Manual

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EDS94AYCCA

13411721

Ä.J26ä

Communication Manual

E94AYCCA

CANopen® communication module

9400

L-force Communication

Summary of content (188 pages)

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L-force Communication Ä.
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L EDS94AYCCA EN 5.
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E94AYCCA communication manual (CANopen®) Contents Contents 1 2 3 4 5 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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E94AYCCA communication manual (CANopen®) Contents 6 7 8 9 4 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 6.1 Before initial switch-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 6.2 Possible settings via DIP switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2.
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E94AYCCA communication manual (CANopen®) Contents 10 11 12 13 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 10.1 Node guarding protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.1.1 Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.1.
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E94AYCCA communication manual (CANopen®) About this documentation 1 About this documentation Contents This documentation solely contains descriptions for the E94AYCCA communication module (CANopen®).  Note! This documentation supplements the Mounting Instructions supplied with the communication module and the "Servo Drives 9400" hardware manual.
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E94AYCCA communication manual (CANopen®) About this documentation Target group This documentation is intended for people involved in configuring, installing, commissioning, and maintaining the networking and remote maintenance of a machine.  Tip! Current documentation and software updates for Lenze products can be found in the ”Download” area at: www.Lenze.
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E94AYCCA communication manual (CANopen®) About this documentation Document history 1.1 Document history Version Description 1.0 08/2006 TD17 First edition 2.0 04/2008 TD17 General revision 3.0 02/2011 TD17 General revision 4.0 11/2011 TD17 Assignment of the 9-pin Sub-D plug connector corrected. System bus (CANopen) connection ( 26) 5.
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E94AYCCA communication manual (CANopen®) About this documentation Conventions used 1.2 Conventions used This documentation uses the following conventions to distinguish different types of information: Information type Display Examples/notes Spelling of numbers Decimal Hexadecimal Binary • Nibble Decimal separator Standard spelling 0x[0 ... 9, A ... F] In inverted commas Point Point Example: 1234 Example: 0x60F4 Example: ’100’ Example: ’0110.0100’ The decimal point is generally used.
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E94AYCCA communication manual (CANopen®) About this documentation Terminology used 1.3 Terminology used Term Meaning CAN CAN (Controller Area Network) is an asynchronous, serial fieldbus system. CANopen® CANopen® is a communication protocol based on CAN. CANopen® is a trademark and patented technology, licensed by the CAN user organisation CiA® (CAN in Automation e. V.), www.can-cia.org.
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E94AYCCA communication manual (CANopen®) About this documentation Notes used 1.
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E94AYCCA communication manual (CANopen®) Safety instructions General safety and application notes 2 Safety instructions  Note! It is absolutely vital that the stated safety measures are implemented in order to prevent serious injury to persons and damage to material assets. Always keep this documentation to hand in the vicinity of the product during operation. 2.
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E94AYCCA communication manual (CANopen®) Safety instructions Device and application-specific safety instructions  All works on and with Lenze drive and automation components may only be carried out by qualified personnel. According to IEC 60364 and CENELEC HD 384 these are persons who ... – are familiar with installing, mounting, commissioning, and operating the product. – have the qualifications necessary for their occupation.
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E94AYCCA communication manual (CANopen®) Product description Application as directed 3 Product description 3.1 Application as directed The communication module ...  is an accessory module which can be used with the following standard devices: Product series Type designation From hardware version From software version Servo Drives 9400 HighLine Servo Drives 9400 PLC E94AxHExxx VA 01.30 E94AxPExxxx VA 01.00 Servo Drives 9400 regenerative power supply module E94ARNxxxx VA 01.
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E94AYCCA communication manual (CANopen®) Product description Features 3.3 Features For many years the system bus (CAN) based on the CANopen communication profile has been integrated in Lenze controllers. Due to the lower number of data objects available, the functionality and compatibility of the old system bus are lower as compared with CANopen.
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E94AYCCA communication manual (CANopen®) Product description Terminals and interfaces 3.4 Terminals and interfaces  9-pin Sub-D plug connector for system bus connection (CANopen)  DIP switches for ... – setting the CAN node address – setting the baud rate  Front LEDs for diagnosing the ... – voltage supply of the communication module; – connection to the standard device; – CANopen state machine and error states; – physical CAN connection. X220 9-pin Sub-D plug connector for the ...
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E94AYCCA communication manual (CANopen®) Technical data General data and operating conditions 4 Technical data 4.1 General data and operating conditions Field Values Order designation E94AYCCA Communication profile CANopen (DS301, V4.02) Communication medium CAN cable according to ISO 11898-2 Network topology Line terminated on both sides (e.g. termination with Lenze system connector EWZ0046) Adjustable node addresses 1 ... 127 Adjustable via DIP switches or code C13350 / C14350. Max.
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E94AYCCA communication manual (CANopen®) Technical data Supported protocols 4.
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E94AYCCA communication manual (CANopen®) Technical data Communication time 4.3 Communication time The communication time is the time between the start of a request and the arrival of the corresponding response. The communication times in the CAN network depend on the ...  processing time in the device;  telegram runtime (baud rate/telegram length);  bus load (especially if the bus is loaded with PDOs and SDOs at a low baud rate).
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E94AYCCA communication manual (CANopen®) Technical data Protective insulation 4.4 Protective insulation  Danger! Dangerous electrical voltage If Servo Drives 9400 are used on a corner grounded system with a rated mains voltage ≥ 400 V, external measures need to be implemented to provide reliable protection against accidental contact.
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E94AYCCA communication manual (CANopen®) Technical data Protective insulation The illustration below ...  shows the arrangement of the terminal strips and the separate potential areas of the controller.  serves to determine the decisive protective insulation between two terminals located in differently insulated separate potential areas. X1 X2 Reinforced insulation X100 X3 MXI1 Basic insulation Bus Functional insulation Ext. DC X4 MXI2 X5 X107 X106 X6 MMI X7 MSI I/O X8 Ext.
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E94AYCCA communication manual (CANopen®) Technical data Protective insulation Example Which type of protective insulation is used between the bus terminal of the device module in slot MXI1 or MXI2 and the mains terminal X100?  The separate potential area with the better protective insulation is decisive. – The separate potential area of the bus terminal of the device module has a "basic insulation". – The separate potential area of the mains terminal has a "reinforced insulation".
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E94AYCCA communication manual (CANopen®) Technical data Dimensions 4.5 Dimensions a 89 mm b 134 mm b1 87 mm e 23 mm E94YCXX005 [4-2] Dimensions EDS94AYCCA EN 5.
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E94AYCCA communication manual (CANopen®) Installation 5 Installation  Stop! Electrostatic discharge Electronic components in the communication module can be damaged or destroyed by electrostatic discharge. Possible consequences: • The communication module is defective. • Fieldbus communication is faulty or not possible. Protective measures • Before touching the module, make sure that you are free of electrostatic charge. 24 L EDS94AYCCA EN 5.
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E94AYCCA communication manual (CANopen®) Installation Mechanical installation 5.1 Mechanical installation  5.1.1 Note! • Only one communication module E94AYCCA (CANopen) may be inserted per Servo Drive 9400. • The slot used (MX1 or MX2) can be selected freely. Mounting E94YCXX001G [5-1] 5.1.2 Mounting Dismounting E94AYCXX001H [5-2] Dismounting EDS94AYCCA EN 5.
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E94AYCCA communication manual (CANopen®) Installation Electrical installation 5.2 Electrical installation  5.2.1 Documentation of the standard device, control system, and plant/machine Observe the notes and wiring instructions stated. System bus (CANopen) connection E94YCCA002A  The system bus (CANopen) must be terminated with resistors (120 Ω) between CANlow and CAN-high.
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E94AYCCA communication manual (CANopen®) Installation Electrical installation Assignment of the 9-pin Sub-D plug connector View 1 5 5.2.2 6 9 Pin Assignment 1 - 2 CAN-LOW 3 CAN-GND 4 - 5 - 6 - 7 CAN-HIGH 8 - 9 - Specification of the bus cable We recommend the use of CAN cables according to ISO 11898-2: CAN cable according to ISO 11898-2 Cable type Twisted in pairs with shield Impedance 120 Ω (95 ... 140 Ω) Cable resistance/cross-section Cable length ≤ 300 m: ≤ 70 mΩ/m / 0.
