Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06 83
11 Monitoring
11.2 Interruption of internal communication
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11.2 Interruption of internal communication
The response in the case of a communication error between the communication module and the
standard device can be set via codes C01501
(module in slot MXI1) and C01502 (module in slot
MXI2).
An externally supplied communication module reports a connection abort to the standard device
via an emergency telegram to the master and changes to the "Safe-operational" state.
11.3 Sync telegram failure detection
During the Synchronisation with "Distributed clocks" (DC) ( 36), this monitoring mode checks
whether an EtherCAT PDO telegram (Sync Manager 2 Event) has arrived between two signals.
For this purpose, the communication module comes with an internal EtherCAT telegram failure
error counter. The telegram failure error counter is incremented by the value '3' in case of a telegram
failure. For each PDO received correctly, the counter is decremented by '1'.
If the telegram failure error counter reaches a threshold, – adjustable via the EtherCAT master in the
CoE object 0x10F1.2 – the state changes to "Safe-Operational" and the "Sync telegram failure
[0x01bc8700]" error message is output.
In the standard setting, monitoring is deactivated (0x10F1.2 = 0). A sensible setting is a value > ’5’
in order that an error will only be triggered in the inverter when a second telegram fails.
An error response can be set via the code C13880/2
/ C14880/2 ("0: No response" is preset here).
The application serves to detect telegram failures by evaluating the signals
SYNC_bProcessDataExpected and SYNC_bProcessDataInvalid of the LS_SyncInput system block.
This monitoring can be used, for instance, for extrapolating the setpoints (position, speed and
torque).
Tip!
The function blocks L_SdInterExtrapolatePosition or L_SdInterExtrapolateAny are
available as extrapolation blocks.
The frame failure detection is implemented by default in the "CiA402" technology
application.
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