Lenze EtherCAT E84AYCET Use and care manual

L
Ä.KôVä 13429553
EtherCAT®
Accessories
Inverter Drives 8400 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Communication Manual EN
E84AYCET

2Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17
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1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 4
1.1 Document history _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6
1.2 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7
1.3 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8
1.4 Notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 9
2Safetyinstructions_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 10
2.1 General safety and application notes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 10
2.2 Device- and application-specific safety instructions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11
2.3 Residual hazards _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11
3 Product description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
3.1 Application as directed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
3.2 Identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
3.3 Product features _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 13
3.4 Terminals and interfaces _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14
4 Technical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
4.1 General data and operating conditions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
4.2 Protective insulation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
4.3 Protocol data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
4.4 Communication time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
4.5 Dimensions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
5Installation_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
5.1 Mechanical installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22
5.1.1 Mounting for standard devices 0.25 kW and 0.37 kW _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22
5.1.2 Mounting for standard devices from 0.55 kW onwards _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
5.1.3 Replacing the communication module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24
5.2 Electrical installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
5.2.1 EMC-compliant wiring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
5.2.2 Network topology _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26
5.2.3 EtherCAT connection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
5.2.4 Specification of the Ethernet cable _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
5.2.5 External voltage supply _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
6 Commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
6.1 Before initial switch-on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
6.2 Configuring the Controller (EtherCAT master) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
6.2.1 Installing device description files _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
6.2.2 Automatic device identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
6.2.3 Configuring process data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
6.2.4 Determining the cycle time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
6.3 Address allocation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36
6.4 Synchronisation with "Distributed Clocks" (DC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37
6.4.1 DC configuration in the master _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 38
6.4.2 DC configuration in the Inverter Drive 8400 (slave) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 38
6.4.3 Response of the Lenze EtherCAT nodes during start-up _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
6.5 Establishing an online connection with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 40
6.5.1 Gateway Controller -> configure EtherCAT _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 41
6.5.2 Gateway Controller -> configure EtherCAT ADS (Beckhoff) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
6.6 EtherCAT ADS communication parameters in »TwinCAT« and »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ 45
6.6.1 Example: Structure without a Beckhoff Controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45
6.6.2 Example: Structure with a Beckhoff DIN rail IPC CX1020 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 49
6.7 Initial switch-on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 53
Contents

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 3
Contents
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7 Data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54
7.1 EtherCAT-Frames _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55
7.2 EtherCAT datagrams _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 56
7.3 EtherCAT state machine _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
8 Process data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 59
8.1 Accessing process data / PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 60
8.2 Preconfigured port interconnection of the process data objects (PDO) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 61
8.3 Free configuration of the port interconnection of the process data objects (PDO) _ _ _ _ _ _ _ _ _ 62
8.4 CiA402 PDO mapping in case of Inverter Drive 8400 TopLine P _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 66
9 Parameter data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 68
9.1 Establishing a connection between master and slave _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 68
9.2 Reading and writing parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 69
9.2.1 Reading parameters (SDO upload) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 70
9.2.2 Writing parameters (SDO download) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 74
9.3 Implemented CoE objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
9.4 EtherCAT objects of the communication module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80
9.5 SDO abort codes (Abort codes) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 81
10 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82
10.1 Interruption of EtherCAT communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82
10.2 Sync frame failure detection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83
10.3 Interruption of internal communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83
11 Diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 84
11.1 LED status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 84
11.1.1 Module status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85
11.1.2 Fieldbus status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 86
11.1.3 Status displays at X246 and X247 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 88
11.2 Diagnostics with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 89
11.3 Emergency requests / Emergency messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 90
11.3.1 Structure of the Emergency message _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 90
11.3.2 Emergency messages (overview) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 91
12 Error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 92
12.1 Short overview of the EtherCAT error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 92
12.2 Possible causes and remedies _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 93
13 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 96
13.1 Communication-relevant parameters of the standard device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 96
13.2 Parameters of the communication module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 97
13.3 Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 105
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 108

1 About this documentation
4Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17
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1 About this documentation
Contents
This documentation only contains descriptions for the E84AYCET communication module
(EtherCAT®).
The features and functions of the communication module are described in detail.
Examples illustrate typical applications.
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 on how to use
the software, please refer to the control system documents (Controller, EtherCAT master).
All product names mentioned in this documentation are trademarks of their corresponding owners.
Tip!
Detailed information about EtherCAT can be found on the website of the EtherCAT
Technology Group:
www.EtherCAT.org
Note!
This documentation supplements the Mounting Instructions supplied with the
communication module and the "Inverter Drives 8400" Hardware Manual.

