L−force Communication Ä.K:öä EDSMF2192IB .
i 1 2 3 4 5 2 Contents About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.3 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents 6 i Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 6.1 Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 6.2 Configuring the host system (master) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2.1 Installing device description files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2.
1 About this documentation 0Fig. 0Tab. 0 1 About this documentation Contents This documentation only contains descriptions for the EMF2192IB communication module (EtherCAT). Note! This documentation supplements the mounting instructions supplied with the communication module and the documentations for the standard devices used. The mounting instructions contain safety instructions which must be observed! The features and functions of the communication module are described in detail.
About this documentation 1 Target group This documentation is intended for all persons who plan, install, commission and maintain the networking and remote service of a machine. Tip! Information and auxiliary devices related to the Lenze products can be found in the download area at http://www.Lenze.
1 About this documentation Document history 1.1 Document history Version Description 1.0 10/2009 TD17 First edition 2.0 09/2010 TD14 General revision 3.0 06/2011 TD17 General revision 3.1 11/2012 TD17 EtherCAT® is a registered trademark by Beckhoff Automation GmbH, Germany. 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.
About this documentation 1 Conventions used 1.2 Conventions used This documentation uses the following conventions to distinguish between different types of information: Type of information Identification Examples/notes Spelling of numbers Point Decimal separator Decimal Hexadecimal Binary l Nibble Standard notation 0x[0 ... 9, A ... F] In quotation marks Point In general, the decimal point is used. For instance: 1234.56 For example: 1234 For example: 0x60F4 For example: ´100´ For example: ´0110.
1 About this documentation Terminology used 1.3 Terminology used Term Meaning EtherCAT® 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. Standard device Lenze controllers with which the communication module can be used.
About this documentation 1 Notes used 1.4 Notes used The following pictographs and signal words are used in this documentation to indicate dangers and important information: Safety instructions Structure of safety instructions: Danger! (characterises the type and severity of danger) Note (describes the danger and gives information about how to prevent dangerous situations) Pictograph and signal word Meaning Danger! Danger of personal injury through dangerous electrical voltage.
2 Safety instructions General safety information 2 Safety instructions Note! It is absolutely vital that the stated safety measures are implemented in order to prevent serious injury to persons and damage to material assets. Always keep this documentation to hand in the vicinity of the product during operation. 2.
Safety instructions 2 Device− and application−specific safety instructions 2.2 Device− and application−specific safety instructions ƒ During operation, the communication module must be securely connected to the standard device. ƒ With external voltage supply, always use a separate power supply unit, safely separated in accordance with EN 61800−5−1 in every control cabinet ("SELV" / "PELV"). ƒ Only use cables that comply with the given specifications ( 25).
3 Product description Application as directed 3 Product description 3.1 Application as directed The communication module ... ƒ is a device intended for use in industrial power systems. ƒ is only to be used in EtherCAT networks.
Product description 3 Identification 3.2 Identification L Type Id.-No. Prod.-No. E82AF000P0B201XX 2192ECAT013 Type code 33.2192IB VA 1.0 Device series Hardware version Software version EDSMF2192IB EN 3.
3 Product description Product features 3.
Product description 3 Connections and interfaces 3.4 Connections and interfaces 2192ECAT001B Fig. 3−1 EMF2192IB (EtherCAT) communication module Legend for the illustration Pos. ...
4 Technical data General data and operating conditions 4 Technical data 4.1 General data and operating conditions Area Order designation Communication profile Supported device profile and mailbox protocol Values EMF2192IB EtherCAT CANopen over EtherCAT (CoE) Communication medium Interface for communication Network topology Node type Number of nodes Cable length between two EtherCAT nodes S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT 5e RJ45, standard Ethernet (acc.
Technical data 4 Protective insulation 4.2 Protective insulation Danger! Dangerous electrical voltage If Lenze controllers are used on a phase earthed mains with a rated mains voltage ³ 400 V, protection against accidental contact is not ensured without implementing external measures.