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E94AYCCA communication manual (CANopen®) Installation Electrical installation 5.2.3 Bus cable length  5.2.3.1 Note! • It is absolutely necessary to comply with the permissible cable lengths. • If the total cable lengths of the CAN nodes differ for the same baud rate, the smaller value must be used to determine the max. cable length. • Observe the reduction of the total cable length due to the signal delay of the repeater.
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E94AYCCA communication manual (CANopen®) Installation Electrical installation 5.2.3.2 Segment cable length The segment cable length is determined by the cable cross-section used and by the number of nodes. Repeaters divide the total cable length into segments. If no repeaters are used, the segment cable length is identical to the total cable length. Max. number of nodes per segment Cable cross-section (can be interpolated) 0.25 mm2 (AWG 24) 0.50 mm2 (AWG 21) 0.75 mm2 (AWG 19) 1.
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E94AYCCA communication manual (CANopen®) Installation Electrical installation 5.2.3.3 Checking the use of repeaters Compare the values derived from tables Total cable length ( 28) and Segment cable length ( 29).  If the sum of the segment cable lengths is smaller than the total cable length to be implemented, either repeaters must be used or the cable cross-section must be increased.  If the use of repeaters reduces the max.
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E94AYCCA communication manual (CANopen®) Installation Electrical installation 5.2.4 Voltage supply  The communication module is only internally supplied with voltage via the standard device.  If the standard device fails, data transfer between the communication module and other CAN nodes is interrupted. EDS94AYCCA EN 5.
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E94AYCCA communication manual (CANopen®) Commissioning Before initial switch-on 6 Commissioning During commissioning, the controller receives system-specific data, e.g. motor parameters, operating parameters, responses, and parameters for the fieldbus communication. In case of Lenze devices, this is done via codes. The codes for the controller and for the communication are saved as a non-volatile data set in the memory module.
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E94AYCCA communication manual (CANopen®) Commissioning Possible settings via DIP switches 6.2 Possible settings via DIP switches O N The front DIP switches can be used to set: d c b a 64 32 16 8 4 2 1  address (switches 1 ... 64) Baud  baud rate (switches a ... d) CAN Address 9400CAN003 [6-1] 6.2.1 Lenze setting: all switches OFF DIP switch Setting the node address  If several CAN nodes are interconnected, their node addresses must differ from each other.
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E94AYCCA communication manual (CANopen®) Commissioning Possible settings via DIP switches 6.2.2 Setting the baud rate  The baud rate can be set with the DIP switches a ... d or via the »Engineer« (code C13351 / C14351).  If several CAN nodes are interconnected, their baud rates must be identical.
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E94AYCCA communication manual (CANopen®) Commissioning Settings in the »Engineer« 6.3 Settings in the »Engineer« Go to the Settings tab to ...  set the node address (C13350 / C14350). Setting the node address ( 33)  select the procedure for automatic allocation of the COB-IDs in the »Engineer«.  configure the CAN node as a master or slave (C13352 / C14352).
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E94AYCCA communication manual (CANopen®) Commissioning Initial switch-on 6.4 Initial switch-on  Documentation of Servo Drive 9400  Note! Observe the safety instructions and residual hazards stated. Establishing communication When the communication module is externally supplied, the standard device must also be switched on for establishing communication.
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E94AYCCA communication manual (CANopen®) Data transfer Structure of the CAN data telegram 7 Data transfer Via the CANopen interface, process data and parameter values can be exchanged between the CAN nodes. In addition, the interface enables the connection of further modules such as distributed terminals, operator and input devices (HMIs), or external controls and control systems. The interface transfers CAN objects following the CANopen communication profile (DS301, V4.
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E94AYCCA communication manual (CANopen®) Data transfer Structure of the CAN data telegram 7.1.1 Identifier The principle of the CAN communication is based on a message-oriented data exchange between a transmitter and many receivers. All nodes can transmit and receive quasisimultaneously. The identifier, also called "COB-ID" (Communication Object Identifier), is used to control which node is to receive a transmitted message.
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E94AYCCA communication manual (CANopen®) Data transfer Structure of the CAN data telegram Identifier assignment The system bus (CANopen) is message-oriented and not node-oriented. Each message has a unique identification, the identifier. In the case of CANopen, a node-orientation is achieved by the fact that for each message there is only one sender.
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E94AYCCA communication manual (CANopen®) Data transfer Structure of the CAN data telegram 7.1.2 User data All nodes communicate with each other by exchanging data telegrams via the system bus (CANopen). The user data area of the CAN telegram contains network management data, parameter data or process data: Network management data (NMT data)  Control information on start, stop, reset, etc. of communication to certain or all nodes of the CAN network.
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E94AYCCA communication manual (CANopen®) Data transfer Communication phases / network management 7.2 Communication phases / network management Regarding communication via the system bus (CANopen), the drive distinguishes between the following states: Status Explanation "Initialisation" (Initialisation) After power-up, initialisation is executed. • During this phase, the controller does not take part in the data transfer on the system bus (CANopen).
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E94AYCCA communication manual (CANopen®) Data transfer Communication phases / network management 7.2.1 State transitions ,QLWLDOLVDWLRQ 3UH 2SHUDWLRQDO 6WRSSHG [7-2] 2SHUDWLRQDO NMT state transitions in the CAN network Transition NMT command State after change (1) - Initialisation (2) - Pre-operational  (3), (6) 0x01 xx In this phase, the master determines the way in which the node(s) takes/take part in the communication.
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E94AYCCA communication manual (CANopen®) Data transfer Communication phases / network management 7.2.2 Network management telegram (NMT) The telegram for the network management contains the identifier "0" and the command included in the user data, which consists of the command byte and the node address.
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E94AYCCA communication manual (CANopen®) Data transfer Communication phases / network management 7.2.3 Parameterising the controller as a CAN master If the initialisation of the system bus (CANopen) and the state change from "preoperational" to" operational" is not carried out by a higher-level control system, the controller can be defined to be a "quasi" master to take over this task. The controller can be configured to be a CAN master in C13352 / C14352.
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E94AYCCA communication manual (CANopen®) Process data transfer 8 Process data transfer [8-1] PDO data transfer from / to the higher-level host system For the transfer of process data, four separated process data channels (PDO1 ... PDO4) are available.
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E94AYCCA communication manual (CANopen®) Process data transfer Identifiers of the process data objects 8.1 Identifiers of the process data objects In the Lenze setting, the identifier for the process data objects PDO1 ... PDO4 results from a basic identifier and the node address set in C13350 / C14350: Identifier (COB-ID) = basic identifier + node address (node ID)  In the Lenze setting, the basic identifiers of the PDOs are preset according to the "Predefined Connection Set" of DS301, V4.02.
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E94AYCCA communication manual (CANopen®) Process data transfer Transmission type 8.2 Transmission type The process data objects are transmitted in an event-controlled or time-controlled way.  Event-controlled: The PDO is sent if a special device-internal event has occurred, for instance, when the data contents of the TPDO have changed or when a transmission cycle time has elapsed.
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E94AYCCA communication manual (CANopen®) Process data transfer Transmission type The communication parameters (as e.g. transmission mode and cycle time) can be freely adjusted for any PDO and independent of the settings of other PDOs: Parameter Information Lenze setting C13322/1...4 C14322/1...4 CAN TPDOx Tx mode 254 C13323/1...4 C14323/1...4 CAN RPDOx Rx mode 254 C13324/1...4 C14324/1...4 CAN TPDOx delay time 0 1/10 ms C13356/1...4 C14356/1...
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E94AYCCA communication manual (CANopen®) Process data transfer Masking of the TPDOs for event control 8.3 Masking of the TPDOs for event control For TPDO1 ... TPDO4, a mask can be parameterised for every byte. In case of eventcontrolled transmission of a PDO, only the masked bits are used for the event control.  Mask "0x0" means that no bit of the corresponding byte triggers the transmission.  Mask "0xff" means that each bit of the corresponding byte can trigger the transmission.
