Lenze E84DGFCC Manual de usuario

L EDS84DMOTCAN13395082Ä.HSsäCommunication ManualE84DGFCCxxxCANopen communication unit8400 motecL-force Communication

Communication manual 8400 motec CANopenAbout this documentationTerminology used10 L EDS84DMOTCAN EN 3.0 - 11/2011 1.3 Terminology usedTerm MeaningCo

Communication manual 8400 motec CANopenImplemented CANopen objects100 L EDS84DMOTCAN EN 3.0 - 11/2011 Description of subindex 2[13-13] I-1400 / I-14

EDS84DMOTCAN EN 3.0 - 11/2011 L 101Communication manual 8400 motec CANopenImplemented CANopen objects I-1600 - RPDO1 mapping parameterObject I-1600

Communication manual 8400 motec CANopenImplemented CANopen objects102 L EDS84DMOTCAN EN 3.0 - 11/2011 I-1800 - TPDO1 communication parameterCommunic

EDS84DMOTCAN EN 3.0 - 11/2011 L 103Communication manual 8400 motec CANopenImplemented CANopen objects Subindex 2 - transmission typeSubindex 3 - inh

Communication manual 8400 motec CANopenImplemented CANopen objects104 L EDS84DMOTCAN EN 3.0 - 11/2011 I-1801 - TPDO2 communication parameterCommunic

EDS84DMOTCAN EN 3.0 - 11/2011 L 105Communication manual 8400 motec CANopenImplemented CANopen objects I-1A00 - TPDO1 mapping parameterObject I-1A00

Communication manual 8400 motec CANopenDIP switch positions for setting the CAN node address106 L EDS84DMOTCAN EN 3.0 - 11/2011 14 DIP switch positi

EDS84DMOTCAN EN 3.0 - 11/2011 L 107Communication manual 8400 motec CANopenDIP switch positions for setting the CAN node address 39 OFF ON OFF OFF ON

Communication manual 8400 motec CANopenIndex108 L EDS84DMOTCAN EN 3.0 - 11/2011 15 IndexAAccess to process data 46Acknowledgement error 68Active COB

EDS84DMOTCAN EN 3.0 - 11/2011 L 109Communication manual 8400 motec CANopenIndex DData transfer 36Device and application-specific safety instructions

EDS84DMOTCAN EN 3.0 - 11/2011 L 11Communication manual 8400 motec CANopenAbout this documentationNotes used 1.4 Notes usedThe following signal words

Communication manual 8400 motec CANopenIndex110 L EDS84DMOTCAN EN 3.0 - 11/2011 RResidual hazards 13Resp. to CAN bus connection (C00592) 86Resp. to

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Communication manual 8400 motec CANopenSafety instructionsGeneral safety and application instructions12 L EDS84DMOTCAN EN 3.0 - 11/2011 2 Safety ins

EDS84DMOTCAN EN 3.0 - 11/2011 L 13Communication manual 8400 motec CANopenSafety instructionsDevice and application-specific safety instructions  On

Communication manual 8400 motec CANopenProduct descriptionApplication as directed14 L EDS84DMOTCAN EN 3.0 - 11/2011 3 Product description3.1 Applica

EDS84DMOTCAN EN 3.0 - 11/2011 L 15Communication manual 8400 motec CANopenProduct descriptionProduct features and variants 3.2 Product features and v

Communication manual 8400 motec CANopenProduct descriptionProduct features and variants16 L EDS84DMOTCAN EN 3.0 - 11/2011 The system bus (CANopen) o

EDS84DMOTCAN EN 3.0 - 11/2011 L 17Communication manual 8400 motec CANopenProduct descriptionConnections and interfaces 3.3 Connections and interface

Communication manual 8400 motec CANopenProduct descriptionConnections and interfaces18 L EDS84DMOTCAN EN 3.0 - 11/2011  By default, the CANopen con

