Lenze E94AYCCA Use and care manual

L
EDS94AYCCA
13411721
Ä.J26ä
Communication Manual
E94AYCCA
CANopen® communication module
9400
L-force Communication

2LEDS94AYCCA EN 5.0 - 06/2012

EDS94AYCCA EN 5.0 - 06/2012 L3
E94AYCCA communication manual (CANopen®)
Contents
Contents
1About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4 Notes used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
2.1 General safety and application notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2 Device and application-specific safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.3 Residual hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3Product description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.1 Application as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.2 Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.3 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.4 Terminals and interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1 General data and operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2 Supported protocols. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3 Communication time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.4 Protective insulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.5 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.1 Mechanical installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.1.1 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.1.2 Dismounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.2 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.2.1 System bus (CANopen) connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.2.2 Specification of the bus cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.2.3 Bus cable length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.2.4 Voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

E94AYCCA communication manual (CANopen®)
Contents
4LEDS94AYCCA EN 5.0 - 06/2012
6Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.1 Before initial switch-on. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.2 Possible settings via DIP switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.2.1 Setting the node address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.2.2 Setting the baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.3 Settings in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.4 Initial switch-on. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.1 Structure of the CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.1.1 Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
7.1.2 User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
7.2 Communication phases / network management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.2.1 State transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.2.2 Network management telegram (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.2.3 Parameterising the controller as a CAN master . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
8Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
8.1 Identifiers of the process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
8.2 Transmission type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
8.3 Masking of the TPDOs for event control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
8.4 Synchronisation of PDOs via sync telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.4.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
8.4.2 Effect of C01130 on the sync phase position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
8.5 PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9Parameter data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.1 Identifiers of the parameter data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2 User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
9.2.1 Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
9.2.2 Addressing through index and subindex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
9.2.3 Data 1 ... data 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
9.2.4 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
9.3 Examples for a parameter data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.3.1 Reading parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.3.2 Writing parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
9.3.3 Reading block parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

EDS94AYCCA EN 5.0 - 06/2012 L5
E94AYCCA communication manual (CANopen®)
Contents
10 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
10.1 Node guarding protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
10.1.1 Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
10.1.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
10.1.3 Commissioning example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
10.2 Heartbeat protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
10.2.1 Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
10.2.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
10.2.3 Commissioning example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
10.3 Emergency telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
10.4 Settings in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
11 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
11.1 LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
11.2 Diagnostics with the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
12 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
12.1 Short overview of the CANopen error messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
12.2 Possible causes and remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
13 Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
13.1 Communication-relevant parameters of the standard device . . . . . . . . . . . . . . . . . . . . . . 101
13.2 Parameters of the communication module for slot MXI1 . . . . . . . . . . . . . . . . . . . . . . . . . . 107
13.3 Parameters of the communication module for slot MXI2 . . . . . . . . . . . . . . . . . . . . . . . . . . 128
13.4 Table of attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
14 Implemented CANopen objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
15 DIP switch positions for setting the CAN node address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
16 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

E94AYCCA communication manual (CANopen®)
About this documentation
6LEDS94AYCCA EN 5.0 - 06/2012
1 About this documentation
Contents
This documentation solely contains descriptions for the E94AYCCA communication
module (CANopen®).
The product features and functions of the communication module are described in detail.
Examples illustrate typical applications.
This documentation also contains ...
safety instructions that must be observed;
key technical data relating to the communication module;
information about the versions of the Lenze standard devices to be used;
notes on troubleshooting and fault elimination.
The theoretical concepts are only explained to the level of detail required to understand
the function of the communication module.
This documentation does not describe any software provided by other manufacturers. No
warranty can be given for corresponding data provided in this documentation. For
information about how to use the software, please refer to the host (PLC, master)
documents.
All product names mentioned in this documentation are trademarks of their
corresponding owners.
Tip!
Detailed information about the CAN/CANopen bus system can be found on the
website of the CAN user organisation CiA® (CAN in Automation):
www.can-cia.org
Screenshots/application examples
All screenshots in this documentation are application examples. Depending on the
firmware version of the field devices and the software version of the Engineering tools
installed (e.g. »Engineer«), the screenshots in this documentation may deviate from the
actual screens shown.
Note!
This documentation supplements the Mounting Instructions supplied with the
communication module and the "Servo Drives 9400" hardware manual.
The Mounting Instructions contain safety instructions which must be observed!

EDS94AYCCA EN 5.0 - 06/2012 L7
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.com
Validity information
The information in this documentation applies to the following devices:
Extension module Type designation From hardware
version
From software
version
CANopen communication manual E94AYCCA VA 01.00

E94AYCCA communication manual (CANopen®)
About this documentation
Document history
8LEDS94AYCCA EN 5.0 - 06/2012
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.
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 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)
5.0 06/2012 TD17 General revision

EDS94AYCCA EN 5.0 - 06/2012 L9
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 Standard spelling 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.
For example: 1234.56
Text
Program name » « PC software
Example: Lenze »Engineer«
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 (9) 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.