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E94AYCCA communication manual (CANopen®) Process data transfer Synchronisation of PDOs via sync telegram 8.4 Synchronisation of PDOs via sync telegram In case of cyclic transmission, one or several PDOs are transmitted or received at fixed time intervals. For synchronising the cyclic process data, an additional special telegram, the sync telegram, is used.
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E94AYCCA communication manual (CANopen®) Process data transfer Synchronisation of PDOs via sync telegram 8.4.
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E94AYCCA communication manual (CANopen®) Process data transfer Synchronisation of PDOs via sync telegram Sync phase position The phase position defines the zero point of time for the application relating to the synchronisation signal (bus cycle). Since PDO processing is integrated in the system part of the application, the instant of the PDO acceptance also changes if the phase position is changed.  If 0 is set, the application is started together with the synchronisation signal.
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E94AYCCA communication manual (CANopen®) Process data transfer Synchronisation of PDOs via sync telegram Sync application cycle This parameter influences the effect of the sync phase position (C01122) with regard to the instant of acceptance of the synchronous PDOs by the application or the instant of transmission of the synchronous PDOs to the system bus (CANopen). For Servo Drive 9400 software versions lower than V3.0 the following applies:  The sync application cycle is permanently set to 1000 μs.
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E94AYCCA communication manual (CANopen®) Process data transfer Synchronisation of PDOs via sync telegram 8.4.
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E94AYCCA communication manual (CANopen®) Process data transfer Synchronisation of PDOs via sync telegram Example 4: SYNC 0 n 1 n+1 0 n+2 1 Sync cycle time (C01121) = 2000 μs 2 Sync phase position (C01122) = 1400 μs Sync application cycle (C01130) 3 PDO delay SYNC 1 n+3 0 n+4 = 1000 μs = (C01121 - C01122 + 150 μs) modulo C01130 = 750 μs A Instant of acceptance/transmission of synchronous PDOs B Inactive instant of acceptance n Device cycle EDS94AYCCA EN 5.
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E94AYCCA communication manual (CANopen®) Process data transfer PDO mapping 8.5 PDO mapping With Servo Drives 9400 HighLine, you can map the process data individually. For this purpose, the »Engineer« provides a port configurator.  Note! The port mapping is no configuration that can be carried out online for the Servo Drive 9400. For this purpose, an update of the »Engineer« project and a subsequent download of the application is always required.
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E94AYCCA communication manual (CANopen®) Process data transfer PDO mapping  Implementing PDO mapping with the »Engineer« Example A project to be created in the »Engineer« consists of a master drive (master) and a slave drive (slave). Among other things, for instance PDOs are to be exchanged between the two drives via the system bus (CANopen). In the following, the parameterisation of the master drive is described. 1. On the Process data objects tab, the parameters for the receive objects (RPDO1 ...
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E94AYCCA communication manual (CANopen®) Process data transfer PDO mapping Settings for transmit objects (TPDO1 ... TPDO4) Transfer mode of TPDOx (C13322/1...4 / C14322/1...4) Transfer time of TPDOx (C13356/1...4 / C14356/1...4) • If a different value than "0" is entered, the TPDO is transmitted without further consideration of the transport type after the time set has elapsed. Inhibit time/delay time for TPDOx (C13324/1...4 / C14324/1...4) • Minimum time between the transmission of two identical TPDOs.
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E94AYCCA communication manual (CANopen®) Process data transfer PDO mapping 2. On the Ports tab, input ports and output ports can be created using the New Input and New Output buttons. In the example, two output ports and one input port have been created for the master drive (master). • A port exactly corresponds to a PDO object. • For each port, element variables have been defined.
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E94AYCCA communication manual (CANopen®) Process data transfer PDO mapping 3. The application can be downloaded to the Servo Drive 9400 with the menu command OnlineTransfer application to device. When all PDOs have been programmed and the application has been completed, it can be downloaded to the Servo Drive 9400. All CAN parameters will be transferred according to the settings made in the »Engineer« project. 60 L EDS94AYCCA EN 5.
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E94AYCCA communication manual (CANopen®) Parameter data transfer 9 Parameter data transfer 9400CAN005-2 [9-1] Parameter data transfer via available parameter data channels Parameters are values stored in codes on Lenze controllers. Ten separate parameter data channels are available for parameter setting, enabling the simultaneous connection of several devices for configuration.
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E94AYCCA communication manual (CANopen®) Parameter data transfer Identifiers of the parameter data objects 9.1 Identifiers of the parameter data objects In the Lenze setting, the identifier for the parameter data objects SDO1 ... SDO10 results from a basic identifier and the node address set in C13350 / C14350: Identifier (COB-ID) = basic identifier + node address (node ID)  In the Lenze setting, the basic identifiers of the SDOs are preset according to the "Predefined Connection Set" of DS301, V4.
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E94AYCCA communication manual (CANopen®) Parameter data transfer User data 9.2 User data Structure of the user data of the parameter data telegram 1st byte 2nd byte Command 3rd byte Index 4th byte 5th byte 6th byte 7th byte 8th byte Subindex Data 1 Data 2 Data 3 Data 4 Low byte High byte Low word Low byte  High byte High word Low byte High byte Note! User data are displayed in the Motorola format.
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E94AYCCA communication manual (CANopen®) Parameter data transfer User data 9.2.
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E94AYCCA communication manual (CANopen®) Parameter data transfer User data 9.2.
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E94AYCCA communication manual (CANopen®) Parameter data transfer User data 9.2.3 Data 1 ... data 4 1st byte 2nd byte Command 3rd byte Index 4th byte 5th byte 6th byte 7th byte 8th byte Subindex Data 1 Data 2 Data 3 Data 4 Low byte High byte Low word Low byte High word High byte Low byte High byte A maximum of 4 bytes is available for parameter value entries.
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E94AYCCA communication manual (CANopen®) Parameter data transfer User data 9.2.4 Error messages 1st byte Command 0x80 (128) 2nd byte 3rd byte Index Low byte 4th byte 5th byte 6th byte Subindex High byte 7th byte 8th byte Error code Low word Low byte High word High byte Low byte High byte In case of an error, the addressed node generates a telegram with the "Error Response" (0x80) command.  The telegram contains the index and subindex of the code in which an error has occurred.
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E94AYCCA communication manual (CANopen®) Parameter data transfer User data Error codes 68 Error code Explanation 0x0503 0000 Toggle bit not changed. 0x0504 0000 SDO protocol expired. 0x0504 0001 Invalid or unknown client/server command specifier. 0x0504 0002 Invalid block size (block mode only). 0x0504 0003 Invalid processing number (block mode only). 0x0504 0004 CRC error (block mode only). 0x0504 0005 Memory does not suffice. 0x0601 0000 Object access not supported.
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E94AYCCA communication manual (CANopen®) Parameter data transfer Examples for a parameter data telegram 9.3 Examples for a parameter data telegram 9.3.1 Reading parameters Task: The heatsink temperature of 43 °C (code C00061, data format INTEGER32, scaling factor 1) is to be read from the controller with node address "5".
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E94AYCCA communication manual (CANopen®) Parameter data transfer Examples for a parameter data telegram 9.3.2 Writing parameters Task: The rated current of the connected motor with Irated = 10.2 A (code C00088) is to be entered in the controller with node address "2".
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E94AYCCA communication manual (CANopen®) Parameter data transfer Examples for a parameter data telegram 9.3.3 Reading block parameters Task: The firmware version (code C00099) is to be read from the parameter set of the controller with node address "12". The firmware version has a length of 11 ASCII characters and is transmitted as a block parameter. In each block, the data width from the 2nd to the 8th byte within the user data is occupied.