EDS84DMOTCAN EN 3.0 - 11/2011 L 19Communication manual 8400 motec CANopenTechnical dataGeneral data and operating conditions of the CANopen 4 Techni

2 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopenTechnical dataSupported protocols20 L EDS84DMOTCAN EN 3.0 - 11/2011 4.2 Supported protocolsProtocolsStandard

EDS84DMOTCAN EN 3.0 - 11/2011 L 21Communication manual 8400 motec CANopenTechnical dataCommunication time 4.3 Communication timeThe communication ti

Communication manual 8400 motec CANopenInstallation22 L EDS84DMOTCAN EN 3.0 - 11/2011 5 Installation Stop!Electrostatic dischargeElectronic compone

EDS84DMOTCAN EN 3.0 - 11/2011 L 23Communication manual 8400 motec CANopenInstallationMechanical installation 5.1 Mechanical installation[5-1] Mechan

Communication manual 8400 motec CANopenInstallationElectrical installation24 L EDS84DMOTCAN EN 3.0 - 11/2011 5.2 Electrical installation5.2.1 Networ

EDS84DMOTCAN EN 3.0 - 11/2011 L 25Communication manual 8400 motec CANopenInstallationElectrical installation A CAN network consisting of several seg

Communication manual 8400 motec CANopenInstallationElectrical installation26 L EDS84DMOTCAN EN 3.0 - 11/2011 5.2.3 Specification of the bus cableWe

EDS84DMOTCAN EN 3.0 - 11/2011 L 27Communication manual 8400 motec CANopenInstallationElectrical installation Segment cable length2. Check that the s

Communication manual 8400 motec CANopenInstallationElectrical installation28 L EDS84DMOTCAN EN 3.0 - 11/2011 Consider the use of repeatersConclusion

EDS84DMOTCAN EN 3.0 - 11/2011 L 29Communication manual 8400 motec CANopenInstallationElectrical installation 5.2.5 CANopen connection Input: M12 pi

EDS84DMOTCAN EN 3.0 - 11/2011 L 3Communication manual 8400 motec CANopenContents Contents1 About this documentation . . . . . . . . . . . . . . . .

Communication manual 8400 motec CANopenCommissioningBefore initial switch-on30 L EDS84DMOTCAN EN 3.0 - 11/2011 6 CommissioningDuring commissioning,

EDS84DMOTCAN EN 3.0 - 11/2011 L 31Communication manual 8400 motec CANopenCommissioningConfiguring the host (master) 6.2 Configuring the host (master

Communication manual 8400 motec CANopenCommissioningPossible settings via DIP switch32 L EDS84DMOTCAN EN 3.0 - 11/2011 6.3 Possible settings via DIP

EDS84DMOTCAN EN 3.0 - 11/2011 L 33Communication manual 8400 motec CANopenCommissioningPossible settings via DIP switch 6.3.2 Setting the CAN node ad

Communication manual 8400 motec CANopenCommissioningSettings in the Lenze »Engineer«34 L EDS84DMOTCAN EN 3.0 - 11/2011 6.4 Settings in the Lenze »En

EDS84DMOTCAN EN 3.0 - 11/2011 L 35Communication manual 8400 motec CANopenCommissioningInitial switch-on 6.5 Initial switch-onEstablishing communicat

Communication manual 8400 motec CANopenData transferStructure of the CAN data telegram36 L EDS84DMOTCAN EN 3.0 - 11/2011 7 Data transferVia the syst

EDS84DMOTCAN EN 3.0 - 11/2011 L 37Communication manual 8400 motec CANopenData transferStructure of the CAN data telegram 7.1.1 IdentifierThe princip

Communication manual 8400 motec CANopenData transferStructure of the CAN data telegram38 L EDS84DMOTCAN EN 3.0 - 11/2011 1) If you set the sync tran

EDS84DMOTCAN EN 3.0 - 11/2011 L 39Communication manual 8400 motec CANopenData transferStructure of the CAN data telegram 7.1.2 User dataAll nodes co

Communication manual 8400 motec CANopenContents4 L EDS84DMOTCAN EN 3.0 - 11/2011 7 Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . .

