01502 | Resp. to comm.
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Index ________________________________________________________________ C14131 | EPL CN: Frame error (CRC) 98 C14132 | EPL CN: Link interruptions 99 C14136 | EPL frame counter 99 C14219 | EPL device type MN 99 C14225 | EPL MN: Max.
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Index ________________________________________________________________ EPL communication status (C13095) 75 EPL communication status (C14095) 97 EPL cycle counter (C13136) 77 EPL cycle counter (C14136) 99 EPL cycle time (C13060) 72 EPL cycle time (C14060) 94 EPL data RPDO error response (C13885) 83 error response (C14885) 105 EPL device address selection (C13043) 71 EPL device address selection (C14043) 93 EPL device address SW (C13044) 71 EPL device address SW (C14044) 93 EPL device type (C13030) 69 EPL de
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Index ________________________________________________________________ EPL TPDO (C14531) 104 EPL version (C13041) 71 EPL version (C14041) 93 Error messages 54 Causes and remedies 56 Error messages of the communication module 55 Short overview 55 Error number 0x00c83100 56 0x00c85531 56 0x00c85532 56 0x00c85533 56 0x00c86010 56 0x00c86011 57 0x00c86100 57 0x00c86101 57 0x00c86110 57 0x00c8641f 57 0x00c86420 57 0x00c88130 58 0x00c88131 58 0x00c88261 58 0x00c88263 58 0x00c88264 58 0x00c88265 59 0x00c88266 59 0
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Index ________________________________________________________________ P T Parameter reference 63 Parameters of the communication module for slot MXI1 65 Parameters of the communication module for slot MXI2 87 Parameters of the standard device that are relevant to communication 63 Pin assignment of the RJ45 sockets 29 POWERLINK error messages: Causes and remedies 56 POWERLINK objects 113 Processing time 17 Product description 12 Product features 13 Protection against uncontrolled restart 38 Protection of
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)(('%$&. 124 Your opinion is important to us These instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product. Perhaps we have not succeeded in achieving this objective in every respect. If you have suggestions for improvement, please e-mail us to: feedback-docu@lenze.com Thank you very much for your support.
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E94AYCEC Communication module (POWERLINK CN) · Communication Manual · EDS94AYCEC · 13451106 · DMS 3.0 EN · 08/2014 · TD17 Lenze Automation GmbH Postfach 10 13 52, D-31763 Hameln Hans-Lenze-Straße 1, D-31855 Aerzen Germany +49 5154 82-0 +49 5154 82-2800 lenze@lenze.com www.lenze.com Service Lenze Service GmbH Breslauer Straße 3, D-32699 Extertal Germany 008000 24 46877 (24 h helpline) +49 5154 82-1112 service@lenze.