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E94AYCCA communication manual (CANopen®) Parameter data transfer Examples for a parameter data telegram Telegram 2 to the drive: Request of the 1st data block Identifier 0x060C User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Explanations of the telegram to the drive Command = 0x60 = "Read Segment Request" (request: read data block) • Bit 4 = 0 (toggle
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E94AYCCA communication manual (CANopen®) Parameter data transfer Examples for a parameter data telegram Telegram 3 to the drive: Request of the 2nd data block Identifier 0x060C User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Explanations of the telegram 3 to the drive Command = 0x70 = "Read Segment Request" (request: read data block) • Bit 4 = 1 (tog
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E94AYCCA communication manual (CANopen®) Monitoring Node guarding protocol 10 Monitoring 10.1 Node guarding protocol In a CAN network, the node guarding protocol serves to monitor the connection between the NMT master and the NMT slave(s). If the controller was parameterised as NMT master, it can monitor up to 32 NMT slaves.
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E94AYCCA communication manual (CANopen®) Monitoring Node guarding protocol 10.1.1 Telegram structure RTR telegram  The RTR telegram from the NMT master has the following identifiers: Identifier (COB-ID) = 1792 + node address of the NMT slave  The RTR telegram does not contain any user data.  The RTR bit in the arbitration field of the RTR telegram is set to the valency LOW (dominant level).
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E94AYCCA communication manual (CANopen®) Monitoring Node guarding protocol 10.1.2 Parameter setting Short overview of parameters for the "Node Guarding" monitoring function: Parameter Information Lenze setting Assignment Value Unit Master Slave C13382 / C14382 CAN guard time 0 ms z C13383 / C14383 CAN life time factor 0 z C13386 / C14386 CAN node guarding C13387 / C14387 CAN node guarding activity C13388 / C14388 CAN node guarding status - z C13612 / C14612 Resp.
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E94AYCCA communication manual (CANopen®) Monitoring Node guarding protocol Life guarding event The "life guarding event" is triggered in the NMT slave if the slave has not received an RTR telegram from the NMT master within the node life time:  In the Lenze setting, the NMT slave changes from the "Operational" communication status into the "Pre-Operational" communication status. – C13625 / C14625 or the I-1029 object can be used to set another status change.
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E94AYCCA communication manual (CANopen®) Monitoring Node guarding protocol 10.1.3 Commissioning example Task A Servo Drive 9400 configured as NMT master (node 1) is to monitor another Servo Drive 9400 (node 2).
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E94AYCCA communication manual (CANopen®) Monitoring Node guarding protocol Parameterise NMT slave (node 2) 1. Adapt the life time factor and guard time settings of the NMT slave to the settings applied to the NMT master under C13386 / C14386: – Set guard time (C13382 / C14382) to 1000 ms. – Set life time factor (C13383 / C14383) to 5. 2. Go to C13614 / C14614 and set the response to be executed in the NMT slave in the case of a life guarding event.
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E94AYCCA communication manual (CANopen®) Monitoring Heartbeat protocol 10.2 Heartbeat protocol The heartbeat protocol can be used as an alternative to the node guarding protocol for monitoring nodes within a CAN network. Unlike node guarding, this monitoring does not require a polling by means of an RTR telegram (Remote Transmission Request) from the NMT master.  Note! Heartbeat and node guarding protocols must not be used simultaneously on a CANopen device.
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E94AYCCA communication manual (CANopen®) Monitoring Heartbeat protocol 10.2.
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E94AYCCA communication manual (CANopen®) Monitoring Heartbeat protocol Heartbeat consumer time Monitoring time for the node (producer) to be monitored.  Can be parameterised in C13385/1...32 / C14385/1...32 or via the I-1016 object.  The parameterised time is rounded down to an integer multiple of 5 ms and must have a higher value than the heartbeat producer time of the node to be monitored.  A consumer can monitor up to 32 producers.
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E94AYCCA communication manual (CANopen®) Monitoring Heartbeat protocol 10.2.3 Commissioning example Task A Servo Drive 9400 configured as heartbeat consumer (node 2) is to monitor another Servo Drive 9400 (heartbeat producer; node 1).  The heartbeat producer is to transmit every 10 seconds a heartbeat telegram to the heartbeat consumer.  The heartbeat consumer monitors the arrival of the heartbeat telegram. In case of an error, a response is to take place.
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E94AYCCA communication manual (CANopen®) Monitoring Emergency telegram 10.
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E94AYCCA communication manual (CANopen®) Monitoring Settings in the »Engineer« 10.4 Settings in the »Engineer« Go to the Monitoring tab to ...  set the C14595). response for the CAN node changing to the "bus OFF" state (C13959 /  set the monitoring time for RPDOx (C13357/1...4 / C14357/1...4). – If a different value than "0" is entered, the RPDO is expected after the time set has elapsed. – If the RPDO is not received within the monitoring time, an error response parameterised under C13591/1...
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E94AYCCA communication manual (CANopen®) Diagnostics LED status displays 11 Diagnostics 11.1 LED status displays Status displays MS and DE LEDs Status Description MS (green) on The communication module is supplied with voltage. DE (red) on The communication module is not accepted by the standard device (see notes in the documentation for the standard device). E94YCCA001E 86 L EDS94AYCCA EN 5.
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E94AYCCA communication manual (CANopen®) Diagnostics LED status displays Status displays BS and BE (connection status to the system bus (CANopen)) LEDs Description BS (green) CANopen status BE (red) CANopen error E94YCCA001D LED status display BS (green) Meaning BE (red) BE lit only BS and BE flickering CANopen status CANopen error - Bus off Automatic detection of the baud rate is active. BS blinking every 0.2 s | BE is off Pre-operational - BS blinking every 0.
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E94AYCCA communication manual (CANopen®) Diagnostics Diagnostics with the »Engineer« 11.2 Diagnostics with the »Engineer« In the »Engineer«, diagnostic information for CAN is provided on the Diagnostics tab. LS_SyncInput system block In the »FB Editor«, the LS_SyncInput system block provides status information for the received sync telegram.
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E94AYCCA communication manual (CANopen®) Error messages Short overview of the CANopen error messages 12 Error messages This chapter supplements the error list in the software manual and the »Engineer« online help for the Servo Drive 9400 with the error messages of the communication module.  12.1 Software manual/»Engineer« online help for Servo Drive 9400 Here you can find general information on diagnostics & fault analysis and on error messages.
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E94AYCCA communication manual (CANopen®) Error messages Short overview of the CANopen error messages Error number hex 90 Designation dec Response (Lenze setting) Can be set in C14613/1...32 0x00ad0000 ... 0x00ad001F 11337728 CAN module (MXI2): heartbeat error index 1 ... 32 ...
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E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies 12.2 Possible causes and remedies This chapter includes a list of all error messages of the communication module in numerically ascending order of the error number. Possible causes and remedies as well as responses to error messages are described in detail.
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E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI1): basic configuration invalid [0x009d0002] Response (Lenze setting printed in bold) None System fault Fault Trouble Setting: not possible Quick stop by trouble : Warning locked Warning Information Cause Remedy CANopen communication module in MXI1: configuration error • Faulty download of an »Engineer« or »PLC Designer« project. • Invalid CAN settings according to DS301, V4.
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E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI1): emergency configuration faulty [0x009f0000] Response (Lenze setting printed in bold) None System fault Fault Trouble Setting: not possible Quick stop by trouble : Warning locked Warning Information Cause Remedy CANopen communication module in MXI1: CAN emergency configuration is faulty. • Faulty download of an »Engineer« or »PLC Designer« project. • Invalid CAN settings according to DS301, V4.
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E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI1) RPDO2: telegram not received or faulty [0x00a10001] Response (Lenze setting printed in bold) : None Setting: C13591/2 / C14591/2 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: CAN-IN2 error • PDO telegram length incorrect. • Error during transmission.
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E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI1) RPDO7: telegram not received or faulty [0x00a10006] Response (Lenze setting printed in bold) : None Setting: C13591/7 / C14591/7 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: CAN-IN7 error • PDO telegram length incorrect. • Error during transmission.
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E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI1) SDO client: configuration faulty [0x00a30000] Response (Lenze setting printed in bold) None System fault Fault Trouble Setting: not possible Quick stop by trouble : Warning locked Warning Information Cause Remedy CANopen communication module in MXI1: a configuration error has occurred in the CAN-SDO client. • Erroneous project download. • Invalid SDO client settings according to DS301, V4.
