Lenze 9400 Series User Manual

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06 131
14 Parameter reference
14.3 Parameters of the communication module for slot MXI2
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
C14861
C14864
C14867
C14870
Parameter | Name:
C14861 | Bus status
Data type: UNSIGNED_16
Index: 9714 = 0x25F2
Display of the current bus status
EtherCAT state machine
( 59)
Selection list (read only) Info
0 Nonexistent No online value available (communication module is
offline).
1 Init
2 Pre-Operational
3 Bootstrap Is not supported.
4 Safe-operational
8 Operational
 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT
Parameter | Name:
C14864 | Active station address
Data type: UNSIGNED_16
Index: 9711 = 0x25EF
Display of the station address allocated by the master
Display range (min. value | unit | max. value)
0 65535
 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT
Parameter | Name:
C14867 | Display: Most recent emergency data
Data type: OCTET_STRING
Index: 9708 = 0x25EC
Display of the emergency data last sent by the inverter (string with a length of 8 bytes).
Emergency requests / Emergency messages
( 91)
 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT
Parameter | Name:
C14870 | Cycle time display
Data type: UNSIGNED_32
Index: 9705 = 0x25E9
Available from software version 03.00!
Display of the synchronisation cycle time in μs set by the master.
• This time is only valid if "Distributed clocks" (DC) are used.
• If no DC is used, the time is displayed is "0".
Synchronisation with "Distributed clocks" (DC)
( 36)
Display range (min. value | unit | max. value)
0 μs 4294967295
 Read access  Write access  CINH  PLC-STOP  No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Lenze 9400 Series Specifications

General

Control	Vector control, Servo control
Protection class	IP20
Communication interfaces	EtherCAT, PROFIBUS, CANopen, PROFINET, EtherNet/IP
Feedback systems	Resolver, EnDat, Hiperface
Cooling	liquid cooling
Safety	STO, SS1, SLS, SBC, SDI

Summary

About this documentation

Document history

Details revisions and updates made to the manual over time.

Conventions used

Explains typographical and formatting conventions used throughout the document.

Terminology used

Provides definitions for technical terms and acronyms used in the manual.

Definition of the notes used

Clarifies the meaning of signal words and symbols indicating danger or important information.

Safety instructions

General safety and application notes

Provides essential safety measures for handling and operating Lenze drive and automation components.

Device and application-specific safety instructions

Details safety precautions specific to the communication module and its application.

Residual hazards

Highlights potential dangers and necessary measures related to electrical and electrostatic hazards.

Product description

Application as directed

Defines the intended use and scope of the EtherCAT communication module.

Identification

Explains how to identify the communication module's type and version from its nameplate.

Product features

Lists the key technical features and capabilities of the EtherCAT communication module.

Terminals and interfaces

Details the physical terminals and communication interfaces available on the module.

Technical data

General data and operating conditions

Provides general specifications and environmental operating conditions for the module.

Protective insulation

Details the electrical insulation specifications and safety requirements.

Protocol data

Specifies data formats and characteristics for communication protocols.

Communication time

Outlines the timing aspects of parameter and process data transfer.

Dimensions

Provides the physical dimensions of the communication module.

Installation

Mechanical installation

Guides on how to physically mount and dismount the communication module.

Electrical installation

Details wiring procedures, network topology, and connection specifications.

Commissioning

Before initial switch-on

Important checks and notes to perform before powering on the system for the first time.

Configuring the Controller (EtherCAT master)

Steps for configuring the EtherCAT master for communication with the module.

Settings in »Engineer«

Configuration options and displays available within the Lenze »Engineer« software.

Address allocation

Defines how to assign station addresses and aliases in the EtherCAT network.

Synchronisation with "Distributed clocks" (DC)

Explains the setup and use of Distributed Clocks for precise time synchronization.

Establishing an online connection with the »Engineer«

Instructions for establishing an online connection to field devices using the »Engineer« software.

EtherCAT ADS communication parameters in »TwinCAT« and »Engineer«

Guides on finding EtherCAT ADS parameters in Beckhoff TwinCAT and Lenze Engineer.

Initial switch-on

Procedures for initial system startup, parameter saving, and restart behavior.

Data transfer

EtherCAT telegrams

Describes the structure and components of an EtherCAT telegram.

EtherCAT datagrams

Details the structure and contents of EtherCAT datagrams used for data exchange.

EtherCAT state machine

Illustrates the state transitions of an EtherCAT slave during communication startup.

Process data transfer

Configuring process data (PDO mapping)

Explains how to configure Process Data Objects (PDO) for data exchange.

Setting PDO mapping with the »Engineer«

Step-by-step guide to mapping process data using the Lenze »Engineer« software.

Mapping indices and codes

Details the mapping indices and codes used for PDO configuration.

Parameter data transfer

Establishing a connection between master and slave

Describes the process of establishing SDO communication between master and slave.

Reading and writing parameters

Covers the procedures for reading and writing parameters via SDO.

Communication objects (object directory)

Lists and describes the communication objects and their attributes.

SDO abort codes (Abort codes)

Details SDO abort codes used to indicate errors during parameter transfer.

Safety over EtherCAT

Monitoring

Interruption of EtherCAT communication

Describes how the module detects and responds to EtherCAT communication interruptions.

Interruption of internal communication

Details responses to communication errors between the module and the standard device.

Sync telegram failure detection

Explains the monitoring of EtherCAT PDO telegrams for failures.

EtherCAT synchronisation loss

Describes how the system detects and reacts to loss of EtherCAT synchronization.

Diagnostics

LED status displays

Explains the status indications provided by the module's LEDs.

Error messages

Short overview of the EtherCAT error messages

Lists EtherCAT error numbers, names, default responses, and adjustability.

Possible causes and remedies

Provides detailed causes and remedies for various EtherCAT error messages.

Parameter reference

Parameters of the standard device that are relevant to communication

Lists communication-relevant parameters of the Servo Drive 9400.

Parameters of the communication module for slot MXI1

Details parameters specific to the EtherCAT communication module in slot MXI1.

Parameters of the communication module for slot MXI2

Details parameters specific to the EtherCAT communication module in slot MXI2.

Table of attributes

Provides a table summarizing parameter attributes like data type, access, and index.