Lenze E94AYCET - Manual (Page 66)

8 Process data transfer
8.2 Example of a drive initialisation with the "CiA402" technology application
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Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17
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Basic conditions
• For communication the communication module has to be plugged into module receptacle MXI1
of the Servo Drive 9400.
• During initialisation, the first EtherCAT slave in the drive system receives the station address
"1001".
• The RPDO-1 to the drive contains the following objects:
0x6040: "Control word"
0x60C1/1: "Interpolation data record"
• The TPDO-1 from the drive contains the following objects:
0x6041: "Status word"
0x6064: "Position actual value"
• Operating mode "Interpolated position mode" is selected.
• Synchronisation of the Servo Drive 9400 must be set via code
C01120 (sync source).
Procedure
Communication service Object Value Info
Change of the communication status
NMT
- - Switch drive to the "Pre-operational" communication
status.
Drive identification
SDO read request
0x1000 - Check whether the drive supports the "CiA402"
CANopen device profile.
SDO read request 0x1018/1 - Manufacturer's identification mark
SDO read request 0x1018/2 - Product identification
SDO read request 0x1018/3 - Revision number
SDO read request 0x1008 - Manufacturer's device name
Initialisation of communication profile objects
SDO read request
0x1010 Manufacturer's software version
PDO mapping
SDO write request
0x1600/0 0 • RPDO-1 does not contain any objects.
• Deactivate mapping.
SDO write request 0x1600/1 0x60400010 Enter/map object 0x6040 ("Control word") in RPDO-
1.
SDO write request 0x1600/2 0x60C10120 Enter/map object 0x60C1/1 ("Interpolation data
record") in RPDO-1.
SDO write request 0x1600/0 2 • RPDO-1 contains 2 objects.
• Activate mapping.
SDO write request 0x1A00/0 0 TPDO-1 does not contain any objects, deactivate
mapping.
SDO write request 0x1A00/1 0x60410010 Enter/map object 0x6041 ("Statusword") in TPDO-1.
SDO write request 0x1A00/2 0x60640020 Enter/map object 0x6064 ("Position actual value") in
RPDO-1.
SDO write request 0x1A00/0 2 • TPDO-1 contains 2 objects
• Activate mapping.
SDO write request 0x1C12/1 0x1600 Selection of RPDO source
SDO write request 0x1C13/1 0x1A00 Selection of the TPDO source