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E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI2): heartbeat error index 1 ... 32 [0x00ad0000 ... 0x00ad001f] Response (Lenze setting printed in bold) : None Setting: C14613/1...32 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: cyclic node monitoring • The CAN node has not received a heartbeat telegram from node 1 ...
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E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI2): node guarding error 1 ... 32 [0x00af0000 ... 0x00af001f] Response (Lenze setting printed in bold) : None Setting: C14612/1...
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E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI2) RPDO3: telegram not received or faulty [0x00b00002] Response (Lenze setting printed in bold) : None Setting: C14591/3 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: CAN-IN3 error • PDO telegram length incorrect. • Error during transmission.
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E94AYCCA communication manual (CANopen®) Error messages Possible causes and remedies CAN module (MXI2) RPDO8: telegram not received or faulty [0x00b00007] Response (Lenze setting printed in bold) : None Setting: C14591/8 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: CAN-IN8 error • PDO telegram length incorrect. • Error during transmission.
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E94AYCCA communication manual (CANopen®) Parameter reference Communication-relevant parameters of the standard device 13 Parameter reference This chapter supplements the parameter list and the table of attributes in the software manual and the »Engineer« online help for the Servo Drive 9400 by the parameters of the E94AYCCA communication module (CANopen).  13.1 Software manual/»Engineer« online help for Servo Drive 9400 Here you will find general information about parameters.
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E94AYCCA communication manual (CANopen®) Parameter reference Communication-relevant parameters of the standard device C00615 Parameter | Name: Data type: UNSIGNED_32 Index: 23960d = 5D98h C00615 | Resp. to imp. device config. Selection of response to impermissible device configuration Selection list 1 Fault 3 Quick stop by trouble 4 Warning locked 6 Information 0 No response Subcodes Lenze setting Information C00615/1 0: No response Reserved C00615/2 1: Fault Resp. to imperm.
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E94AYCCA communication manual (CANopen®) Parameter reference Communication-relevant parameters of the standard device C01120 Parameter | Name: Data type: UNSIGNED_8 Index: 23455d = 5B9Fh C01120 | Sync source Selection of the source for the synchronisation signals. • The drive can only be synchronised by one source. Note: Select "2: CAN module" for the CANopen communication module (E94AYCCA).
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E94AYCCA communication manual (CANopen®) Parameter reference Communication-relevant parameters of the standard device C01122 Parameter | Name: Data type: UNSIGNED_32 Index: 23453d = 5B9Dh C01122 | Sync phase position The phase position defines the zero point of time for the application relating to the synchronisation signal (bus cycle). Since PDO processing is integrated in the system part of the application, the instant of the PDO acceptance also changes if the phase position is changed.
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E94AYCCA communication manual (CANopen®) Parameter reference Communication-relevant parameters of the standard device C01124 Parameter | Name: Data type: UNSIGNED_8 Index: 23451d = 5B9Bh C01124 | Sync-PLL increment When the cycle times of the synchronisation signal and the phase control loop (PLL) differ, this setting defines the increment to be used to readjust the phase control loop.
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E94AYCCA communication manual (CANopen®) Parameter reference Communication-relevant parameters of the standard device C01130 Parameter | Name: Data type: UNSIGNED_16 Index: 23445d = 5B95h C01130 | CAN SYNC application cycle From software version V3.0 This parameter influences the effect of the sync phase position (C01122) with regard to the instant of acceptance of the synchronous PDOs by the application or the instant of transmission of the synchronous PDOs to the system bus (CANopen).
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 13.2 Parameters of the communication module for slot MXI1 In this chapter, the parameters of the E94AYCCA communication module (CANopen) for slot MXI1 of the Servo Drive 9400 are listed in numerically ascending order.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13313 Parameter | Name: Data type: BITFIELD_8 Index: 11262d = 2BFEh C13313 | CAN TPDO3 mask byte x For each byte of the TPDO3 a mask can be parameterised in the corresponding subcode. • In case of event-controlled transmission of a PDO, only the masked bits are used for the event control. • Mask "0x0" means that no bit of the corresponding byte triggers the transmission.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13320 Parameter | Name: Data type: BITFIELD_32 Index: 11255d = 2BF7h C13320 | CAN TPDOx identifier Identifier for TPDO1 ... TPDO4 • If bit 31 is set (0x8nnnnnnn), the TPDO is deactivated. • The basic setting is according to the "Predefined Connection Set". • Mapping of the CANopen objects I-1800/1 ... I-1803/1 (see DS301, V4.02).
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13321 Parameter | Name: Data type: BITFIELD_32 Index: 11254d = 2BF6h C13321 | CAN RPDOx identifier Identifier for RPDO1 ... RPDO4 • If bit 31 is set (0x8nnnnnnn), the RPDO is deactivated. • The basic setting is according to the "Predefined Connection Set". • Mapping of the CANopen objects I-1400/1 ... I-1403/1 (see DS301, V4.02).
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13323 Parameter | Name: Data type: UNSIGNED_8 Index: 11252d = 2BF4h C13323 | CAN RPDOx Rx mode RPDO transmission type according to DS301, V4.02 • For the RPDO serves as monitoring setting in the case of sync-controlled PDOs. • The types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific), 255 (eventcontrolled device-profile-specific) are supported.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13344 Parameter | Name: Data type: UNSIGNED_32 Index: 11231d = 2BDFh C13344 | CAN RPDO counter Counter for RPDO1 ... RPDO4 Display range (min. value | unit | max. value) 0 4294967295 Subcodes Information C13344/1 ...
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13347 Parameter | Name: Data type: UNSIGNED_8 Index: 11228d = 2BDCh C13347 | CAN heartbeat status Status of node 1 ... 32 Heartbeat protocol ( 80) Selection list (read only) 0 Unknown 4 Stopped 5 Operational 127 Pre-operational Subcodes Information C13347/1 ...
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13350 Parameter | Name: Data type: UNSIGNED_8 Index: 11225d = 2BD9h C13350 | CAN node address • A change in the node address is only effective after a "Reset node" (C00002 = 92). • The basic server channel RX/TX is automatically provided by the node address (C13372 and C13373; both subcode 1). Setting the node address ( 33) Setting range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13356 Parameter | Name: Data type: UNSIGNED_16 Index: 11219d = 2BD3h C13356 | CAN TPDOx cycle time TPDO event time according to DS301, V4.02 • If a different value than "0" is entered, the TPDO is transmitted without further consideration of the transport type after the time set has elapsed. • Mapping of the CANopen objects I-1800/5 ... I-1803/5 (see DS301, 4.02). Setting range (min.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13360 Parameter | Name: Data type: UNSIGNED_16 Index: 11215d = 2BCFh C13360 | CAN telegram and error counter • After mains connection, all counters start with "0". • After the maximum value has been reached, it is started with "0" again. Display range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13367 Parameter | Name: Data type: UNSIGNED_32 Index: 11208d = 2BC8h C13367 | CAN sync Rx identifier Identifier with which the sync slave is to receive sync telegrams. • Mapping of the CANopen object I-1005 (see DS301, V4.02). Synchronisation of PDOs via sync telegram ( 50) Setting range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13373 Parameter | Name: Data type: BITFIELD_32 Index: 11202d = 2BC2h C13373 | CAN SDO server Tx identifier Identifier with which the corresponding SDO server can carry out transmissions. • If bit 31 is set (0x8nnnnnnn), the corresponding SDO server is deactivated. • Mapping of the CANopen objects I-1200/2 ... I-1209/2 (see DS301, V4.02).
