Lenze L-force CANopen EMF2178IB Use and care manual

EDSMF2178IB
.Li|
Ä.Li|ä
Communication Manual
CANopen
l
EMF2178IB
Communication module
L−force Communication

Contentsi
l
2 EDSMF2178IB EN 3.0
1 About this documentation 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Document history 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Conventions used 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Terminology used 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Notes used 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Safety instructions 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General safety information 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Device− and application−specific safety instructions 12. . . . . . . . . . . . . . . . . . . . . . . .
2.3 Residual hazards 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Product description 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Application as directed 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Identification 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Product features 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Connections and interfaces 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Technical data 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 General data and operating conditions 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Protective insulation 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Communication time 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Dimensions 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Installation 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Mechanical installation 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Electrical installation 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Wiring according to EMC (CE−typical drive system) 23. . . . . . . . . . . . . . . . .
5.2.2 Wiring with a host (master) 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Wiring system bus (CAN) 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.4 Specification of the transmission cable 26. . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.5 Bus cable length 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.6 Voltage supply 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 Commissioning 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Before switching on 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Installing EDS files 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Setting node address and baud rate 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Initial switch−on 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Enable drive via the communication module 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i
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EDSMF2178IB EN 3.0
7 Replacing the EMF2172IB communication module (CAN) 39. . . . . . . . . . . . . . . . . . . . . . . .
8 Data transfer 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 Structure of the CAN telegram 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2 CAN communication phases / network management (NMT) 45. . . . . . . . . . . . . . .
9 Process data transfer 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 Available process data objects 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Configuring process data channel 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Cyclic process data objects 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 Process data signals of Lenze controllers 52. . . . . . . . . . . . . . . . . . . . . . . . .
9.3.2 Mapping in CANopen objects (I−160x, I−1A0x) 65. . . . . . . . . . . . . . . . . . . . .
10 Parameter data transfer 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Access to the codes of the controller 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Lenze parameter sets 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.1 Parameter sets for 8200 vector controller 71. . . . . . . . . . . . . . . . . . . . . . . . .
10.2.2 Parameter sets for controller 93XX 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3 Structure of the parameter data telegram 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4 Error codes 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5 Examples of parameter data telegram 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6 Special features for parameter setting of the drive controller 81. . . . . . . . . . . . . . .
10.6.1 8200 vector controller 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6.2 9300 Servo PLC / Drive PLC / ECS 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 Monitoring 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1 Heartbeat Protocol 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2 Node Guarding Protocol 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3 Emergency telegram 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 Diagnostics 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1 Measures in case of troubled communication 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2 LED status displays 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi
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4 EDSMF2178IB EN 3.0
13 Implemented CANopen objects 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1 Reference between CANopen object and Lenze code 91. . . . . . . . . . . . . . . . . . . . . . .
13.2 Overview 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.1 I−1000: Device type 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.2 I−1001: Error register 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.3 I−1003: Error history 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.4 I−1005: COB−ID SYNC message 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.5 I−1006: Communication cycle period 99. . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.6 I−1008: Manufacturer’s device name 99. . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.7 I−100A: Manufacturer software version 100. . . . . . . . . . . . . . . . . . . . . . . . .
13.2.8 I−100C: Guard time 100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.9 I−100D: Life time factor 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.10 I−1010: Store parameters 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.11 I−1011: Restore default parameters 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.12 I−1014: COB−ID emergency object 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.13 I−1015: Emergency inhibit time 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.14 I−1016: Consumer heartbeat time 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.15 I−1017: Producer heartbeat time 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.16 I−1018: Module device description 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.17 I−1029: Error behaviour 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.18 I−1200/I−1201: Server SDO parameters 107. . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.19 I−1400 ... I−1402: Receive PDO communication parameters 109. . . . . . . . .
13.2.20 I−1600 ... I−1602: Receive PDO mapping parameters 111. . . . . . . . . . . . . . .
13.2.21 I−1800 ... I−1802: Transmit PDO communication parameters 112. . . . . . . .
13.2.22 I−1A00 ... I−1A02: Transmit PDO mapping parameters 114. . . . . . . . . . . . . .
14 Codes 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.1 Overview 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.2 Communication−relevant Lenze codes 119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3 Important controller codes 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15 Index 149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

