Lenze 8400 motec Series Use and care manual

L
EDS84DMOTECAT
13422593
Ä.K:~ä
Communication Manual
E84DGFCTxxx
EtherCAT® Communication Unit
8400 motec
L-force Communication

2LEDS84DMOTECAT EN 2.1 - 11/2012

EDS84DMOTECAT EN 2.1 - 11/2012 L3
Communication manual 8400 motec EtherCAT®
Contents
Contents
1About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.4 Notes used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
2.1 General safety and application notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Device and application-specific safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3 Residual hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3Product description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.1 Application as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2 Features and variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.3 Connections and interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1 General data and operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2 Protocol data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3 Communication time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.1 Mechanical installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.2 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.2.1 Network topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.2.2 EtherCAT connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.2.3 External voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.1 Before initial switch-on. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.2 Configuring the host (master). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.2.1 Installing device description files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.2.2 Automatic device identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.2.3 Configuring process data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.4 Determining the cycle time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.3 Address allocation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.4 Initial switch-on. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Communication manual 8400 motec EtherCAT®
Contents
4LEDS84DMOTECAT EN 2.1 - 11/2012
7Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.1 EtherCAT frame structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.2 EtherCAT datagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.3 EtherCAT state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
8Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
8.1 Accessing process data / PDO mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
8.2 Configuring the port interconnection of the process data objects (PDO) . . . . . . . . . . . . 39
9Parameter data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.1 Establishing a connection between master and slave. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.2 Reading and writing parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
9.2.1 Reading parameters (SDO Upload). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.2.2 Writing parameters (SDO Download) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.3 Implemented CoE objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
9.4 EtherCAT objects of the Communication Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
9.5 SDO abort codes (Abort codes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
10 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
10.1 Interruption of EtherCAT communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
10.2 Fault of the internal communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
11 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
11.1 LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
11.2 Diagnostics with the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
11.3 Emergency requests / Emergency messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
12 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
12.1 Short overview of EtherCAT error messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
12.2 Possible causes and remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
13 Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
13.1 Communication-relevant parameters of the operating system. . . . . . . . . . . . . . . . . . . . . 66
13.2 Parameters relevant for EtherCAT communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
13.3 Table of attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
14 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

EDS84DMOTECAT EN 2.1 - 11/2012 L5
Communication manual 8400 motec EtherCAT®
About this documentation
1 About this documentation
Contents
This documentation exclusively contains descriptions of the EtherCAT bus system for the
Inverter Drive 8400 motec.
The properties and functions of the EtherCAT for Inverter Drives 8400 motec are described
in detail.
Examples illustrate typical applications.
This documentation also contains ...
the most important technical data for EtherCAT communication;
Information on the installation and commissioning of the EtherCAT network;
Information on the EtherCAT data transfer;
information on monitoring functions and troubleshooting as well as fault elimination.
The theoretical concepts are only explained to the level of detail required to understand
the function of the EtherCAT communication with Inverter Drives 8400 motec.
Depending on the software version of the controller and of the installed »Engineer«
software, the screenshots in this documentation may vary from the »Engineer« depiction.
This documentation does not describe any software provided by other manufacturers. No
liability can be accepted for corresponding data provided in this documentation. For
information on how to use the software, please refer to the host (master) documents.
All product names mentioned in this documentation are trademarks of their
corresponding owners.
Tip!
Detailed information on EtherCAT can be found on the website of the EtherCAT
Technology Group:
www.EtherCAT.org
Note!
This documentation supplements the mounting instructions and the "Inverter
Drives 8400 motec" hardware manual supplied with the controller.

