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E94AYCET
Lenze E94AYCET User Manual
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dge and
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e support for handling our product.
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Table of Contents
Default Chapter
2
Table of Contents
2
1 About this Documentation
4
Document History
6
Conventions Used
7
Terminology Used
8
Definition of the Notes Used
9
2 Safety Instructions
10
General Safety and Application Notes
10
Device and Application-Specific Safety Instructions
11
Residual Hazards
11
3 Product Description
12
Application as Directed
12
Identification
12
Product Features
13
Terminals and Interfaces
14
4 Technical Data
15
General Data and Operating Conditions
15
Protective Insulation
16
Protocol Data
19
Communication Time
19
Dimensions
21
5 Installation
22
Mechanical Installation
23
Mounting
23
Disassembly
23
Electrical Installation
24
Wiring According to EMC Guidelines
24
Network Topology
25
Ethercat Connection
26
Ethernet Cable Specification
27
External Voltage Supply
29
6 Commissioning
30
Before Initial Switch-On
30
Configuring the Controller (Ethercat Master)
31
Installing Device Description Files
31
Automatic Device Identification
32
Configuring Process Data
33
Configuring Safety Process Data
33
Determining the Cycle Time
33
Settings in »Engineer
34
Address Allocation
35
Synchronisation with "Distributed Clocks" (DC)
36
DC Configuration in the Master
37
DC Configuration in the Servo Drive 9400 (Slave)
38
Behaviour of the Communication Module During the Start
39
Process Data Mode
40
Establishing an Online Connection with the »Engineer
41
Gateway Controller -> Configure Ethercat
42
Gateway Controller -> Configure Ethercat ADS (Beckhoff)
44
Ethercat ADS Communication Parameters in »Twincat« and »Engineer
46
Example: Structure Without a Beckhoff Controller
46
Example: Structure with a Beckhoff DIN Rail IPC CX1020
50
Initial Switch-On
55
7 Data Transfer
56
Ethercat Telegrams
57
Ethercat Datagrams
58
Ethercat State Machine
59
8 Process Data Transfer
61
Configuring Process Data (PDO Mapping)
62
Setting PDO Mapping with the »Engineer
63
Mapping Indices and Codes
65
Structure of the Mapping Codes
66
Fsoe Mapping Indices
66
9 Parameter Data Transfer
67
Establishing a Connection between Master and Slave
67
Reading and Writing Parameters
68
Reading Parameters (SDO Upload)
69
Writing Parameters (SDO Download)
73
Communication Objects (Object Directory)
78
SDO Abort Codes (Abort Codes)
80
10 Safety over Ethercat
81
11 Monitoring
82
Interruption of Ethercat Communication
82
Interruption of Internal Communication
83
Sync Telegram Failure Detection
83
Ethercat Synchronisation Loss
84
12 Diagnostics
85
LED Status Displays
85
Module Status Displays
86
Ethercat Status Displays
87
Status Display at the RJ45 Sockets (X246 / X247)
89
Diagnostics with the »Engineer
90
Emergency Requests / Emergency Messages
91
13 Error Messages
92
Short Overview of the Ethercat Error Messages
92
Possible Causes and Remedies
93
14 Parameter Reference
97
Parameters of the Standard Device that Are Relevant to Communication
97
Parameters of the Communication Module for Slot MXI1
100
Parameters of the Communication Module for Slot MXI2
118
Table of Attributes
136
Index
139
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Lenze E94AYCET Specifications
General
Brand
Lenze
Model
E94AYCET
Category
Servo Drives
Language
English
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