E94AYCCA communication manual (CANopen®)
About this documentation
Terminology used
10 LEDS94AYCCA EN 5.0 - 06/2012
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.
System bus (CAN/CANopen) The Servo Drives 9400 system bus (CANopen) is an advancement of the 9300
controller series' system bus (CAN).
Features (15)
Standard device Lenze controller of the "Servo Drives 9400" product series, with which the
communication module can be used.
Application as directed (14)
Controller
Module Accessories and extension modules such as communication modules,
distributed terminals, operator and input devices (HMIs) as well as external
controls and control systems
Interface module
Communication module
»Engineer« Lenze PC software which supports you during the "Engineering" process
(parameterisation, diagnostics, and configuration) throughout the whole life
cycle, i. e. from planning to maintenance of the machine commissioned.
»PLC Designer«
Code Parameter by means of which you can parameterise or monitor the controller. In
everyday language, the term is also referred to as "index".
Subcode If a code contains several parameters, they are stored in "subcodes".
In the documentation, the slash "/" is used as a separator between the code and
the subcode (e.g. "C00118/3").
In everyday language, the term is also referred to as "subindex".
Lenze setting Default settings for the device.
Basic setting
PDO Process data object (process data communication)
SDO Service data object (parameter data communication)
HW Hardware
SW Software
PLC Programmable Logic Controller
Host CAN master
Control
Node Components of a CAN network (PLC, controller, etc.)
Bus node
Node address Unique ID for addressing the individual components of a CAN network
I-1600.20 CANopen index (hexadecimal representation)
• In the example: index 0x1600, subindex 0x20
Note!
Some of the terms used derive from the CANopen protocol. These terms are not
listed here.

EDS94AYCCA EN 5.0 - 06/2012 L11
E94AYCCA communication manual (CANopen®)
About this documentation
Notes used
1.4 Notes used
The following pictographs and signal words 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 provides 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 property damage
Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Pictograph Signal word Meaning
Note! Important note to ensure troublefree operation
Tip! Useful tip for simple handling
Reference to another documentation

E94AYCCA communication manual (CANopen®)
Safety instructions
General safety and application notes
12 LEDS94AYCCA EN 5.0 - 06/2012
2 Safety instructions
2.1 General safety and application notes
Lenze drive and automation components ...
– may only be used as directed.
Application as directed (14)
– must never be commissioned if they display any signs of damage.
– must never be modified technically.
– must never be commissioned if they are not fully mounted.
– must never be operated without the required covers.
– can have live, moving and rotating parts during and after operation, depending on
their degree of protection. Surfaces can be hot.
For Lenze drive components ...
– only use approved accessories.
– only use genuine spare parts supplied by the manufacturer of the product.
Observe all the specifications contained in the enclosed and corresponding
documentation.
– This is a precondition for ensuring safe, trouble-free operation and for making use of
the stated product features.
Features (15)
– The specifications, processes, and circuitry described in this document are for
guidance only and must be adapted to your own specific application. Lenze does not
take responsibility for the suitability of the process and circuit proposals.
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.
Danger!
Disregarding the following basic safety measures may lead to severe personal
injury and damage to material assets.

EDS94AYCCA EN 5.0 - 06/2012 L13
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.
– know and are able to apply all regulations for the prevention of accidents, directives
and laws that apply to the location of use.
2.2 Device and application-specific safety instructions
During operation, the communication module must be securely connected to the
standard device.
With 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").
Only use cables that meet the given specifications.
Specification of the bus cable (27)
2.3 Residual hazards
Protection of persons
If Servo Drives 9400 are used on a corner grounded system with a rated mains voltage
≥400V, external measures need to be implemented to provide reliable protection
against accidental contact.
Protective insulation (20)
Device protection
The communication module contains electronic components that can be damaged or
destroyed by electrostatic discharge.
Installation (24)
Documentation of the standard device, control system, and plant/machine
All the other measures prescribed in this documentation must also be
implemented. Observe the safety instructions and application notes stated in
this manual.

