Lenze E84DGFCT Manuel d'utilisateur

L EDS84DMOTECAT13422593Ä.K:~äCommunication ManualE84DGFCTxxxEtherCAT® Communication Unit8400 motecL-force Communication

Communication manual 8400 motec EtherCAT®About this documentationNotes used10 L EDS84DMOTECAT EN 2.1 - 11/2012 1.4 Notes usedThe following signal wo

EDS84DMOTECAT EN 2.1 - 11/2012 L 11Communication manual 8400 motec EtherCAT®Safety instructionsGeneral safety and application notes 2 Safety instruc

Communication manual 8400 motec EtherCAT®Safety instructionsDevice and application-specific safety instructions12 L EDS84DMOTECAT EN 2.1 - 11/2012 

EDS84DMOTECAT EN 2.1 - 11/2012 L 13Communication manual 8400 motec EtherCAT®Product descriptionApplication as directed 3 Product description3.1 Appl

Communication manual 8400 motec EtherCAT®Product descriptionFeatures and variants14 L EDS84DMOTECAT EN 2.1 - 11/2012 3.2 Features and variantsThe Et

EDS84DMOTECAT EN 2.1 - 11/2012 L 15Communication manual 8400 motec EtherCAT®Product descriptionConnections and interfaces 3.3 Connections and interf

Communication manual 8400 motec EtherCAT®Product descriptionConnections and interfaces16 L EDS84DMOTECAT EN 2.1 - 11/2012  On delivery, the EtherCA

EDS84DMOTECAT EN 2.1 - 11/2012 L 17Communication manual 8400 motec EtherCAT®Technical dataGeneral data and operating conditions 4 Technical data4.1

Communication manual 8400 motec EtherCAT®Technical dataProtocol data18 L EDS84DMOTECAT EN 2.1 - 11/2012 4.2 Protocol data4.3 Communication timeParam

EDS84DMOTECAT EN 2.1 - 11/2012 L 19Communication manual 8400 motec EtherCAT®Installation 5 Installation Stop!Electrostatic dischargeElectronic comp

2 L EDS84DMOTECAT EN 2.1 - 11/2012

Communication manual 8400 motec EtherCAT®InstallationMechanical installation20 L EDS84DMOTECAT EN 2.1 - 11/2012 5.1 Mechanical installation[5-1] Mec

EDS84DMOTECAT EN 2.1 - 11/2012 L 21Communication manual 8400 motec EtherCAT®InstallationElectrical installation 5.2 Electrical installation5.2.1 Net

Communication manual 8400 motec EtherCAT®InstallationElectrical installation22 L EDS84DMOTECAT EN 2.1 - 11/2012 Switch topology[5-3] Switch topology

EDS84DMOTECAT EN 2.1 - 11/2012 L 23Communication manual 8400 motec EtherCAT®InstallationElectrical installation 5.2.2 EtherCAT connectionEtherCAT in

Communication manual 8400 motec EtherCAT®InstallationElectrical installation24 L EDS84DMOTECAT EN 2.1 - 11/2012 5.2.3 External voltage supply The e

EDS84DMOTECAT EN 2.1 - 11/2012 L 25Communication manual 8400 motec EtherCAT®CommissioningBefore initial switch-on 6 CommissioningDuring commissionin

Communication manual 8400 motec EtherCAT®CommissioningConfiguring the host (master)26 L EDS84DMOTECAT EN 2.1 - 11/2012 6.2 Configuring the host (mas

EDS84DMOTECAT EN 2.1 - 11/2012 L 27Communication manual 8400 motec EtherCAT®CommissioningConfiguring the host (master) 6.2.2 Automatic device identi

Communication manual 8400 motec EtherCAT®CommissioningConfiguring the host (master)28 L EDS84DMOTECAT EN 2.1 - 11/2012 6.2.3 Configuring process dat

EDS84DMOTECAT EN 2.1 - 11/2012 L 29Communication manual 8400 motec EtherCAT®CommissioningConfiguring the host (master)  The process data configurat

EDS84DMOTECAT EN 2.1 - 11/2012 L 3Communication manual 8400 motec EtherCAT®Contents Contents1 About this documentation . . . . . . . . . . . . . . .