Communication manual 8400 motec EtherCAT®
About this documentation
6LEDS84DMOTECAT EN 2.1 - 11/2012
Target group
This documentation is aimed at people involved in configuring, installing, commissioning,
and maintaining the networking and remote maintenance of a machine.
Tip!
Information and software updates for Lenze products can be found in the
download area at:
www.Lenze.com
Validity information
The information in this documentation applies to the following devices:
Features and variants (14)
Product series Type designation Variant
Inverter Drives 8400 motec
EtherCAT Communication Unit
E84DGFCTxNx EtherCAT
E84DGFCTxJx EtherCAT + Safety

EDS84DMOTECAT EN 2.1 - 11/2012 L7
Communication manual 8400 motec EtherCAT®
About this documentation
Document history
1.1 Document history
Your opinion is important to us!
These instructions were created to the best of our knowledge and belief to give you the
best possible support for handling our product.
Perhaps we have not succeeded in achieving this objective in every respect. If you have
suggestions for improvement, please e-mail us to:
[email protected]
Thank you for your support.
Your Lenze documentation team
version Description
1.0 04/2011 TD17 First edition
2.0 11/2011 TD17 Information on the EtherCAT register "AL Status Code"(36) has been
added.
2.1 11/2012 TD17 EtherCAT® is a registered trademark by Beckhoff Automation GmbH,
Germany.

Communication manual 8400 motec EtherCAT®
About this documentation
Conventions used
8LEDS84DMOTECAT EN 2.1 - 11/2012
1.2 Conventions used
This documentation uses the following conventions to distinguish different types of
information:
Type of information Writing Examples/notes
Numbers
Decimal Standard notation Example: 1234
Hexadecimal 0x[0 ... 9, A ... F] Example: 0x60F4
Binary
• Nibble
In inverted commas
Point
Example: ’100’
Example: ’0110.0100’
Decimal separator Point The decimal point is generally used.
Example: 1234.56
Text
Program name » « PC software
Example: Lenze »Engineer«
Window Italics The Message window... / The Options dialog box...
Control element Bold The OK button... / The Copy command... / The
Properties tab... / The Name input field...
Sequence of menu
commands
If the execution of a command requires several
commands in succession, the individual commands
are separated by an arrow: Select the FileOpen
command to...
Hyperlink Underlined Optically highlighted reference to another subject
which is activated with a mouse-click.
Symbols
Page reference (8) Optically highlighted reference to another page
which is activated with a mouse-click.
Step-by-step instructions Step-by-step instructions are indicated by a
pictograph.

EDS84DMOTECAT EN 2.1 - 11/2012 L9
Communication manual 8400 motec EtherCAT®
About this documentation
Terminology used
1.3 Terminology used
Term Meaning
EtherCAT® is a real-time capable Ethernet system with top performance.
EtherCAT® is a registered trademark and patented technology, licensed by
Beckhoff Automation GmbH, Germany.
Controller Lenze controller of the "Inverter Drives 8400 motec" product series
Standard device
Drive Unit
Communication Unit
Wiring Unit
The controller 8400 motec consists of the following modules: "Drive Unit",
"Communication Unit" and "Wiring Unit".
• The Drive Unit is available in various power classes.
• The Communication Unit is available in the following versions:
–Nofieldbus
–AS-i option
–CANopen option
–PROFIBUS option
–PROFINET option
–EtherCAT option
• The Wiring Unit provides flexible connection options for an easy integration
into the power supply of the machine.
»Engineer« PC software from Lenze which supports you in "engineering" (parameter setting,
diagnosing, and configuring) during the entire life cycle, i.e. from planning to
maintenance of the commissioned machine.
»PLC Designer«
»TwinCAT« Beckhoff PC software for EtherCAT configuration
Code Parameter which serves to parameterise and monitor the controller. In normal
usage, the term is usually referred to as "Index".
Subcode If a code contains several parameters they are stored in so-called "subcodes".
In the documentation the forward slash "/" is used as a separator between the
designation of the code and the subcode (e.g. "C00118/3").
In normal usage, the term is also referred to as "Subindex".
Lenze setting These are settings with which the device is preconfigured ex works.
Basic setting
HW Hardware
SW Software
ESI "EtherCAT Slave Information"
(device description file in XML format)
CoE CANopen over EtherCAT
I-1600.8 CoE index (hexadecimal representation)
• In the example: index 0x1600, subindex 8
TA Technology application
PDO Process data object
SDO Service data object
"Hot connect" This feature provides for removing and connecting slave nodes during operation.