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13375 Parameter | Name: Data type: BITFIELD_32 Index: 11200d = 2BC0h C13375 | CAN SDO client Rx identifier Identifier with which the corresponding SDO client can be reached. • If bit 31 is set (0x8nnnnnnn), the corresponding SDO client channel is deactivated (see DS301, V4.02). • The client channels need not be parameterised right now.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13377 Parameter | Name: Data type: UNSIGNED_8 Index: 11198d = 2BBEh C13377 | CAN SDO server node address Node address of the server with which this client communicates via the client channel selected. • An activation of the client functionality is not required. • An entry is required so that the CAN-SDO client channel can be activated (see DS301, V4.02). Setting range (min.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13383 Parameter | Name: Data type: UNSIGNED_8 Index: 11192d = 2BB8h C13383 | CAN Life Time Factor • The life time factor multiplied with the guard time (C13382) is the time within which a node guarding telegram must have arrived. • Mapping of the CANopen object I-100D (see DS301, V4.02). Node guarding protocol ( 74) Setting range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13386 Parameter | Name: Data type: BITFIELD_32 Index: 11189d = 2BB5h C13386 | CAN Node Guarding These 32 subcodes represent the nodes which are to be monitored by the master via node guarding. • Each bit-coded subcode entry contains the guard time (C13382), the life time factor (C13383) and the node address (C13350) from which the node guarding telegram is expected.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13390 Parameter | Name: Data type: BITFIELD_8 Index: 11185d = 2BB1h C13390 | CAN Error Register (DS301V402) Mapping of the CANopen object I-1001 (see DS301, V4.02) Display range 0x00 0xFF Value is bit-coded: Information Bit 0 Generic error Currently only bits 0 and 4 contain the corresponding information.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13392 Parameter | Name: Data type: UNSIGNED_16 Index: 11183d = 2BAFh C13392 | CAN emergency delay time Minimum time that has to elapse between two successive emergency telegrams. • If "0" is set, checking of the inhibit time is deactivated. • The time is entered in 1/10 ms. The code automatically rounds the entries down to the preceding full millisecond.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13591 Parameter | Name: Data type: UNSIGNED_8 Index: 10984d = 2AE8h C13591 | Resp. to CAN-RPDOx error Response if the corresponding CAN RPDO has not been received within the configured time (C13357/1...4 / C14357/ 1...4) or with the configured sync.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13612 Parameter | Name: Data type: UNSIGNED_8 Index: 10963d = 2AD3h C13612 | Resp. to CAN node guarding error Response of master if the corresponding node guarding response is missing.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI1 C13614 Parameter | Name: Data type: UNSIGNED_8 Index: 10961d = 2AD1h C13614 | Resp. to CAN life guarding error Response of slave if node guarding request is missing.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 13.3 Parameters of the communication module for slot MXI2 In this chapter, the parameters of the E94AYCCA communication module (CANopen) for slot MXI2 of the Servo Drive 9400 are listed in numerically ascending order.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14313 Parameter | Name: Data type: BITFIELD_8 Index: 11262d = 2BFEh C14313 | CAN TPDO3 mask byte x For each byte of the TPDO3 a mask can be parameterised in the corresponding subcode. • In case of event-controlled transmission of a PDO, only the masked bits are used for the event control. • Mask "0x0" means that no bit of the corresponding byte triggers the transmission.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14320 Parameter | Name: Data type: BITFIELD_32 Index: 11255d = 2BF7h C14320 | CAN TPDOx identifier Identifier for TPDO1 ... TPDO4 • If bit 31 is set (0x8nnnnnnn), the TPDO is deactivated. • The basic setting is according to the "Predefined Connection Set". • Mapping of the CANopen objects I-1800/1 ... I-1803/1 (see DS301, V4.02).
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14321 Parameter | Name: Data type: BITFIELD_32 Index: 11254d = 2BF6h C14321 | CAN RPDOx identifier Identifier for RPDO1 ... RPDO4 • If bit 31 is set (0x8nnnnnnn), the RPDO is deactivated. • The basic setting is according to the "Predefined Connection Set". • Mapping of the CANopen objects I-1400/1 ... I-1403/1 (see DS301, V4.02).
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14323 Parameter | Name: Data type: UNSIGNED_8 Index: 11252d = 2BF4h C14323 | CAN RPDOx Rx mode RPDO transmission type according to DS301, V4.02 • For the RPDO serves as monitoring setting in the case of sync-controlled PDOs. • Types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific), 255 (event-controlled device-profile-specific) are supported.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14344 Parameter | Name: Data type: UNSIGNED_32 Index: 11231d = 2BDFh C14344 | CAN RPDO counter Counter for RPDO1 ... RPDO4 Display range (min. value | unit | max. value) 0 4294967295 Subcodes Information C14344/1 ...
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14347 Parameter | Name: Data type: UNSIGNED_8 Index: 11228d = 2BDCh C14347 | CAN heartbeat status Status of node 1 ... 32 Heartbeat protocol ( 80) Selection list (read only) 0 Unknown 4 Stopped 5 Operational 127 Pre-operational Subcodes Information C14347/1 ...
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14350 Parameter | Name: Data type: UNSIGNED_8 Index: 11225d = 2BD9h C14350 | CAN node address • A change in the node address is only effective after a "Reset node" (C00002 = 92). • The basic server channel RX/TX is automatically provided by the node address (C14372 and C14373; both subcode 1). Setting the node address ( 33) Setting range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14356 Parameter | Name: Data type: UNSIGNED_16 Index: 11219d = 2BD3h C14356 | CAN TPDOx cycle time TPDO event time according to DS301, V4.02 • If a different value than "0" is entered, the TPDO is transmitted without further consideration of the transport type after the time set has elapsed. • Mapping of the CANopen objects I-1800/5 ... I-1803/5 (see DS301, 4.02). Setting range (min.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14360 Parameter | Name: Data type: UNSIGNED_16 Index: 11215d = 2BCFh C14360 | CAN telegram and error counter • After mains connection, all counters start with "0". • After the maximum value has been reached, it is started with "0" again. Display range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14367 Parameter | Name: Data type: UNSIGNED_32 Index: 11208d = 2BC8h C14367 | CAN SYNC Rx identifier Identifier with which the sync slave is to receive sync telegrams. • Mapping of the CANopen object I-1005 (see DS301, V4.02). Synchronisation of PDOs via sync telegram ( 50) Setting range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14373 Parameter | Name: Data type: BITFIELD_32 Index: 11202d = 2BC2h C14373 | CAN SDO server Tx identifier Identifier with which the corresponding SDO server can carry out transmissions. • If bit 31 is set (0x8nnnnnnn), the corresponding SDO server is deactivated. • Mapping of the CANopen objects I-1200/2 ... I-1209/2 (see DS301, V4.02).
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14375 Parameter | Name: Data type: BITFIELD_32 Index: 11200d = 2BC0h C14375 | CAN SDO client Rx identifier Identifier with which the corresponding SDO client can be reached. • If bit 31 is set (0x8nnnnnnn), the corresponding SDO client channel is deactivated (see DS301, V4.02). • The client channels need not be parameterised right now.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14377 Parameter | Name: Data type: UNSIGNED_8 Index: 11198d = 2BBEh C14377 | CAN SDO server node address Node address of the server with which this client communicates via the client channel selected. • An activation of the client functionality is not required. • An entry is required so that the CAN-SDO client channel can be activated (see DS301, V4.02). Setting range (min.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14383 Parameter | Name: Data type: UNSIGNED_8 Index: 11192d = 2BB8h C14383 | CAN Life Time Factor • The life time factor multiplied with the guard time (C14382) is the time within which a node guarding telegram must have arrived. • Mapping of the CANopen object I-100D (see DS301, V4.02). Node guarding protocol ( 74) Setting range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14386 Parameter | Name: Data type: BITFIELD_32 Index: 11189d = 2BB5h C14386 | CAN Node Guarding These 32 subcodes represent the nodes which are to be monitored by the master via node guarding. • Each bit-coded subcode entry contains the guard time (C14382), the life time factor (C14383), and the node address (C14350) from which the node guarding telegram is expected.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14390 Parameter | Name: Data type: BITFIELD_8 Index: 11185d = 2BB1h C14390 | CAN Error Register (DS301V402) Mapping of the CANopen object I-1001 (see DS301, V4.02) Display range 0x00 0xFF Value is bit-coded: Information Bit 0 Generic error Currently only bits 0 and 4 contain the corresponding information.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14392 Parameter | Name: Data type: UNSIGNED_16 Index: 11183d = 2BAFh C14392 | CAN emergency delay time Minimum time that has to elapse between two successive emergency telegrams. • If "0" is set, checking of the inhibit time is deactivated. • The time is entered in 1/10 ms. The code automatically rounds the entries down to the preceding full millisecond.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14591 Parameter | Name: Data type: UNSIGNED_8 Index: 10984d = 2AE8h C14591 | Resp. to CAN-RPDOx error Response if the corresponding CAN RPDO has not been received within the configured time (C13357/1...4 / C14357/ 1...4) or with the configured sync.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14612 Parameter | Name: Data type: UNSIGNED_8 Index: 10963d = 2AD3h C14612 | Resp. to CAN node guarding error Response of master if the corresponding node guarding response is missing.