4 Technical data Communication time 4.3 Communication time Processing times in the controller The parameter data and process data are independent of each other. 18 Processing times Parameter data Processing time within the controller l Additional times outside the controller l l Process data Approx. 30 ms + a tolerance of 20 ms l Time for 8200 vector: approx.
Technical data 4 Dimensions 4.4 Dimensions 2192ECAT001B All dimensions in mm EDSMF2192IB EN 3.
5 Installation 5 Installation Danger! Inappropriate handling of the communication module and the standard device can cause serious personal injury and material damage. Observe the safety instructions and residual hazards described in the documentation for the standard device. Stop! The device contains components that can be destroyed by electrostatic discharge! Before working on the device, the personnel must ensure that they are free of electrostatic charge by using appropriate measures.
Installation 5 Mechanical installation 5.1 Mechanical installation 2102LEC014 Fig. 5−1 Attaching the communication module ƒ Plug the communication module onto the standard device (here: 8200 vector). ƒ Tighten the communication module to the standard device using the fixing screw in order to ensure a good PE connection.
5 Installation Electrical installation Wiring according to EMC (CE−typical drive system) 5.2 Electrical installation 5.2.1 Wiring according to EMC (CE−typical drive system) For wiring according to EMC requirements observe the following points: Note! ƒ Separate control cables/data lines from motor cables. ƒ Connect the shields of control cables/data lines at both ends in the case of digital signals.
Installation 5 Electrical installation Network topology 5.2.2 Network topology An EtherCAT frame is transmitted by a pair of conductors from the master to the slaves. The frame is forwarded from slave to slave until it has passed through all devices. Finally the last slave sends the frame back to the master by a second pair of conductors. Thus, EtherCAT always creates a logic ring topology, irrespective of the topology selected. Line topology M IN OUT OUT IN SD SD IN SD E94AYCET006 Fig.
5 Installation Electrical installation EtherCAT connection 5.2.3 EtherCAT connection You can use a standard Ethernet patch cable for connection to the communication module (see "Ethernet cable specifications" ( 25)). Note! Plug/remove the Ethernet cable plug vertically into/from the socket to make sure that the RJ45 socket will not be damaged.
Installation 5 Electrical installation Specification of the Ethernet cable 5.2.4 Specification of the Ethernet cable Note! Only use cables complying with the below specifications. Specification of the Ethernet cable 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.
5 Installation Electrical installation Specification of the Ethernet cable Colour code of Ethernet cable Note! Wiring and colour code are standardised in EIA/TIA 568A/568B. You can use 4−pin Ethernet cables in accordance with the industrial standard. The cable type only connects the assigned pins 1, 2, 3 and 6 with each other. E94YCEI004A Fig.
Installation 5 Electrical installation Voltage supply 5.2.5 Voltage supply Internal voltage supply Note! Internal voltage supply has been selected in the case of standard devices with an extended AIF interface opening (e.g. front of 8200 vector). The area shown on a grey background in the graphic marks the jumper position. ƒ By default, this is not supplied internally in the standard device. ƒ For internal voltage supply place the jumper on the position indicated below.
5 Installation Electrical installation Voltage supply Terminal data Area Values Electrical connection Plug connector with screw connection Possible connections rigid: 1.5 mm2 (AWG 16) flexible: without wire end ferrule 1.5 mm2 (AWG 16) with wire end ferrule, without plastic sleeve 1.5 mm2 (AWG 16) with wire end ferrule, with plastic sleeve 1.5 mm2 (AWG 16) 28 Tightening torque 0.5 ... 0.6 Nm (4.4 ... 5.3 lb−in) Stripping length 6 mm EDSMF2192IB EN 3.
Installation 5 Electrical installation Synchronisation of the standard device 5.2.6 Synchronisation of the standard device The synchronisation of the standard device via the EtherCAT fieldbus ˘ if it is supported ˘ can be carried out via the 3−pin plug connector with screw connection (sync). Note! ECS servo system ƒ For the ECS axis modules, a synchronisation with operating system software version ³ 8.3 is possible. ƒ For the ECS power supply module a synchronisation is not supported. Wire ...