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 5
1 About this documentation
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Target group
This documentation is intended for all persons who plan, install, commission and maintain the
networking and remote servicing of a machine.
Tip!
Current documentation and software updates with regard to 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:
Screenshots/application examples
All screenshots in this documentation are application examples. Depending on the firmware
version of the communication module and the software version of the engineering tools installed
(e.g. »Engineer«), the screenshots in this documentation may differ from the actual screen
representation.
Extension module Type designation From hardware
version
From software
version
EtherCAT communication module E84AYCET VC 01.00...03
1A 01.04/05
02.00

1 About this documentation
1.1 Document history
6Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17
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1.1 Document history
Version Description
1.0 08/2009 TD17 First edition
2.0 10/2009 TD17 Amendment of the information on the synchronisation via the fieldbus and
general revision
3.0 04/2010 TD17 General revision
4.0 11/2010 TD17 Information about the EtherCAT register "AL Status Code"(58)
supplemented.
4.1 11/2012 TD17 EtherCAT® is a registered trademark by Beckhoff Automation GmbH,
Germany.
5.0 05/2013 TD17 • Revision of firmware version V02.00
•Newlayout

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 7
1 About this documentation
1.2 Conventions used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.2 Conventions used
This documentation uses the following conventions to distinguish different types of information:
Type of information Identification Examples/notes
Numbers
Decimal separator Point In general, the decimal point is used.
Example: 1234.56
Hexadecimal 0x[0 ... 9, A ... F] Example: 0x60F4
Binary
• Nibble
In inverted commas
Point
Example: ’100’
Example: ’0110.0100’
Text
Version information Text colour blue All pieces of information that only apply to or from a specific
software version of the inverter are highlighted accordingly
in this documentation.
Example: This function extension is available from software
version V3.0!
Program name » « The Lenze PC software »Engineer«...
Window italics The message window... / The Options dialog box ...
Variable name Setting bEnable to TRUE...
Control element Bold The OK button ... / The Copy command ... / The Properties tab
... / The Name input field ...
Sequence of menu
commands
If several successive commands are required for executing a
function, the individual commands are separated from each
other by an arrow: Select the command File Open to...
Hyperlink Underlined Optically highlighted reference to another topic. Can be
activated with a mouse-click in this online documentation.
Icons
Page reference (5) Optically highlighted reference to another page. Can be
activated with a mouse-click in this online documentation.
Step-by-step instructions Step-by-step instructions are marked by a pictograph.

1 About this documentation
1.3 Terminology used
8Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17
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1.3 Terminology used
Term Meaning
Inverter Lenze inverters of the "Inverter Drives 8400" series
Standard device
Code Parameter which serves to parameterise and monitor the drive. 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".
This manual uses a slash "/" as a separator between code and subcode
(e.g. "C00118/3").
In normal usage, the term is also referred to as "Subindex".
CoE CANopen over EtherCAT
DC "Distributed clocks" for EtherCAT synchronisation
»Engineer« PC software from Lenze which supports you during engineering
(parameterisation, diagnostics, and configuration) throughout the entire life
cycle, i.e. from planning to maintenance of the commissioned machine.
»PLC Designer«
ESI EtherCAT slave information
(device description file in XML format)
EtherCAT® is a real-time capable Ethernet system with the highest performance.
EtherCAT® is a registered trademark and patented technology, licensed by
Beckhoff Automation GmbH, Germany.
EtherCAT master Control system (Controller)
HW Hardware
I-1600.8 CoE index (hexadecimal representation)
In the example: index 0x1600, subindex 8
Lenze setting Settings with which the device is preconfigured ex works.
Standard setting
PDO Process data object
SDO Service data object
SW Software
»TwinCAT« Beckhoff PC software for EtherCAT configuration

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 9
1 About this documentation
1.4 Notes used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.4 Notes used
The following signal words and symbols are used in this documentation to indicate dangers and
important information:
Safety instructions
Layout of the safety instructions:
Application notes
Pictograph and signal word!
(characterise the type and severity of danger)
Note
(describes the danger and suggests 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 easy handling
Reference to other documentation