Communication manual 8400 motec EtherCAT®
About this documentation
Notes used
10 LEDS84DMOTECAT EN 2.1 - 11/2012
1.4 Notes used
The following signal words and symbols are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of the safety instructions:
Application notes
Pictograph and signal word!
(characterise the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph Signal word Meaning
Danger! Danger of personal injury through dangerous electrical voltage
Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.
Danger! Danger of personal injury through a general source of danger
Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.
Stop! Danger of damage to material assets
Reference to a possible danger that may result in damage to material assets
if the corresponding measures are not taken.
Pictograph Signal word Meaning
Note! Important note to ensure trouble-free operation
Tip! Useful tip for simple handling
Reference to another documentation

EDS84DMOTECAT EN 2.1 - 11/2012 L11
Communication manual 8400 motec EtherCAT®
Safety instructions
General safety and application notes
2 Safety instructions
2.1 General safety and application notes
Lenze drive and automation components ...
– may only be used as directed.
Application as directed (13)
– must never be commissioned if they display any signs of damage.
– must never be technically modified.
– must never be commissioned if they are not fully mounted.
– must never be operated without the required covers.
– can - depending on their degree of protection - have live, movable or rotating parts
during operation and after operation. Surfaces can be hot.
For Lenze drive components ...
– use only the accessories approved.
– use only original spare parts from the manufacturer.
Observe all specifications given in the attached and associated documentation.
– This is the precondition for safe and trouble-free operation and for achieving the
specified product features.
Features and variants (14)
– The procedural notes and circuit details described in this document are only
proposals. It is up to the user to check whether they can be adapted to the particular
applications. Lenze does not take any responsibility for the suitability of the
procedures and circuit proposals described.
Note!
Always observe the specified safety measures to avoid severe injury to persons
and damage to property!
Always keep this documentation to hand in the vicinity of the product during
operation.
Danger!
Disregarding the following basic safety measures may lead to severe personal
injury and damage to material assets.

Communication manual 8400 motec EtherCAT®
Safety instructions
Device and application-specific safety instructions
12 LEDS84DMOTECAT EN 2.1 - 11/2012
Only qualified personnel may work with and on Lenze drive and automation
components. In accordance with IEC 60364 and CENELEC HD 384, these are persons ...
– who are familiar with installing, mounting, commissioning, and operating the
product.
– who have the qualifications necessary for their occupation.
– who know all regulations for the prevention of accidents, directives and laws
applicable on site and are able to apply them.
2.2 Device and application-specific safety instructions
During operation, the Communication Unit must be connected to the Wiring Unit and
the Drive Unit.
In case of external voltage supply, always use a separate power supply unit, safely
separated in accordance with EN 61800-5-1 in every control cabinet ("SELV" / "PELV").
2.3 Residual hazards
Device protection
The Communication Unit contains electronic components that can be damaged or
destroyed by electrostatic discharge.
Installation (19)
Documentation for "Inverter Drives 8400 motec", control system, system/
machine
All the other measures prescribed in this documentation must also be
implemented. Observe the safety instructions and application notes stated in
this manual.

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Communication manual 8400 motec EtherCAT®
Product description
Application as directed
3 Product description
3.1 Application as directed
The EtherCAT Communication Unit ...
is a unit that can only be used in conjunction with the following modules:
is an item of equipment intended for use in industrial power systems.
may only be operated under the operating conditions specified in this documentation.
may only be used in EtherCAT networks.
can also be used without being connected to the EtherCAT network.
Any other use shall be deemed inappropriate!
Product series Type designation
Inverter Drives 8400 motec
Drive Unit
E84DGDVxxxxxxxx
Inverter Drives 8400 motec
Wiring Unit
E84DGVNxx

