Document Outline

• E94AYCET (EtherCAT®)
  • Contents
    • 1 About this documentation
      • 1.1 Document history
      • 1.2 Conventions used
      • 1.3 Terminology used
      • 1.4 Definition of the notes used
    • 2 Safety instructions
      • 2.1 General safety and application notes
      • 2.2 Device- and application-specific safety instructions
      • 2.3 Residual hazards
    • 3 Product description
      • 3.1 Application as directed
      • 3.2 Identification
      • 3.3 Product features
      • 3.4 Terminals and interfaces
    • 4 Technical data
      • 4.1 General data and operating conditions
      • 4.2 Protective insulation
      • 4.3 Protocol data
      • 4.4 Communication time
      • 4.5 Dimensions
    • 5 Installation
      • 5.1 Mechanical installation
        • 5.1.1 Assembly
        • 5.1.2 Disassembly
      • 5.2 Electrical installation
        • 5.2.1 EMC-compliant wiring
        • 5.2.2 Network topology
        • 5.2.3 EtherCAT connection
        • 5.2.4 Specification of the Ethernet cable
        • 5.2.5 External voltage supply
    • 6 Commissioning
      • 6.1 Before initial switch-on
      • 6.2 Configuring the controller (EtherCAT master)
        • 6.2.1 Installing device description files
        • 6.2.2 Automatic device identification
        • 6.2.3 Configuring process data
        • 6.2.4 Determining the cycle time
      • 6.3 Address allocation
      • 6.4 Synchronisation with "Distributed Clocks" (DC)
        • 6.4.1 DC configuration in the master
        • 6.4.2 DC configuration in the Servo Drive 9400 (slave)
        • 6.4.3 Response of the Lenze EtherCAT nodes during start-up
        • 6.4.4 Process data mode
      • 6.5 Establishing an online connection with the »Engineer«
        • 6.5.1 Gateway controller -> configure EtherCAT
        • 6.5.2 Gateway controller -> configure EtherCAT ADS (Beckhoff)
      • 6.6 EtherCAT ADS communication parameters in »TwinCAT« and »Engineer«
        • 6.6.1 Example: Structure without a Beckhoff controller
        • 6.6.2 Example: Structure with a Beckhoff DIN rail IPC CX1020
      • 6.7 Initial switch-on
    • 7 Data transfer
      • 7.1 EtherCAT-Frames
      • 7.2 EtherCAT datagrams
      • 7.3 EtherCAT state machine
    • 8 Process data transfer
      • 8.1 Configuring process data (PDO mapping)
        • 8.1.1 Setting PDO mapping with the »Engineer«
        • 8.1.2 Mapping indices and codes
        • 8.1.3 Structure of the mapping codes
      • 8.2 Example of a drive initialisation with the "CiA402" technology application
    • 9 Parameter data transfer
      • 9.1 Establishing a connection between master and slave
      • 9.2 Reading and writing parameters
        • 9.2.1 Reading parameters (SDO upload)
        • 9.2.2 Writing parameters (SDO download)
      • 9.3 Implemented CoE objects
      • 9.4 SDO abort codes (Abort codes)
    • 10 Monitoring
      • 10.1 Interruption of EtherCAT communication
      • 10.2 Interruption of internal communication
      • 10.3 Frame failure detection through the application
      • 10.4 EtherCAT synchronisation loss
    • 11 Diagnostics
      • 11.1 LED status displays
        • 11.1.1 Module status displays
        • 11.1.2 EtherCAT status displays
        • 11.1.3 Status display at the RJ45 sockets (X246 / X247)
      • 11.2 Diagnostics with the »Engineer«
      • 11.3 Emergency requests / Emergency messages
    • 12 Error messages
      • 12.1 Short overview of the EtherCAT error messages
      • 12.2 Possible causes and remedies
        • EtherCAT: Connection to 9400 lost [0x00c83100]
        • EtherCAT: Internal supply voltage too low [0x00c85114]
        • EtherCAT: Memory: No access [0x00c85531]
        • EtherCAT: Memory: Error while reading [0x00c85532]
        • EtherCAT: Memory: Error while writing [0x00c85533]
        • EtherCAT: Restart by watchdog reset [0x00c86010]
        • EtherCAT: Internal error [0x00c86011]
        • EtherCAT: Internal error [0x00c86100]
        • EtherCAT: Internal error [0x00c86101]
        • EtherCAT: Internal mapping error [0x00c86110]
        • EtherCAT: Parameter set invalid [0x00c8641f]
        • EtherCAT: Error: Lenze setting loaded [0x00c86420]
        • EtherCAT: Quit 'Operational' state [0x00c88131]
        • EtherCAT: Sync loss detected with standard device [0x00c88132]
    • 13 Parameter reference
      • 13.1 Communication-relevant parameters of the standard device
        • C00615 | Resp. to imp. device conf.