6 Commissioning Before switching on 6 Commissioning During commissioning, system−dependent data as e.g. motor parameters, operating parameters, responses and parameters for fieldbus communication are selected for the controller. In Lenze devices, this is done via codes. The codes are stored in numerically ascending order in the Lenze controllers and in the plugged−in communication/function modules. In addition to these configuration codes, there are codes for diagnosing and monitoring the bus devices.
Commissioning 6 Configuring the host system (master) Installing device description files 6.2 Configuring the host system (master) For communication with the communication module, first the host system (master) must be configured. For configuring EtherCAT networks. a configuration software is always required for the host system (master), e.g.
6 Commissioning Configuring the host system (master) Configuring process data 6.2.3 6.2.4 Configuring process data ƒ The process data configuration is defined during the initialisation phase of the master (PDO mapping). ƒ The process data configuration predefined application−specifically in the device description files and can be adapted by the user if required. Defining the cycle time The process data objects (PDO) are transmitted cyclically between the EtherCAT master and the slaves (controllers).
Commissioning 6 Synchronisation with "Distributed clocks" (DC) 6.3 Synchronisation with "Distributed clocks" (DC) The "Distributed clocks" (DC) functionality enables an exact time adjustment for applications where several auxiliary axes carry out a coordinated movement at the same time. The data is accepted synchronously with the PLC program. With the DC synchronisation, all slaves are synchronised with a reference clock, the so−called "DC master".
6 Commissioning Synchronisation with "Distributed clocks" (DC) Preparation / installation " EtherCAT control technology" communication manual Here you’ll find detailed information on the EtherCAT configuration and commissioning of Lenze devices in the EtherCAT network. 6.3.1 Preparation / installation Note! Lenze devices without an external sync terminal input do not support DC synchronisation.
Commissioning 6 Synchronisation with "Distributed clocks" (DC) Behaviour of the Lenze EtherCAT nodes during start−up 6.3.4 Behaviour of the Lenze EtherCAT nodes during start−up If the DC synchronisation is used, the communication module first changes to the "Operational" state if the standard device has adapted its phase position to the DC signal. This process can take several seconds.
6 Commissioning Initial switch−on 6.4 Initial switch−on Switch on the drive and check its readiness for operation by means of the diagnostic LEDs on the front of the communication module. ƒ Red diagnostic LEDs must not be lit. ƒ The following signalling should show: LED Pos. Description Colour Status green blinking on l l green The EtherCAT connection has been established. Data communication of the EtherCAT connection is active.
Data transfer 7 7 Data transfer With EtherCAT, data is transmitted in "EtherCAT frames". The EtherCAT nodes only take the data determined for them while the EtherCAT frame passes through the device. Output data are entered in the frame the same way during the passage. Read and write accesses are only executed in a small section of the total EtherCAT frame, the datagrams. Thus, a frame does not need to be received completely before being processed. Processing starts as early as possible.
7 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 Destination Source EtherType 11 bits 1 bit 4 bits Reserved 48 ...
Data transfer 7 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.
7 Data transfer EtherCAT state machine 7.3 EtherCAT state machine Before communication via EtherCAT is possible, the fieldbus passes through the EtherCAT status machine during power−up. The following illustration shows the possible state changes from an EtherCAT slave view: Init Pre-Operational Safe-Operational Operational E94AYCET009 Fig.
Process data transfer 8 8 Process data transfer ƒ The process data are transmitted by means of "EtherCAT datagrams" ( CoE process data channel. ƒ By means of the process data the controller is operated. ƒ The transmission of process data is time−critical. ƒ Process data are transmitted cyclically between the host system (master) and the controllers (slaves) (permanent exchange of current input and output data). ƒ The master can directly access the process data.
9 Parameter data transfer Connection establishment between master and slave 9 Parameter data transfer Parameter data are transmitted via the fieldbus as SDOs (Service Data Objects). The SDO services allow for the writing and reading access to the object directory. 9.1 ƒ Via the SDO channel, access to all implemented CoE objects ( ( 57) is enabled with the CoE protocol.