Communication manual 8400 motec CANopenData transferCommunication phases/network management40 L EDS84DMOTCAN EN 3.0 - 11/2011 7.2 Communication phas

EDS84DMOTCAN EN 3.0 - 11/2011 L 41Communication manual 8400 motec CANopenData transferCommunication phases/network management 7.2.1 State transition

Communication manual 8400 motec CANopenData transferCommunication phases/network management42 L EDS84DMOTCAN EN 3.0 - 11/2011 7.2.2 Network manageme

EDS84DMOTCAN EN 3.0 - 11/2011 L 43Communication manual 8400 motec CANopenData transferCommunication phases/network management 7.2.3 Parameterising t

Communication manual 8400 motec CANopenProcess data transfer44 L EDS84DMOTCAN EN 3.0 - 11/2011 8 Process data transfer[8-1] PDO data transfer from /

EDS84DMOTCAN EN 3.0 - 11/2011 L 45Communication manual 8400 motec CANopenProcess data transfer Definitions Process data telegrams between the host

Communication manual 8400 motec CANopenProcess data transferAccess to process data / PDO mapping46 L EDS84DMOTCAN EN 3.0 - 11/2011 8.1 Access to pro

EDS84DMOTCAN EN 3.0 - 11/2011 L 47Communication manual 8400 motec CANopenProcess data transferPort interconnection of the process data objects (PDO)

Communication manual 8400 motec CANopenProcess data transferPort interconnection of the process data objects (PDO)48 L EDS84DMOTCAN EN 3.0 - 11/2011

EDS84DMOTCAN EN 3.0 - 11/2011 L 49Communication manual 8400 motec CANopenProcess data transferPort interconnection of the process data objects (PDO)

EDS84DMOTCAN EN 3.0 - 11/2011 L 5Communication manual 8400 motec CANopenContents 12 Parameter reference. . . . . . . . . . . . . . . . . . . . . . .

Communication manual 8400 motec CANopenProcess data transferPort interconnection of the process data objects (PDO)50 L EDS84DMOTCAN EN 3.0 - 11/2011

EDS84DMOTCAN EN 3.0 - 11/2011 L 51Communication manual 8400 motec CANopenProcess data transferIdentifiers of the process data objects 8.3 Identifier

Communication manual 8400 motec CANopenProcess data transferTransmission type52 L EDS84DMOTCAN EN 3.0 - 11/2011 8.4 Transmission typeProcess data ob

EDS84DMOTCAN EN 3.0 - 11/2011 L 53Communication manual 8400 motec CANopenProcess data transferTransmission type The communication parameters such as

Communication manual 8400 motec CANopenProcess data transferPDO synchronisation via sync telegram54 L EDS84DMOTCAN EN 3.0 - 11/2011 8.5 PDO synchron

EDS84DMOTCAN EN 3.0 - 11/2011 L 55Communication manual 8400 motec CANopenParameter data transfer 9 Parameter data transfer[9-1] Parameter data trans

Communication manual 8400 motec CANopenParameter data transferIdentifiers of the parameter data objects56 L EDS84DMOTCAN EN 3.0 - 11/2011 9.1 Identi

EDS84DMOTCAN EN 3.0 - 11/2011 L 57Communication manual 8400 motec CANopenParameter data transferUser data 9.2 User dataStructure of the user data of

Communication manual 8400 motec CANopenParameter data transferUser data58 L EDS84DMOTCAN EN 3.0 - 11/2011 More precisely, the command byte comprises

EDS84DMOTCAN EN 3.0 - 11/2011 L 59Communication manual 8400 motec CANopenParameter data transferUser data 9.2.3 Data 1 ... data 4Maximally 4 bytes a

Communication manual 8400 motec CANopenAbout this documentation6 L EDS84DMOTCAN EN 3.0 - 11/2011 1 About this documentationContentsThis documentatio