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E94AYCCA communication manual (CANopen®) Parameter reference Parameters of the communication module for slot MXI2 C14614 Parameter | Name: Data type: UNSIGNED_8 Index: 10961d = 2AD1h C14614 | Resp. to CAN life guarding error Response of slave if node guarding request is missing.
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E94AYCCA communication manual (CANopen®) Parameter reference Table of attributes 13.4 Table of attributes The table of attributes contains information required for communicating with the controller via parameters. How to read the table of attributes: Column Meaning Entry Code Parameter designation Cxxxxx Name Index Data Parameter short text (display text) Text 24575 - Lenze code number hex Index by which the parameter is addressed.
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E94AYCCA communication manual (CANopen®) Parameter reference Table of attributes Table of attributes Code 150 Name Index Data dec hex DS DA DT Access Factor R W C13311 CAN TPDO1 mask byte x 24264 5EC8 A 8 BITFIELD_8 1 ; ; C13312 CAN TPDO2 mask byte x 24263 5EC7 A 8 BITFIELD_8 1 ; ; C13313 CAN TPDO3 mask byte x 24262 5EC6 A 8 BITFIELD_8 1 ; ; C13314 CAN TPDO4 mask byte x 24261 5EC5 A 8 BITFIELD_8 1 ; ; C13320 CAN TPDOx identifier 24255 5EBF A 4 BITF
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E94AYCCA communication manual (CANopen®) Parameter reference Table of attributes Code Name Index Data dec hex DS DA DT Access Factor R W C13613 Resp. to CAN heartbeat error 23962 5D9A A 32 UNSIGNED_8 1 ; ; C13614 Resp.
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E94AYCCA communication manual (CANopen®) Parameter reference Table of attributes Code 152 Name Index Data dec hex DS DA DT 23963 5D9B A 32 UNSIGNED_8 Access Factor R W 1 ; ; C14612 Resp. CAN node guarding error C14613 Resp. to CAN heartbeat error 23962 5D9A A 32 UNSIGNED_8 1 ; ; C14614 Resp. to CAN life guarding error 23961 5D99 E 1 UNSIGNED_8 1 ; ; C14625 CAN behaviour in the case of error 23950 5D8E E 1 UNSIGNED_8 1 ; ; L CINH EDS94AYCCA EN 5.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects 14 Implemented CANopen objects Lenze devices can be parameterised with Lenze codes and with manufacturer-independent "CANopen objects". For a completely CANopen-conform communication only the CANopen objects may be used for parameter setting. The CANopen objects described in this chapter are defined in the CANopen specification DS301, V4.02. Many CANopen objects can be mapped to Lenze codes.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects CANopen object Index Subindex I-1029 Error behaviour I-1200 I-1201 ... I-1209 I-1400 ... I-1403 Name 0 Highest subindex supported - 1 Communication error C13625 / C14625 SDO1 server parameter 0 Highest subindex supported - 1 COB-ID client −> server (rx) C13372/1 / C14372/1 2 COB-ID server −> client (tx) C13373/1 / C14373/1 SDO2 ...
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1000 - Device type Index Name: I-1000 Device type Subindex Default setting Display range (min. value | unit | max. value) 0: Device type 0 0 Access Data type 4294967295 ro U32 This object specifies the profile for this device. Furthermore, additional information defined in the device profile itself can be stored here.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1003 - Pre-defined error field Index: Name: I-1003 Pre-defined error field Subindex Default setting Setting range (min. value | unit | max. value) 0: Number of errors 0 0 255 rw Access 1 ... 10: Standard error field - 0 4294967295 ro Data type U8 U32 Error history This object indicates that an error has occurred in the communication module and in the standard device.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1005 - COB-ID SYNC message Index: Name: Subindex Default setting Setting range (min. value | unit | max. value) 0: COB-ID SYNC message 0x0000 0080 or 0x8000 0080 0 I-1005 COB-ID SYNC message Access 4294967295 rw Data type U32 This object serves to activate the creation of sync telegrams and write the value of the identifier.  This object is related to the Lenze codes C13367 / C14367 and C13368 / C14368.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1006 - Communication cycle period Index: Name: Subindex Default setting Setting range (min. value | unit | max. value) 0: Communication cycle period 0 μs 0 I-1006 Communication cycle period μs Access Data type 65535000 rw U32 Setting the sync telegram cycle time.  A cycle time can be defined with the entry "1000" or an integer multiple of it.  With "0 μs" (Lenze setting), no sync telegrams are created.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1010 - Store parameters Index: Name: Subindex Default setting Setting range (min. value | unit | max. value) Access 0: highest subindex supported 1 - (only read access) ro U32 1: Save all parameters - 0 4294967295 rw U32 I-1010 Store parameters Data type Save parameters with mains failure protection.  Corresponds to the device command C00002 = "11: Save start parameters".
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1011 - Restore default parameters Index: Name: Subindex Default setting Setting range (min. value | unit | max. value) Access 0: highest subindex supported 1 - (only read access) ro U32 1: restore all default parameters - 0 4294967295 rw U32 I-1011 Restore default parameters Data type Load Lenze setting.  Corresponds to the device command C00002 = "0: Load Lenze setting".
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1014 - COB-ID EMCY Index: Name: I-1014 COB-ID EMCY Subindex Default setting Setting range (min. value | unit | max. value) 0: COB-ID EMCY 0x80+Node-ID 0 Access 4294967295 rw Data type U32 If a communication error or an internal error of the communication module or the controller occurs or is acknowledged (e. g. "trouble"), an error message is sent via the system bus (CANopen).
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1016 - Consumer heartbeat time Index: Name: Subindex Default setting Setting range (min. value | unit | max. value) Access 0: highest subindex supported 32 - (only read access) ro U32 1 ... 32: consumer heartbeat time 0 0 4294967295 rw U32 I-1016 Consumer heartbeat time Data type Monitoring time for the nodes 1 ... 32 to be monitored via heartbeat.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1018 - Identity object Index: Name: Subindex Default setting Display range (min. value | unit | max. value) 0: highest subindex supported see below 0 I-1018 Identity object Access 4294967295 ro Data type U32 1: Vendor ID 2: Product code 3: Revision number 4: Serial number Subindex Meaning 1 Manufacturer identification number • The identification number allocated to Lenze by the "CAN in Automation e. V.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1200 - SDO1 server parameter Index: Name: I-1200 SDO1 server parameter Subindex Default setting Display range (min. value | unit | max. value) 0: highest subindex supported 2 2 2 ro Access Data type 1: COB-ID client -> server (Rx) Node ID + 0x600 0 4294967295 ro U32 2: COB-ID server -> client (Tx) Node ID + 0x580 0 4294967295 ro U32 U8 Identifier for the SDO server channel 1 (basic SDO channel).
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1201 - SDO2 server parameter Index: Name: Subindex Default setting Setting range (min. value | unit | max. value) Access 0: highest subindex supported 3 - (only read access) ro 1: COB-ID client -> server (Rx) 0x80000000 0 4294967295 rw U32 2: COB-ID server -> client (Tx) 0x80000000 0 4294967295 rw U32 3: Node-ID of the SDO client 1 ...
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects Example The parameter data channel 2 of the controller with the node address 4 is to be activated.  For this purpose, bit 31 in the subindexes 1 and 2 of the I-1201 object must be set to the value "0" (≡ "SDO valid").  Both "Write request" commands must be transmitted from the master to the nodes via the basic SDO channel.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1202 - SDO3 server parameter Index: Name: Subindex Default setting Setting range (min. value | unit | max. value) Access 0: highest subindex supported 3 - (only read access) ro 1: COB-ID client -> server (Rx) 0x80000000 0 4294967295 rw U32 2: COB-ID server -> client (Tx) 0x80000000 0 4294967295 rw U32 3: Node-ID of the SDO client 1 ...