Parameter data transfer 9 Reading and writing parameters 9.2 Reading and writing parameters Parameters ... ƒ are set, for instance, for one−time system settings or if materials are changed within a machine. ƒ are transmitted with a low priority. In the case of Lenze controllers, the parameters to be changed are contained in codes or in the case of the CANopen device profile "CiA402" as device profile objects.
9 Parameter data transfer Reading and writing parameters Reading parameters (expedited upload) 9.2.1 Reading parameters (expedited upload) 1. The master transmits "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 ( 43).
Parameter data transfer 9 Reading and writing parameters Reading parameters (expedited upload) SDO Upload Expedited Response An "SDO Upload Expedited Response" takes place if the data length of the parameter data to be read amounts to up to 4 bytes.
9 Parameter data transfer Reading and writing parameters Reading parameters (expedited upload) SDO Upload Normal Response An "SDO Upload Normal" takes place if the data length of the parameter data to be read amounts to ³ 4 bytes.
Parameter data transfer 9 Reading and writing parameters Reading parameters (expedited upload) Example The transmitted response structure in case of an upload to the index 0x5FD8 (standard value of C00039/1 = 0x0FA0) contains the following data: SDO frame area Data field Data type / length Value [hex] / description Mailbox Header Length WORD 2 bytes 0x0A: Length of the mailbox service data Address WORD 2 bytes 0x00 Channel WORD 6 bits (0 ...
9 Parameter data transfer Reading and writing parameters Writing parameters (expedited download) 9.2.2 Writing parameters (expedited download) 1. The master transmits "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 ( 43).
Parameter data transfer 9 Reading and writing parameters Writing parameters (expedited download) SDO Download Normal Request An "SDO Download Normal Request" takes place if the data length of the parameter data to be written amounts to ³ 4 bytes.
9 Parameter data transfer Reading and writing parameters Writing parameters (expedited download) SDO Download Response Detailed breakdown of the data for an "SDO Download Response": 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 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.
Parameter data transfer 9 Reading and writing parameters Writing parameters (expedited download) Example The transmitted request structure in case of a download from the index 0x1600 contains the following data: SDO frame area Data field Data type / length Value [hex] / description Mailbox Header Length WORD 2 bytes 0xA: Length of the mailbox service data Address WORD 2 bytes 0x0 Channel WORD 6 bits (0 ... 5) 0x0: Reserved Priority 2 bits (6, 7) 0x0: Lowest priority Type 4 bits (8 ..
9 Parameter data transfer Reading and writing parameters SDO abort codes 9.3 SDO abort codes If an SDO request is evaluated negatively, a corresponding error code is output. 52 Index [hex] Description 0x00000000 No error 0x05030000 The status of the toggle bit has not changed. 0x05040000 SDO protocol time−out 0x05040001 Invalid or unknown specification symbol for the client/server command 0x05040002 The data block length is too great.
Diagnostics 10 LED status displays 10 Diagnostics The LEDs on the front are provided to the communication module for the purpose of fault diagnostics. 10.1 LED status displays 2192ECAT001B Fig. 10−1 LEDs of the communication module LED Pos. Description Colour Status green blinking on l l green off The EtherCAT connection has been established. Data communication of the EtherCAT connection is active. The communication module is not supplied with voltage.
10 Diagnostics Emergency requests / emergency messages 10.2 Emergency requests / emergency messages Emergency messages are sent once to the EtherCAT master if the error status of the controller/communication module changes, i.e. ... ƒ if an error of the controller/communication module occurs; ƒ if an error of the controller/communication module is omitted.
Appendix 11 Implemented CoE objects 11 Appendix 11.1 Implemented CoE objects Lenze devices can be parameterised with Lenze codes and with the manufacturer−independent "CoE objects". In order to obtain a complete EtherCAT−compliant communication, only the CoE objects may be used for parameterisation. The CoE objects described in this documentation are defined in the "EtherCAT Specification, Part 6 ˘ Application Layer Protocol Specification". EDSMF2192IB EN 3.