2 Safety instructions
2.1 General safety and application notes
10 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17
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2 Safety instructions
2.1 General safety and application notes
Lenze drive and automation components ...
• shall only be used as directed.
Application as directed (12)
• 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 covers required.
• during and after operation can have live, moving and rotating parts, depending on their degree
of protection. Surfaces can be hot.
For Lenze drive components ...
• only use the accessories approved.
• only use genuine spare parts supplied by the manufacturer of the product.
Observe all specifications contained in the enclosed documentation and related documentation.
• This is the precondition for a safe and trouble-free operation and for obtaining the product fea-
tures specified.
Product features (13)
• 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.
All works on and with Lenze drive and automation components must only be carried out by qualified
personnel. According to IEC 60364 or CENELEC HD 384 these are persons who ...
• who are familiar with the installation, assembly, commissioning and operation of the product.
• who have the corresponding qualifications for their work.
• who know all regulations for the prevention of accidents, directives and laws applicable on site
and are able to apply them.
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!
If you ignore the following basic safety measures, severe injury to persons and damage
to material assets may result.

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 11
2 Safety instructions
2.2 Device- and application-specific safety instructions
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2.2 Device- and application-specific safety instructions
• During operation, the communication module must be firmly connected to the standard device.
• With external voltage supply, always use a separate power supply unit, safely separated to EN
61800-5-1 in every control cabinet (SELV/PELV).
• Only use cables that correspond to the given specifications.
Specification of the Ethernet cable (29)
2.3 Residual hazards
Protection of persons
If Inverter Drives 8400 are used on a phase earthed mains with a rated mains voltage of ≥400 V,
external measures need to implemented in order to provide reliable protection against accidental
contact.
Protective insulation (16)
Device protection
The communication module contains electronic components that can be damaged or destroyed by
electrostatic discharge.
Installation (21)
Documentation for the standard device, control system, 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.

3 Product description
3.1 Application as directed
12 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17
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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 EtherCAT networks.
Any other use shall be deemed inappropriate!
3.2 Identification
The type designation as well as the hardware and software version of the communication module
are specified on the nameplate:
[3-1] Identification data
Product series Type designation From software version
Inverter Drives 8400 StateLine E84AVSCxxxxx 03.00
Inverter Drives 8400 HighLine E84AVHCxxxxx 02.00
Inverter Drives 8400 TopLine E84AVTCxxxxx 01.00
Inverter Drives 8400 TopLine P (with CiA402) E84AVPCxxxxx 01.00
E84YCPM001E
1 Type designation (type)
E84 Product series
AVersion
Y Module identification: Extension module
C Module type: Communication module
ET EtherCAT
V/S V: Coated version
S: Standard version
2 Hardware version (HW)
3 Software version (SW)
8400
Type:
Ser.No.:
HW: SW:
HW: SW:

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 13
3 Product description
3.3 Product features
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3.3 Product features
• Interface module for the EtherCAT communication system to the expansion slots of the Inverter
Drives 8400
• The communication module can be supplied internally by the standard device and externally via
a separate voltage source.
• Supports the "Distributed Clocks" (DC) functionality for synchronisation via the fieldbus
•Cycletimes:
• 1 ms or an integer multiple of 1 ms
• max. 15 ms if "Distributed Clocks" (DC) are used
• PDO transfer with CoE (CANopen over EtherCAT)
• Up to 16 process data words (16 bits/word) per direction can be exchanged.
• Access to all Lenze parameters with CoE (CANopen over EtherCAT)

3 Product description
3.4 Terminals and interfaces
14 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17
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3.4 Terminals and interfaces
[3-2] E84AYCET communication module (EtherCAT)
E84YCET001C
X245 External voltage supply of the communication
module
2-pole plug connector with spring connection
External voltage supply (31)
X246 EtherCAT input (IN)
X247 EtherCAT output (OUT)
• RJ45 sockets according to IEC/EN 60603-7
• with 2 LED status displays each for
diagnostics
Network topology (26)
EtherCAT connection (27)
Status displays at X246 and X247 (88)
MS
ME
BS
BE
DE
5 LED status displays for diagnostics
Module status displays (85)
Fieldbus status displays (86)