Communication manual 8400 motec CANopenParameter data transferUser data60 L EDS84DMOTCAN EN 3.0 - 11/2011 9.2.4 Error messagesIn the event of an err

EDS84DMOTCAN EN 3.0 - 11/2011 L 61Communication manual 8400 motec CANopenParameter data transferUser data Meaning of the error codesThe error codes

Communication manual 8400 motec CANopenParameter data transferParameter data telegram examples62 L EDS84DMOTCAN EN 3.0 - 11/2011 9.3 Parameter data

EDS84DMOTCAN EN 3.0 - 11/2011 L 63Communication manual 8400 motec CANopenParameter data transferParameter data telegram examples 9.3.2 Write paramet

Communication manual 8400 motec CANopenParameter data transferParameter data telegram examples64 L EDS84DMOTCAN EN 3.0 - 11/2011 9.3.3 Reading block

EDS84DMOTCAN EN 3.0 - 11/2011 L 65Communication manual 8400 motec CANopenParameter data transferParameter data telegram examples Telegram 2 to the d

Communication manual 8400 motec CANopenParameter data transferParameter data telegram examples66 L EDS84DMOTCAN EN 3.0 - 11/2011 Telegram 3 to the d

EDS84DMOTCAN EN 3.0 - 11/2011 L 67Communication manual 8400 motec CANopenMonitoringMonitoring of the RPDOs for data reception 10 Monitoring10.1 Moni

Communication manual 8400 motec CANopenMonitoringIntegrated error detection68 L EDS84DMOTCAN EN 3.0 - 11/2011 10.2 Integrated error detectionIf a no

EDS84DMOTCAN EN 3.0 - 11/2011 L 69Communication manual 8400 motec CANopenMonitoringHeartbeat protocol 10.3 Heartbeat protocolThe heartbeat protocol

EDS84DMOTCAN EN 3.0 - 11/2011 L 7Communication manual 8400 motec CANopenAbout this documentation Target groupThis documentation is intended for all

Communication manual 8400 motec CANopenMonitoringHeartbeat protocol70 L EDS84DMOTCAN EN 3.0 - 11/2011 10.3.2 Parameter settingShort overview of the

EDS84DMOTCAN EN 3.0 - 11/2011 L 71Communication manual 8400 motec CANopenMonitoringHeartbeat protocol Heartbeat eventThe "Heartbeat event"

Communication manual 8400 motec CANopenMonitoringHeartbeat protocol72 L EDS84DMOTCAN EN 3.0 - 11/2011 10.3.3 Commissioning exampleTaskA controller (

EDS84DMOTCAN EN 3.0 - 11/2011 L 73Communication manual 8400 motec CANopenMonitoringEmergency telegram 10.4 Emergency telegramIf the error status cha

Communication manual 8400 motec CANopenDiagnostics74 L EDS84DMOTCAN EN 3.0 - 11/2011 11 DiagnosticsDiagnostics with the »Engineer«In the »Engineer«

EDS84DMOTCAN EN 3.0 - 11/2011 L 75Communication manual 8400 motec CANopenParameter referenceCommunication-relevant parameters of the operating system

Communication manual 8400 motec CANopenParameter referenceParameters for CANopen communication76 L EDS84DMOTCAN EN 3.0 - 11/2011 12.2 Parameters for

EDS84DMOTCAN EN 3.0 - 11/2011 L 77Communication manual 8400 motec CANopenParameter referenceParameters for CANopen communication C00324C00345Paramet

Communication manual 8400 motec CANopenParameter referenceParameters for CANopen communication78 L EDS84DMOTCAN EN 3.0 - 11/2011 C00347C00349Paramet

EDS84DMOTCAN EN 3.0 - 11/2011 L 79Communication manual 8400 motec CANopenParameter referenceParameters for CANopen communication C00350C00351C00352P