Communication manual 8400 motec EtherCAT®CommissioningAddress allocation30 L EDS84DMOTECAT EN 2.1 - 11/2012 6.3 Address allocationThe EtherCAT nodes

EDS84DMOTECAT EN 2.1 - 11/2012 L 31Communication manual 8400 motec EtherCAT®CommissioningInitial switch-on 6.4 Initial switch-onEstablishing communi

Communication manual 8400 motec EtherCAT®Data transfer32 L EDS84DMOTECAT EN 2.1 - 11/2012 7 Data transferEtherCAT transmits data in so-called "

EDS84DMOTECAT EN 2.1 - 11/2012 L 33Communication manual 8400 motec EtherCAT®Data transferEtherCAT frame structure 7.1 EtherCAT frame structureEtherC

Communication manual 8400 motec EtherCAT®Data transferEtherCAT datagrams34 L EDS84DMOTECAT EN 2.1 - 11/2012 7.2 EtherCAT datagramsEtherCAT datagrams

EDS84DMOTECAT EN 2.1 - 11/2012 L 35Communication manual 8400 motec EtherCAT®Data transferEtherCAT state machine 7.3 EtherCAT state machineBefore com

Communication manual 8400 motec EtherCAT®Data transferEtherCAT state machine36 L EDS84DMOTECAT EN 2.1 - 11/2012 AL Status CodeInformation on how to

EDS84DMOTECAT EN 2.1 - 11/2012 L 37Communication manual 8400 motec EtherCAT®Process data transfer 8 Process data transfer Process data are transmit

Communication manual 8400 motec EtherCAT®Process data transferAccessing process data / PDO mapping38 L EDS84DMOTECAT EN 2.1 - 11/2012 8.1 Accessing

EDS84DMOTECAT EN 2.1 - 11/2012 L 39Communication manual 8400 motec EtherCAT®Process data transferConfiguring the port interconnection of the process d

Communication manual 8400 motec EtherCAT®Contents4 L EDS84DMOTECAT EN 2.1 - 11/2012 7 Data transfer . . . . . . . . . . . . . . . . . . . . . . . .

Communication manual 8400 motec EtherCAT®Process data transferConfiguring the port interconnection of the process data objects (PDO)40 L EDS84DMOTECAT

EDS84DMOTECAT EN 2.1 - 11/2012 L 41Communication manual 8400 motec EtherCAT®Process data transferConfiguring the port interconnection of the process d

Communication manual 8400 motec EtherCAT®Process data transferConfiguring the port interconnection of the process data objects (PDO)42 L EDS84DMOTECAT

EDS84DMOTECAT EN 2.1 - 11/2012 L 43Communication manual 8400 motec EtherCAT®Parameter data transferEstablishing a connection between master and slave

Communication manual 8400 motec EtherCAT®Parameter data transferReading and writing parameters44 L EDS84DMOTECAT EN 2.1 - 11/2012 9.2 Reading and wr

EDS84DMOTECAT EN 2.1 - 11/2012 L 45Communication manual 8400 motec EtherCAT®Parameter data transferReading and writing parameters 9.2.1 Reading para

Communication manual 8400 motec EtherCAT®Parameter data transferReading and writing parameters46 L EDS84DMOTECAT EN 2.1 - 11/2012 SDO Upload Expedit

EDS84DMOTECAT EN 2.1 - 11/2012 L 47Communication manual 8400 motec EtherCAT®Parameter data transferReading and writing parameters SDO Upload Normal

Communication manual 8400 motec EtherCAT®Parameter data transferReading and writing parameters48 L EDS84DMOTECAT EN 2.1 - 11/2012 ExampleThe transmi

EDS84DMOTECAT EN 2.1 - 11/2012 L 49Communication manual 8400 motec EtherCAT®Parameter data transferReading and writing parameters 9.2.2 Writing para

EDS84DMOTECAT EN 2.1 - 11/2012 L 5Communication manual 8400 motec EtherCAT®About this documentation 1 About this documentationContentsThis documenta

Communication manual 8400 motec EtherCAT®Parameter data transferReading and writing parameters50 L EDS84DMOTECAT EN 2.1 - 11/2012 SDO Download Norma

EDS84DMOTECAT EN 2.1 - 11/2012 L 51Communication manual 8400 motec EtherCAT®Parameter data transferReading and writing parameters SDO Download Respo

Communication manual 8400 motec EtherCAT®Parameter data transferReading and writing parameters52 L EDS84DMOTECAT EN 2.1 - 11/2012 ExampleThe transmi

EDS84DMOTECAT EN 2.1 - 11/2012 L 53Communication manual 8400 motec EtherCAT®Parameter data transferImplemented CoE objects 9.3 Implemented CoE objec

Communication manual 8400 motec EtherCAT®Parameter data transferEtherCAT objects of the Communication Unit54 L EDS84DMOTECAT EN 2.1 - 11/2012 9.4 Et