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1206 - SDO7 server parameter Index: Name: Subindex Default setting Setting range (min. value | unit | max. value) Access 0: highest subindex supported 3 - (only read access) ro 1: COB-ID client -> server (Rx) 0x80000000 0 4294967295 rw U32 2: COB-ID server -> client (Tx) 0x80000000 0 4294967295 rw U32 3: Node-ID of the SDO client 1 ...
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1400 - RPDO1 communication parameter Index: Name: Subindex Default setting Setting range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1401 - RPDO2 communication parameter Index: Name: Subindex Default setting Setting range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1403 - RPDO4 communication parameter Index: Name: Subindex Default setting Setting range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1601 - RPDO2 mapping parameter Index: I-1601 Name: RPDO2 mapping parameter Subindex Default setting Setting range (min. value | unit | max. value) 0: number of mapped application objects in PDO 0 0 8 rw Access 1 ... 8: application object 1 ... 8 0 0 4294967295 rw Data type U8 U32 This object serves to receive parameter data as RPDO2. Subindex Meaning 0 Number of mapped objects 1 ... 8 Mapping entries 1 ...
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1800 - TPDO1 communication parameter Index: Name: Subindex Default setting Setting range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects Subindex 3 - inhibit time The delay time can only be changed if the PDO is inactive (subindex 1, bit 31 = 1). The entered value multiplied by 0.1 results in the delay time in [ms]. The calculated delay time is always rounded down to an inter value. Example:  Value entered: 26  Calculated time = 26 * 0.1 [ms] = 2.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1802 - TPDO3 communication parameter Index: Name: Subindex Default setting Setting range (min. value | unit | max.
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1A00 - TPDO1 mapping parameter Index: Name: I-1A00 TPDO1 mapping parameter Subindex Default setting Setting range (min. value | unit | max. value) 0: number of mapped application objects in PDO 0 0 8 rw Access 1 ... 8: application object 1 ... 8 0 0 4294967295 rw Data type U8 U32 This object serves to transmit parameter data as TPDO1. Subindex Meaning 0 Number of mapped objects 1 ... 8 Mapping entry 1 ...
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E94AYCCA communication manual (CANopen®) Implemented CANopen objects I-1A02 - TPDO3 mapping parameter Index: I-1A02 Name: TPDO3 mapping parameter Subindex Default setting Setting range (min. value | unit | max. value) 0: number of mapped application objects in PDO 0 0 8 rw Access 1 ... 8: application object 1 ... 8 0 0 4294967295 rw Data type U8 U32 This object serves to transmit parameter data as TPDO3. Subindex Meaning 0 Number of mapped objects 1 ... 8 Mapping entries 1 ...
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E94AYCCA communication manual (CANopen®) DIP switch positions for setting the CAN node address 15 DIP switch positions for setting the CAN node address The node address results from the sum of the binary values of switches 1 ... 64. The following table shows the switch positions for the valid address range of 1 ... 127.
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E94AYCCA communication manual (CANopen®) DIP switch positions for setting the CAN node address Node address EDS94AYCCA EN 5.
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E94AYCCA communication manual (CANopen®) DIP switch positions for setting the CAN node address Node address 180 DIP switch 64 32 16 8 4 2 1 82 ON OFF ON OFF OFF ON OFF 83 ON OFF ON OFF OFF ON ON 84 ON OFF ON OFF ON OFF OFF 85 ON OFF ON OFF ON OFF ON 86 ON OFF ON OFF ON ON OFF 87 ON OFF ON OFF ON ON ON 88 ON OFF ON ON OFF OFF OFF 89 ON OFF ON ON OFF OFF ON 90 ON OFF ON ON OFF ON OFF 91 ON OFF ON ON OFF ON ON 92 ON OFF
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E94AYCCA communication manual (CANopen®) DIP switch positions for setting the CAN node address Node address EDS94AYCCA EN 5.
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E94AYCCA communication manual (CANopen®) Index 16 Index A Activating changed settings 36 Addressing through index and subindex 65 Application as directed 14 Application notes (representation) 11 Approvals 17 B Baud rates 17 Before initial switch-on 32 Bus cable length 28 Bus cable specification 27 C C00369 - CAN sync transmission cycle time 101 C00615 - Resp. to imp. device config. 102 C00636 - Resp. to new module in MXI1 102 C00637 - Resp.
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E94AYCCA communication manual (CANopen®) Index C14373 - CAN SDO server Tx identifier 139 C14374 - CAN SDO client node address 139 C14375 - CAN SDO client Rx identifier 140 C14376 - CAN SDO client Tx identifier 140 C14377 - CAN SDO server node address 141 C14378 - CAN delay boot-up - Operational 141 C14381 - CAN Heartbeat Producer Time 141 C14382 - CAN Guard Time 141 C14383 - CAN Life Time Factor 142 C14385 - CAN Heartbeat Consumer Time 142 C14386 - CAN Node Guarding 143 C14387 - CAN Node Guarding Activity
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E94AYCCA communication manual (CANopen®) Index CAN module (MXI2) RPDO6 telegram not received or faulty (error message) CAN module (MXI2) RPDO7 telegram not received or faulty (error message) CAN module (MXI2) RPDO8 telegram not received or faulty (error message) CAN module (MXI2) SDO client configuration faulty (error message) 100 CAN module (MXI2) SDO server configuration faulty (error message) 100 CAN node address (C13350) 114 CAN node address (C14350) 135 CAN node guarding (C13386) 122 CAN node guarding
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E94AYCCA communication manual (CANopen®) Index DIP switch positions for setting the CAN node address 178 DIP switch settings 33, 178 Dismounting 25 Document history 8 Error register (I-1001) 155 Establishing communication 36 E G Emergency telegram 84 Error behaviour (I-1029) 163 Error codes 68 Error messages 89 Causes and remedies 91 Error messages (short overview) 89 Error messages (system bus) 67 Error number 0x008c0017 91 0x008c0018 91 0x009d0000 91 0x009d0001 91 0x009d0002 92 0x009e0000 92 0x009e0
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E94AYCCA communication manual (CANopen®) Index I-1802 - TPDO3 communication parameter 175 I-1803 - TPDO4 communication parameter 175 I-1A00 - TPDO1 mapping parameter 176 I-1A01 - TPDO2 mapping parameter 176 I-1A02 - TPDO3 mapping parameter 177 I-1A03 - TPDO4 mapping parameter 177 Identification 14 Identifier (CAN) 38 Identifier assignment 39 Identifiers of the parameter data objects (COB-ID) 62 Identifiers of the process data objects (COB-ID) 46 Identity object (I-1018) 163 Index 65 Inhibit time EMCY (I-10
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E94AYCCA communication manual (CANopen®) Index S Transfer mode for TPDOs 17 Transmission type 47 Safety instructions 12 Safety instructions (representation) 11 Screenshots 6 SDO1 server parameter (I-1200) 164 SDO10 server parameter (I-1209) 168 SDO2 server parameter (I-1201) 165 SDO3 server parameter (I-1202) 167 SDO4 server parameter (I-1203) 167 SDO5 server parameter (I-1204) 167 SDO6 server parameter (I-1205) 167 SDO7 server parameter (I-1206) 168 SDO8 server parameter (I-1207) 168 SDO9 server parame
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 © 06/2012 ) Lenze Automation GmbH Hans-Lenze-Str. 1 D-31855 Aerzen Germany Service +49 (0)51 54 / 82-0 Lenze Service GmbH Breslauer Straße 3 D-32699 Extertal Germany 00 80 00 / 24 4 68 77 (24 h helpline) ¬ +49 (0)51 54 / 82-28 00 ¬ +49 (0)51 54 / 82-11 12 | Lenze@Lenze.de | Service@Lenze.de Þ www.Lenze.com EDS94AYCCA 13411721 EN 5.