Communication manual 8400 motec CANopenAbout this documentationDocument history8 L EDS84DMOTCAN EN 3.0 - 11/2011 1.1 Document historyYour opinion is

Communication manual 8400 motec CANopenParameter referenceParameters for CANopen communication80 L EDS84DMOTCAN EN 3.0 - 11/2011 C00353C00354C00355P

EDS84DMOTCAN EN 3.0 - 11/2011 L 81Communication manual 8400 motec CANopenParameter referenceParameters for CANopen communication C00356C00357C00359P

Communication manual 8400 motec CANopenParameter referenceParameters for CANopen communication82 L EDS84DMOTCAN EN 3.0 - 11/2011 C00360C00364Paramet

EDS84DMOTCAN EN 3.0 - 11/2011 L 83Communication manual 8400 motec CANopenParameter referenceParameters for CANopen communication C00366C00367C00368C

Communication manual 8400 motec CANopenParameter referenceParameters for CANopen communication84 L EDS84DMOTCAN EN 3.0 - 11/2011 C00372C00381C00385C

EDS84DMOTCAN EN 3.0 - 11/2011 L 85Communication manual 8400 motec CANopenParameter referenceParameters for CANopen communication C00389C00409Paramet

Communication manual 8400 motec CANopenParameter referenceParameters for CANopen communication86 L EDS84DMOTCAN EN 3.0 - 11/2011 C00592C00593Paramet

EDS84DMOTCAN EN 3.0 - 11/2011 L 87Communication manual 8400 motec CANopenParameter referenceTable of attributes 12.3 Table of attributesHow to read

Communication manual 8400 motec CANopenParameter referenceTable of attributes88 L EDS84DMOTCAN EN 3.0 - 11/2011 Table of attributesCode Name Index D

EDS84DMOTCAN EN 3.0 - 11/2011 L 89Communication manual 8400 motec CANopenImplemented CANopen objects 13 Implemented CANopen objectsLenze devices can

EDS84DMOTCAN EN 3.0 - 11/2011 L 9Communication manual 8400 motec CANopenAbout this documentationConventions used 1.2 Conventions usedThis manual use

Communication manual 8400 motec CANopenImplemented CANopen objects90 L EDS84DMOTCAN EN 3.0 - 11/2011 I-1400 RPDO1 communication parameter0 Highest s

EDS84DMOTCAN EN 3.0 - 11/2011 L 91Communication manual 8400 motec CANopenImplemented CANopen objects I-1000 - Device typeThe CANopen index I-1000 sp

Communication manual 8400 motec CANopenImplemented CANopen objects92 L EDS84DMOTCAN EN 3.0 - 11/2011 I-1003 - Pre-defined error fieldError historyTh

EDS84DMOTCAN EN 3.0 - 11/2011 L 93Communication manual 8400 motec CANopenImplemented CANopen objects I-1005 - COB-ID SYNC messageThis object can be

Communication manual 8400 motec CANopenImplemented CANopen objects94 L EDS84DMOTCAN EN 3.0 - 11/2011 I-1006 - Communication cycle periodSetting the

EDS84DMOTCAN EN 3.0 - 11/2011 L 95Communication manual 8400 motec CANopenImplemented CANopen objects I-1016 - Consumer heartbeat timeMonitoring time

Communication manual 8400 motec CANopenImplemented CANopen objects96 L EDS84DMOTCAN EN 3.0 - 11/2011 I-1018 - Identity objectI-1200 - SDO1 server pa

EDS84DMOTCAN EN 3.0 - 11/2011 L 97Communication manual 8400 motec CANopenImplemented CANopen objects I-1201 - SDO2 server parameterSetting of the id

Communication manual 8400 motec CANopenImplemented CANopen objects98 L EDS84DMOTCAN EN 3.0 - 11/2011 Example Parameter data channel 2 of the control

EDS84DMOTCAN EN 3.0 - 11/2011 L 99Communication manual 8400 motec CANopenImplemented CANopen objects I-1400 - RPDO1 communication parameterCommunica