Communication manual 8400 motec EtherCAT®
Product description
Features and variants
14 LEDS84DMOTECAT EN 2.1 - 11/2012
3.2 Features and variants
The EtherCAT Communication Unit is available in the following versions:
The EtherCAT Communication Unit is ...
– mounted to the Wiring Unit (E84DGVNxx);
– supplied internally via the Drive Unit (E84DGDVxxxxxxxx) or externally via a
separate voltage source.
The I/O connections can be brought into the device via M12 connectors or cable glands.
Devices without an integrated safety system (safety option) have no analog input and
no relay output.
The integrated safety system of the E84DGFCTxJx Communication Units can be used
on machines for the protection of persons.
SDO transfer with CoE (CANopen over EtherCAT)
A maximum of 10 process data words (max. 20 bytes) can be sent to the master.
A maximum of 8 process data words (max. 16 bytes) can be sent by the master.
Communication with the Lenze »Engineer« (access to all Lenze parameters) is executed
via the diagnostic interface of the Drive Unit.
Access to all Lenze parameters with CoE (CAN over EtherCAT)
Cycle times: 1 ms or an integer multiple of 1 ms
Product series Type designation Features
Enclosure IP 65 EtherCAT M12 I/O: Terminal I/O: M12 Safety
Inverter Drives 8400 motec
EtherCAT Communication Unit
E84DGFCTANP zzz
E84DGFCT9NP zz z
E84DGFCTAJP zzz z
E84DGFCT9JP zz zz
"Inverter Drives 8400 motec" hardware manual
Here you will find detailed information on the integrated safety system (safety
option).
Software manual / »Engineer« online help "Inverter Drives 8400 motec"
Here you will find detailed information on how to configure the safety system
(safety option).

EDS84DMOTECAT EN 2.1 - 11/2012 L15
Communication manual 8400 motec EtherCAT®
Product description
Connections and interfaces
3.3 Connections and interfaces
[3-1] EtherCAT Communication Unit
E84DG029
Pos. Description
A1 / LED Position of LEDs for EtherCAT status display
LED status displays (58)
A2 IN: EtherCAT input (M12 socket, 5-pole, D-coded)
EtherCAT connection (23)
A3 OUT: EtherCAT output (M12 socket, 5-pole, D-coded)
EtherCAT connection (23)
A4 Positions for further freely designable inputs and outputs:
• Digital inputs
•Digitaloutput
• Analog input (only for E84DGFCTxJx)
• Relay output (only for E84DGFCTxJx)
• Connection of safety system "Safety Option" (only for E84DGFCTxJx)
B1 ... B4
X3 / X4 / X61 Terminal strips for wiring the connections at A4 and B1 ... B4
X5 Plug connector for connection to the Drive Unit
X31 Plug connector for wiring the EtherCAT input (IN) at A2
X32 Plug connector for wiring the EtherCAT output (OUT) at A3
X55 Plug connector for wiring the LEDs at A1

Communication manual 8400 motec EtherCAT®
Product description
Connections and interfaces
16 LEDS84DMOTECAT EN 2.1 - 11/2012
On delivery, the EtherCAT connections and the LEDs for the EtherCAT status displays
are already mounted and wired:
– EtherCAT input to plug connector X31
– EtherCAT output to plug connector X32
– LEDs to plug connector X55
It is also possible to connect the EtherCAT and other inputs and outputs (e.g. digital
inputs) via the positions A1 ... A4 and B1 ... B4.
For the connections, 5-pin M12 connectors or - alternatively - cable glands (cable cross-
section max. 1.0 mm2, AWG 18) can be used.
The M12 connectors, cable glands and prefabricated system cables can be obtained
from various manufacturers.
Wire the M12 connectors or cable glands used to the corresponding contacts of the
terminal strips/plug connectors X3, X4 and X61.
"Inverter Drives 8400 motec" hardware manual
Observe the notes and wiring instructions included.