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 15
4Technicaldata
4.1 General data and operating conditions
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4 Technical data
4.1 General data and operating conditions
Area Values
Order designation E84AYCET
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 RJ45: Standard Ethernet (in accordance with IEEE 802.3), 100Base-TX (Fast
Ethernet)
Network topology Line, switch
Bus device type 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 Depending on the standard device used (see chapter Automatic device
identification (35)).
Revision ID Depending on the software version of the communication module (see
chapter Identification (12)).
Baud rate 100 Mbps, full duplex
Cycle times 1 ms or an integer multiple of 1 ms,
max. 15 ms if "Distributed clocks" (DC) are used
Voltage supply External supply via a separate power supply unit
• "+": V = 24 V DC (20.4 V - 0 % ... 28.8 V + 0 %), I = 140 mA
• "-": Reference potential for external voltage supply
Conformity, approvals CE
UL
(see hardware manual "Inverter Drives 8400")
"Inverter Drives 8400" Hardware Manual
Here you can find the ambient conditions and information on the electromagnetic
compatibility (EMC) which also apply to the communication module.

4Technicaldata
4.2 Protective insulation
16 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17
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4.2 Protective insulation
Danger!
Dangerous voltage
If Inverter Drives 8400 are used on a phase earthed mains with a rated mains voltage
≥400 V, external measures need to be implemented in order to provide reliable
protection against accidental contact.
Possible consequences:
Death or severe injury
Protective measures:
If protection against accidental contact is required for the control terminals of the
inverter and the connections of the plugged device modules, ...
• a double isolating distance must be available.
• the components to be connected must be provided with a second isolating distance.
Note!
The protective insulation provided in Inverter Drives 8400 is realised in accordance with
EN 61800-5-1.

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 17
4Technicaldata
4.2 Protective insulation
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The following illustration ...
• shows the arrangement of the terminal strips and the separate potential areas of the inverter.
• serves to determine the decisive protective insulation between two terminals located in
differently insulated separate potential areas.
[4-1] Protective insulation in accordance with EN61800-5-1
E84YCXX007
Reinforced insulation
Basic insulation
Functional insulation
X4
X6
X5
X3
Bus Ext. DC
MCI
X4
X6
X5
X3
X1X1
X105X105
X100X100
MMI
X106X106X106X106
X106X106X106X101
Terminal strip Connection
X100 Mains / DC bus connection
X101 Relay contact
X105 Motor/brake resistor
X106 Motor PTC
X1 System bus (CAN)
X3 Analog inputs/outputs
X4 Digital outputs
X5 Digital inputs
X6 Diagnostics
MCI Slot for communication module
MMI Slot for memory module

4Technicaldata
4.2 Protective insulation
18 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17
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Example
Which type of protective insulation is used between the bus terminal of the device module in slot
MCI and the mains terminal X100?
The separate potential area with the better protective insulation is decisive.
• The separate potential area of the bus terminal of the device module has a "basic insulation".
• The separate potential area of the mains terminal has a "reinforced insulation".
Result: The insulation between the X100 mains terminal and the bus terminal is of the "reinforced
insulation" type.

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 19
4Technicaldata
4.3 Protocol data
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4.3 Protocol data
4.4 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 EtherCAT network depend on the ...
• processing time in the inverter;
• telegram runtime (baud rate / telegram length).
processing time within the inverter
Area Values
Process data words 1 ... 16 process data words per direction
(max. 32 bytes, 16 bits/word)
Parameter data (mailbox size for CoE
transfer)
Max. 128 bytes
Data Processing time
Process data for synchronised
operation
0.2 ms Processing time in the module
+ 1 ... x ms Runtime of the application task of the technology
application used (tolerance)
Process data for non-synchronised
operation
2 ms Processing time in the module
+ 1 ... x ms Runtime of the application task of the technology
application used (tolerance)
Parameter data approx. 30
ms
Processing time
+ 20 ms Tolerance (typical)
Some codes may require a longer processing time (see
software manual/online help for the Inverter Drive 8400).

4Technicaldata
4.5 Dimensions
20 Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17
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4.5 Dimensions
[4-2] Dimensions
E84YCET001B
Type Dimensions [mm]
a b c c1
E84AYCET 67 50 57 8