EDS84DMOTECAT EN 2.1 - 11/2012 L 55Communication manual 8400 motec EtherCAT®Parameter data transferSDO abort codes (Abort codes) 9.5 SDO abort codes

Communication manual 8400 motec EtherCAT®MonitoringInterruption of EtherCAT communication56 L EDS84DMOTECAT EN 2.1 - 11/2012 10 Monitoring10.1 Inter

EDS84DMOTECAT EN 2.1 - 11/2012 L 57Communication manual 8400 motec EtherCAT®MonitoringFault of the internal communication 3. Via standard device cod

Communication manual 8400 motec EtherCAT®DiagnosticsLED status displays58 L EDS84DMOTECAT EN 2.1 - 11/2012 11 DiagnosticsEtherCAT communication faul

EDS84DMOTECAT EN 2.1 - 11/2012 L 59Communication manual 8400 motec EtherCAT®DiagnosticsLED status displays RUN green off The Communication Unit is n

Communication manual 8400 motec EtherCAT®About this documentation6 L EDS84DMOTECAT EN 2.1 - 11/2012 Target groupThis documentation is aimed at peopl

Communication manual 8400 motec EtherCAT®DiagnosticsDiagnostics with the »Engineer«60 L EDS84DMOTECAT EN 2.1 - 11/2012 11.2 Diagnostics with the »En

EDS84DMOTECAT EN 2.1 - 11/2012 L 61Communication manual 8400 motec EtherCAT®DiagnosticsEmergency requests / Emergency messages 11.3 Emergency reques

Communication manual 8400 motec EtherCAT®Error messagesShort overview of EtherCAT error messages62 L EDS84DMOTECAT EN 2.1 - 11/2012 12 Error message

EDS84DMOTECAT EN 2.1 - 11/2012 L 63Communication manual 8400 motec EtherCAT®Error messagesPossible causes and remedies 12.2 Possible causes and reme

Communication manual 8400 motec EtherCAT®Error messagesPossible causes and remedies64 L EDS84DMOTECAT EN 2.1 - 11/2012 Internal error [0x01bc6011]In

EDS84DMOTECAT EN 2.1 - 11/2012 L 65Communication manual 8400 motec EtherCAT®Error messagesPossible causes and remedies Operational status quit [0x01

Communication manual 8400 motec EtherCAT®Parameter referenceCommunication-relevant parameters of the operating system66 L EDS84DMOTECAT EN 2.1 - 11/20

EDS84DMOTECAT EN 2.1 - 11/2012 L 67Communication manual 8400 motec EtherCAT®Parameter referenceParameters relevant for EtherCAT communication 13.2 P

Communication manual 8400 motec EtherCAT®Parameter referenceParameters relevant for EtherCAT communication68 L EDS84DMOTECAT EN 2.1 - 11/2012 C13860

EDS84DMOTECAT EN 2.1 - 11/2012 L 69Communication manual 8400 motec EtherCAT®Parameter referenceParameters relevant for EtherCAT communication C13880

EDS84DMOTECAT EN 2.1 - 11/2012 L 7Communication manual 8400 motec EtherCAT®About this documentationDocument history 1.1 Document historyYour opinion

Communication manual 8400 motec EtherCAT®Parameter referenceParameters relevant for EtherCAT communication70 L EDS84DMOTECAT EN 2.1 - 11/2012 C13900

EDS84DMOTECAT EN 2.1 - 11/2012 L 71Communication manual 8400 motec EtherCAT®Parameter referenceTable of attributes 13.3 Table of attributesThe table

Communication manual 8400 motec EtherCAT®Parameter referenceTable of attributes72 L EDS84DMOTECAT EN 2.1 - 11/2012 Table of attributesCode Name Inde

EDS84DMOTECAT EN 2.1 - 11/2012 L 73Communication manual 8400 motec EtherCAT®Index 14 IndexAAbort codes 55Accessing process data 38Active station add

Communication manual 8400 motec EtherCAT®Index74 L EDS84DMOTECAT EN 2.1 - 11/2012 EtherCAT error messagesCauses and remedies 63Short overview 62Ethe

EDS84DMOTECAT EN 2.1 - 11/2012 L 75Communication manual 8400 motec EtherCAT®Index UUpload 45VValidity of the documentation 6Variants 14Vendor ID 17V

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Communication manual 8400 motec EtherCAT®About this documentationConventions used8 L EDS84DMOTECAT EN 2.1 - 11/2012 1.2 Conventions usedThis documen

EDS84DMOTECAT EN 2.1 - 11/2012 L 9Communication manual 8400 motec EtherCAT®About this documentationTerminology used 1.3 Terminology usedTerm Meaning