Document Outline

• E84AYCET (EtherCAT®)
  • Contents
    • 1 About this documentation
      • 1.1 Document history
      • 1.2 Conventions used
      • 1.3 Terminology used
      • 1.4 Notes used
    • 2 Safety instructions
      • 2.1 General safety and application notes
      • 2.2 Device- and application-specific safety instructions
      • 2.3 Residual hazards
    • 3 Product description
      • 3.1 Application as directed
      • 3.2 Identification
      • 3.3 Product features
      • 3.4 Terminals and interfaces
    • 4 Technical data
      • 4.1 General data and operating conditions
      • 4.2 Protective insulation
      • 4.3 Protocol data
      • 4.4 Communication time
      • 4.5 Dimensions
    • 5 Installation
      • 5.1 Mechanical installation
        • 5.1.1 Mounting for standard devices 0.25 kW and 0.37 kW
        • 5.1.2 Mounting for standard devices from 0.55 kW onwards
        • 5.1.3 Replacing the communication module
      • 5.2 Electrical installation
        • 5.2.1 EMC-compliant wiring
        • 5.2.2 Network topology
        • 5.2.3 EtherCAT connection
        • 5.2.4 Specification of the Ethernet cable
        • 5.2.5 External voltage supply
    • 6 Commissioning
      • 6.1 Before initial switch-on
      • 6.2 Configuring the Controller (EtherCAT master)
        • 6.2.1 Installing device description files
        • 6.2.2 Automatic device identification
        • 6.2.3 Configuring process data
        • 6.2.4 Determining the cycle time
      • 6.3 Address allocation
      • 6.4 Synchronisation with "Distributed Clocks" (DC)
        • 6.4.1 DC configuration in the master
        • 6.4.2 DC configuration in the Inverter Drive 8400 (slave)
        • 6.4.3 Response of the Lenze EtherCAT nodes during start-up
      • 6.5 Establishing an online connection with the »Engineer«
        • 6.5.1 Gateway Controller -> configure EtherCAT
        • 6.5.2 Gateway Controller -> configure EtherCAT ADS (Beckhoff)
      • 6.6 EtherCAT ADS communication parameters in »TwinCAT« and »Engineer«
        • 6.6.1 Example: Structure without a Beckhoff Controller
        • 6.6.2 Example: Structure with a Beckhoff DIN rail IPC CX1020
      • 6.7 Initial switch-on
    • 7 Data transfer
      • 7.1 EtherCAT-Frames
      • 7.2 EtherCAT datagrams
      • 7.3 EtherCAT state machine
    • 8 Process data transfer
      • 8.1 Accessing process data / PDO mapping
      • 8.2 Preconfigured port interconnection of the process data objects (PDO)
      • 8.3 Free configuration of the port interconnection of the process data objects (PDO)
      • 8.4 CiA402 PDO mapping in case of Inverter Drive 8400 TopLine P
    • 9 Parameter data transfer
      • 9.1 Establishing a connection between master and slave
      • 9.2 Reading and writing parameters
        • 9.2.1 Reading parameters (SDO upload)
        • 9.2.2 Writing parameters (SDO download)
      • 9.3 Implemented CoE objects
      • 9.4 EtherCAT objects of the communication module
      • 9.5 SDO abort codes (Abort codes)
    • 10 Monitoring
      • 10.1 Interruption of EtherCAT communication
      • 10.2 Sync frame failure detection
      • 10.3 Interruption of internal communication
    • 11 Diagnostics
      • 11.1 LED status displays
        • 11.1.1 Module status displays
        • 11.1.2 Fieldbus status displays
        • 11.1.3 Status displays at X246 and X247
      • 11.2 Diagnostics with the »Engineer«
      • 11.3 Emergency requests / Emergency messages
        • 11.3.1 Structure of the Emergency message
        • 11.3.2 Emergency messages (overview)
    • 12 Error messages
      • 12.1 Short overview of the EtherCAT error messages
      • 12.2 Possible causes and remedies
        • Lost connection to 8400 [0x01bc3100]
        • Memory: No access [0x01bc5531]
        • Memory: Read error [0x01bc5532]
        • Memory: Write error [0x01bc5533]
        • Restart by watchdog reset [0x01bc6010]
        • Internal error [0x01bc6011]
        • Internal error [0x01bc6100]
        • Internal error [0x01bc6101]
        • Invalid parameter set [0x01bc641f]
        • Error: Lenze setting loaded [0x01bc6420]
        • Invalid module configuration [0x01bc6430]
        • Operational status quit [0x01bc8131]
        • Sync telegram failure [0x01bc8700]
    • 13 Parameter reference
      • 13.1 Communication-relevant parameters of the standard device
        • C01120 | Sync signal source
        • C01501 | Reaction on communication error with MCI
      • 13.2 Parameters of the communication module
        • C13850 | All words to master
        • C13851 | All words from master
        • C13852 | All words to standard device
        • C13853 | All words from standard device
        • C13859 | Number of Tx PDOs
        • C13860 | Number of Rx PDOs
        • C13861 | Bus state
        • C13864 | Active station address
        • C13867 | Display of emergency data
        • C13879 | Bus error
        • C13880 | Reaction on communication failure
        • C13881 | Response time when exiting "Operational"
        • C13883 | DC active
        • C13884 | Base device synchronisation status
        • C13885 | Clear process data
        • C13887 | Suppress emergency message in case of
        • C13899 | Station alias
        • C13900 | Firmware: Product type
        • C13901 | Firmware compilation date
        • C13902 | Firmware version
      • 13.3 Table of attributes
    • Index
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