E94AYCCA communication manual (CANopen®)
Product description
Application as directed
14 LEDS94AYCCA EN 5.0 - 06/2012
3 Product description
3.1 Application as directed
The communication module ...
is an accessory module which can be used with the following standard devices:
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 CAN networks.
Any other use shall be deemed inappropriate!
3.2 Identification
The type designation and the hardware and software version of the communication
module are specified on the nameplate:
[3-1] Identification data
Product series Type designation From hardware
version
From software
version
Servo Drives 9400 HighLine E94AxHExxx VA 01.30
Servo Drives 9400 PLC E94AxPExxxx VA 01.00
Servo Drives 9400 regenerative power
supply module
E94ARNxxxx VA 01.00
E94YCET005
1 Type designation (type)
E94 Product series
AVersion
Y Module identification: extension module
C Module type: communication module
CA CANopen
2 Hardware version (HW)
3 Software version (SW)

EDS94AYCCA EN 5.0 - 06/2012 L15
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. For parameter setting, two parameter data channels are always available to the
user while CANopen provides only one active parameter data channel (along with the
possibility to establish further channels).
The system bus (CANopen) of the Servo Drives 9400 is an advancement of the 9300
controller series' system bus (CAN).
The communication module E94AYCCA (CANopen) provides the following features:
Interface module for the system bus (CANopen), connectable to the expansion slots of
Servo Drives 9400
Internal voltage supply of the communication module via the Servo Drive 9400.
Full compatibility according to CANopen DS301, V4.02
Support of the NMT master/slave function "node guarding" (DS301,V4.02)
Support of the NMT slave function "heartbeat" (DS301,V4.02)
No restrictions regarding the selection of node addresses
Number of parameterisable server and client SDO channels:
– max. 10 channels with 1 ... 8 bytes
Number of parameterisable PDO channels:
– max. 4 Transmit-PDOs (TPDOs) with 1 ... 8 bytes
– max. 4 Receive-PDOs (RPDOs) with 1 ... 8 bytes
All PDO channels are functionally equivalent.
Monitoring of the RPDOs for data reception
Telegram counters for SDOs and PDOs
Bus status diagnostics
Boot-up telegram generation
Emergency telegram generation
Reset node telegram generation (with master configuration)
Sync telegram generation and response to sync telegrams:
– Transmit/receive data
– Synchronisation of the device-internal time base
Abort codes
All CAN functions parameterisable via codes
Object directory (all mandatory functions, optional functions, indexes)

E94AYCCA communication manual (CANopen®)
Product description
Terminals and interfaces
16 LEDS94AYCCA EN 5.0 - 06/2012
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.
[3-2] E94AYCCA communication module (CANopen)
E94YCCA001B
X220 9-pin Sub-D plug connector for the ...
System bus (CANopen) connection (26)
S220 DIP switches for ...
• setting the CAN node address
• setting the baud rate
Possible settings via DIP switches (33)
MS
BS
BE
DE
LED status displays for diagnostics
LED status displays (86)

EDS94AYCCA EN 5.0 - 06/2012 L17
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. number of nodes 127
Baud rates [kbps] • 10
•20
•50
• 125
• 250
• 500
• 800
• 1000
Adjustable via DIP switches or code C13351 / C14351.
Process data • max. 4 TPDOs with 1 ... 8 bytes
• max. 4 RPDOs with 1 ... 8 bytes
Parameter data Max. 10 client and server SDO channels with 1 ... 8 bytes
Transfer mode for TPDOs • With change of data
• Time-controlled, 1 to x ms
• After the reception of 1 to 240 sync telegrams
Voltage supply Internal voltage supply of the communication module via the Servo Drive
9400.
Conformities, approvals • CE
•UL
"Servo Drives 9400" hardware manual
Here you can find the ambient conditions and data regarding the
electromagnetic compatibility (EMC) which also apply to the communication
module.

E94AYCCA communication manual (CANopen®)
Technical data
Supported protocols
18 LEDS94AYCCA EN 5.0 - 06/2012
4.2 Supported protocols
Category Protocol
Standard PDO protocols PDO write
PDO read
SDO protocols SDO download
SDO download initiate
SDO download segment
SDO upload
SDO upload initiate
SDO upload segment
SDO abort transfer
SDO block download
SDO block download initiate
SDO block download end
SDO block upload
SDO block upload initiate
SDO block upload end
NMT protocols Start remote node (master and slave)
Stop remote node (slave)
Enter pre-operational (slave)
Reset node (slave and local device)
Reset communication (slave)
Monitoring protocols Node guarding (master and slave)
Heartbeat (heartbeat producer and heartbeat consumer)

EDS94AYCCA EN 5.0 - 06/2012 L19
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).
Servo Drives 9400 processing time
There are no interdependencies between parameter data and process data.
Parameter data:
– For controller-internal parameters: approx. 30 ms ± 20 ms tolerance (typically)
– For some codes the processing time can be longer.
Process data are transported in real time.

E94AYCCA communication manual (CANopen®)
Technical data
Protective insulation
20 LEDS94AYCCA EN 5.0 - 06/2012
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.
Possible consequences:
• Death or serious injury
Protective measures:
• If protection against accidental contact is required for the control terminals
of the controller and the connections of the plugged device modules, ...
– there must be a double isolating distance.
– the components to be connected must be provided with a second isolating
distance.
Note!
The available protective insulation in Servo Drives 9400 is implemented in
accordance with EN 61800-5-1.