11 Appendix Implemented CoE objects Index Index name Subindex Subindex name Data type Bits Access 0x1000 Device type − − UDINT 32 R 0x1008 Device name − − STRING(30) 240 R 0x1009 Hardware version − − STRING(2) 16 R 0x100A Software version − − STRING(30) 240 R 0x1018 Identity 0 Number of elements USINT 8 R 1 Vendor ID UDINT 32 R 2 Product code UDINT 32 R 3 Revision number UDINT 32 R 4 Serial number UDINT 32 R 0 Number of elements USINT 8 RW
Appendix 11 Codes 11.2 Codes The objects specified in the table can be accessed via EtherCAT fieldbus. The objects are implemented in the Lenze code structure. Writable codes are stored permanently and are maintained after the communication module is switched off. Tip! The codes are visible in the object directory of the EtherCAT configuration tool.
11 Appendix Codes Code description Parameter Name C1810 Software identification of the module Data type: STRING (30) Index: 22765dec = 58EDhex The software ID of the communication module is shown here. Display: "33S2192I_xy000" (xy = version x.y) Parameter Name C1811 Software creation date Data type: STRING (30) Index: 22764dec = 58ECex The software creation date ("mm dd yyyy") and the time ("hh:mm:ss") are shown here.
Appendix 11 Codes Parameter Name C1825 AIF output double words (from the standard device) Data type: UINT32 Index: 22750dec = 58DEhex Display of the process output data Display area (min. value | unit | max. value) 0x00000000 0xFFFFFFFF Subcodes Information C1825/1 ... C1825/n Parameter Name C1830 Bus status Data type: FIX32 Index: 22745dec = 58D9hex Bit−coded display of the current bus status 40 Display area (min. value | unit | max.
11 Appendix Codes Parameter Name C1883 Monitoring time when exiting "Operational" Data type: FIX32 Index: 22692dec = 58A4hex If the "Operational" status is exited, the response parameterised with C1882 occurs after the time set here has elapsed. l With the value = 65535 monitoring is deactivated. l With the value = 0 the immediate response is effected after the internal bus status watchdog time has elapsed l A change in monitoring is effective immediately. Setting range (min. value | unit | max.
Appendix 11 Product codes of the Lenze standard devices 11.
12 Index 12 Index A Definition of notes used, 9 Abort codes, 52 Definitions, 8 Address allocation, 32 Design of the Ethernet cable, 25 Application as directed, 12 Device detection, 31 Approvals, 16 Device profile, 16 Automatic device detection, 31 Device protection, 11 , 20 Diagnostics, 53 B Distributed clocks (DC), synchronisation, 33 Baud rate, 16 Behaviour of the Lenze EtherCAT nodes during start−up, 35 E Electrical installation, 22 Emergency message (structure), 54 C Emergency reque
Index Installing device description files, 31 R Interface for communication, 16 Reading and writing parameters, 43 Interfaces, 15 Reading parameters (expedited upload), 44 Internal voltage supply, 27 Residual hazards, 11 12 Revision−ID, 16 L LED status displays, 53 S M Safety instructions, 10 − Application as directed, 12 − definition, 9 − device− and application−specific, 11 − layout, 9 Mailbox datagram, 43 SDO abort codes, 52 Mailbox protocol, 16 Software version, type code, 13 Mechanic
© 11/2012 F Lenze Automation GmbH Hans−Lenze−Str. 1 D−31855 Aerzen Germany Service Lenze Service GmbH Breslauer Straße 3 D−32699 Extertal Germany ( Ê ü +49 (0)51 54 / 82−0 ( Ê 00 80 00 / 24 4 68 77 (24 h helpline) +49 (0)51 54 / 82 − 28 00 Lenze@Lenze.de +49 (0)51 54 / 82−11 12 Service@Lenze.de www.Lenze.com EDSMF2192IB § .K:ö § EN § 3.