EDS84DMOTECAT EN 2.1 - 11/2012 L17
Communication manual 8400 motec EtherCAT®
Technical data
General data and operating conditions
4 Technical data
4.1 General data and operating conditions
"Inverter Drives 8400 motec" hardware manual
Here you will find the ambient conditions and information on the
electromagnetic compatibility (EMC) that also apply to the Communication
Unit.
Area Values
Order designation • E84DGFCTxNx (EtherCAT)
• E84DGFCTxJx (EtherCAT + Safety)
Communication profile EtherCAT
Supported device profile and mailbox
protocol
CANopen over EtherCAT (CoE)
Communication medium S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT 5e
Interface for communication • EtherCAT input (IN): M12 socket, 5-pole, D-coded
• EtherCAT output (OUT): M12 socket, 5-pole, D-coded
Network topology Line, switch
Type of node EtherCAT slave
Number of nodes Max. 65535 ( in the entire network )
Max. cable length between two
EtherCAT nodes
100 m (typically)
Vendor ID [hex] 0x3B
Product ID 841020
Revision ID Dependent on the software version of the Communication Unit
Baud rate 100 Mbps, full duplex
Cycle times 1 ms or an integer multiple of 1 ms
External voltage supply • U = 24 V DC (20 V - 0 % ... 29 V + 0 %)
•I
max = 400 mA
Conformities, approvals • CE
•UR/cUR

Communication manual 8400 motec EtherCAT®
Technical data
Protocol data
18 LEDS84DMOTECAT EN 2.1 - 11/2012
4.2 Protocol data
4.3 Communication time
Parameter data (SDO)
The communication time for parameter data is the time between the transmission of an
SDO request and the arrival of a corresponding response.
The processing time in the controller is approx. 10 ms + a tolerance of +20 ms (typically)
Some codes may require a longer processing time (see software manual / »Engineer«
online help "Inverter Drive 8400 motec").
Process data (PDO)
The communication time for process data is the time between the reception of a PDO with
setpoints and the return of a PDO with current actual values.
The communication times for process data depend on the ...
processing time in the controller (interval time of the application task, process data
mode)
runtime on the bus (telegram length, number of nodes, PDO update time, instant of
transmission of the EtherCAT frame)
The processing time starts when the setpoints are taken over by the controller at a point in
time which is not synchronised with the EtherCAT master, and ends when the current
actual values are provided at the EtherCAT interface.
Hence, the following holds true for the processing time:
1.3 ms + 1.0 ms (tolerance) + interval time of the application task
Area Values
Process data words 1 ... 10 process data words to master (max. 20 bytes, 16 bits / word)
1 ... 8 process data words from master (max. 16 bytes, 16 bits / word)
Parameter data (mailbox size for CoE
transfer)
Max. 128 bytes

EDS84DMOTECAT EN 2.1 - 11/2012 L19
Communication manual 8400 motec EtherCAT®
Installation
5 Installation
Stop!
Electrostatic discharge
Electronic components within the Communication Unit can be damaged or
destroyed by electrostatic discharge.
Possible consequences:
• The Communication Unit is defective.
• Fieldbus communication is troubled or not possible.
• I/O signals are faulty.
• The safety function is faulty.
Protective measures
• Discharge electrostatic charges before touching the Communication Unit.

Communication manual 8400 motec EtherCAT®
Installation
Mechanical installation
20 LEDS84DMOTECAT EN 2.1 - 11/2012
5.1 Mechanical installation
[5-1] Mechanical installation of the 8400 motec components
Mounting instructions for "Inverter Drives 8400 motec"
Here you will find detailed information on the installation.
0.37 ... 3.0 kW 4.0 ... 7.5 kW
E84DG023a
E84DG023b
Legend for Fig. [5-1]
1DriveUnit
2 Communication Unit
3 Wiring Unit
A Cover of the Drive Unit
EDK84DG... Mounting instructions for the Drive Unit, Communication Unit, Wiring Unit