        • C00636 | Resp. to new module in MXI1
        • C00637 | Resp. to new module in MXI2
        • C01120 | Sync source
        • C01501 | Resp. to comm. error with MXI1
        • C01502 | Resp. to comm. error with MXI2
      • 13.2 Parameters of the communication module for slot MXI1
        • C13231 | Mapping entries RPDO-1 (I-1600)
        • C13232 | Mapping entries RPDO-2
        • C13233 | Mapping entries RPDO-3
        • C13234 | Mapping entries RPDO-4
        • C13235 | Mapping entries RPDO-5
        • C13236 | Mapping entries RPDO-6
        • C13237 | Mapping entries RPDO-7
        • C13238 | Mapping entries RPDO-8
        • C13239 | Mapping entries RPDO-9
        • C13240 | Mapping entries RPDO-10
        • C13484 | Active RPDO channel
        • C13489 | No. of RPDO mapping entries
        • C13531 | Mapping entries TPDO-1
        • C13532 | Mapping entries TPDO-2
        • C13533 | Mapping entries TPDO-3
        • C13534 | Mapping entries TPDO-4
        • C13535 | Mapping entries TPDO-5
        • C13536 | Mapping entries TPDO-6
        • C13537 | Mapping entries TPDO-7
        • C13538 | Mapping entries TPDO-8
        • C13539 | Mapping entries TPDO-9
        • C13540 | Mapping entries TPDO-10
        • C13784 | Active TPDO channel
        • C13789 | No. of TPDO mapping entries
        • C13850 | All words to master
        • C13851 | All words from master
        • C13852 | All words to standard device
        • C13853 | All words from standard device
        • C13861 | Bus state
        • C13864 | Active station address
        • C13867 | Display: Most recent emergency data
        • C13870 | Cycle time display
        • C13879 | Bus error
        • C13880 | Resp. to communication failure
        • C13881 | Response time when exiting 'Operational'
        • C13882 | Display of PDO watchdog time
        • C13883 | DC active
        • C13884 | Base device synchronisation status
        • C13885 | Clear process data
        • C13892 | Process data mode
        • C13899 | Station alias
        • C13900 | Firmware: Product type
        • C13901 | Firmware compilation date
        • C13902 | Firmware version
      • 13.3 Parameters of the communication module for slot MXI2
        • C14231 | Mapping entries RPDO-1 (I-1600)
        • C14232 | Mapping entries RPDO-2
        • C14233 | Mapping entries RPDO-3
        • C14234 | Mapping entries RPDO-4
        • C14235 | Mapping entries RPDO-5
        • C14236 | Mapping entries RPDO-6
        • C14237 | Mapping entries RPDO-7
        • C14238 | Mapping entries RPDO-8
        • C14239 | Mapping entries RPDO-9
        • C14240 | Mapping entries RPDO-10
        • C14484 | Active RPDO channel
        • C14489 | No. of RPDO mapping entries
        • C14531 | Mapping entries TPDO-1
        • C14532 | Mapping entries TPDO-2
        • C14533 | Mapping entries TPDO-3
        • C14534 | Mapping entries TPDO-4
        • C14535 | Mapping entries TPDO-5
        • C14536 | Mapping entries TPDO-6
        • C14537 | Mapping entries TPDO-7
        • C14538 | Mapping entries TPDO-8
        • C14539 | Mapping entries TPDO-9
        • C14540 | Mapping entries TPDO-10
        • C14784 | Active TPDO channel
        • C14789 | No. of TPDO mapping entries
        • C14850 | All words to master
        • C14851 | All words from master
        • C14852 | All words to standard device
        • C14853 | All words from standard device
        • C14861 | Bus status
        • C14864 | Active station address
        • C14867 | Display: Most recent emergency data
        • C14870 | Cycle time display
        • C14879 | Bus error
        • C14880 | Resp. to communication failure
        • C14881 | Response time when exiting 'Operational'
        • C14882 | Display of PDO watchdog time
        • C14883 | DC active
        • C14884 | Base device synchronisation status
        • C14885 | Clear process data
        • C14892 | Process data mode
        • C14899 | Station alias
        • C14900 | Firmware: Product type
        • C14901 | Firmware compilation date
        • C14902 | Firmware version
      • 13.4 Table of attributes
    • Index
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