About this documentation 1
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EDSMF2178IB EN 3.0
0Fig. 0Tab. 0
1 About this documentation
Contents
This documentation exclusively contains descriptions of the EMF2178IB communication
module (CANopen).
)Note!
This documentation supplements the mounting instructions supplied with the
function/communication module and the documentation of the used
standard device.
The mounting instructions contain safety instructions which must be
observed!
The features and functions of the communication module are described in detail.
Examples illustrate typical applications.
Furthermore this documentation contains the following:
ƒSafety instructions that must be observed.
ƒKey technical data relating to the communication module
ƒInformation on versions of Lenze standard devices to be used.
ƒNotes on troubleshooting and fault elimination
The theoretical correlations are only explained in so far as they are necessary for
comprehending the function of the communication module.
This documentation does not describe the software of an original equipment
manufacturer. No responsibility is taken for corresponding information given in this
manual. Information on how to use the software can be obtained from the documents of
the host system (master).
All brand names mentioned in this manual are trademarks of their respective companies.
ITip!
For further information visit the homepage of the CAN user organisation CiA
(CAN in Automation): www.can−cia.org.
© 2013 Lenze Drives GmbH, Postfach 10 13 52, D−31763 Hameln
No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drives
GmbH.
All information given in this documentation has been selected carefully and complies with the hardware and software described.
Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur.
Necessary corrections will be included in subsequent editions.

About this documentation1
l
6 EDSMF2178IB EN 3.0
Target group
This documentation is intended for all persons who plan, install, commission and maintain
the networking and remote service of a machine.
ITip!
Information and auxiliary devices related to the Lenze products can be found
in the download area at
http://www.Lenze.com
Validity information
The information given in this documentation is valid for the following devices:
ƒEMF2178IB communication modules (CANopen) as of version 1x.2x.

About this documentation
Document history
1
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EDSMF2178IB EN 3.0
1.1 Document history
Material no. Version Description
− 1.0 01/2008 TD17 First edition
13127634 2.0 07/2011 TD17 General revision
.Li| 3.0 06/2013 TD17 lNew chapter "Replacing communication module
EMF2172IB (CAN)" (^39)
lGeneral updates
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:
feedback−[email protected]
Thank you for your support.
Your Lenze documentation team

About this documentation
Conventions used
1
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8 EDSMF2178IB EN 3.0
1.2 Conventions used
This documentation uses the following conventions to distinguish between different
types of information:
Type of information Identification Examples/notes
Spelling of numbers
Decimal separator Point In general, the decimal point is used.
For instance: 1234.56
Decimal Standard notation Example: 1234
Hexadecimal 0x[0 ... 9, A ... F] Example: 0x60F4
Binary
lNibble
0b[0, 1]
Point
Example: ´0b0110´
Example: ´0b0110.0100´
Text
Program name » « PC software
For example: »Engineer«, »Global Drive
Control« (GDC)
Icons
Page reference ^Reference to another page with additional
information
For instance: ^16 = see page 16
Documentation reference ,Reference to another documentation with
additional information
For example: ,EDKxxx = see
documentation EDKxxx

About this documentation
Terminology used
1
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EDSMF2178IB EN 3.0
1.3 Terminology used
Term Meaning
Standard device Lenze controllers that can be used with the communication module.
^13
Drive
»Global Drive Control« /
»GDC«
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.
Code Parameter which serves to parameterise and monitor the controller. In normal speech,
the term is usually called "Index".
Subcode If a code contains more than one parameter, these parameters are stored in
"subcodes".
In this documentation a slash "/" is used as a separator between code and subcode
(e.g. "C00118/3").
In normal speech, the term is also called "Subindex".
Lenze setting These are settings the device is preconfigured with ex works.
Basic setting
HW Hardware
SW Software
PDO Process data object
SDO Service data object

About this documentation
Notes used
1
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10 EDSMF2178IB EN 3.0
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 safety instructions:
}Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph and 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.
Application notes
Pictograph and signal word Meaning
)Note! Important note to ensure troublefree operation
ITip! Useful tip for simple handling
,Reference to another documentation

Safety instructions
General safety information
2
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EDSMF2178IB EN 3.0
2 Safety instructions
)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.
2.1 General safety information
}Danger!
Disregarding the following basic safety measures may lead to severe personal
injury and damage to material assets!
ƒLenze drive and automation components ...
... must only be used for the intended purpose.
... must never be operated if damaged.
... must never be subjected to technical modifications.
... must never be operated unless completely assembled.
... must never be operated without the covers/guards.
... can − depending on their degree of protection − have live, movable or rotating parts
during or after operation. Surfaces can be hot.
ƒFor Lenze drive components ...
... only use permitted accessories.
... only use original manufacturer spare parts.
ƒAll specifications of the corresponding enclosed documentation must be observed.
This is vital for a safe and trouble−free operation and for achieving the specified product
features.
The procedural notes and circuit details provided in this document are proposals which
the user must check for suitability for his application. The manufacturer does not
accept any liability for the suitability of the specified procedures and circuit proposals.
ƒOnly qualified skilled personnel are permitted to work with or on Lenze drive and
automation components.
According to IEC 60364 or CENELEC HD 384, these are persons ...
... who are familiar with the installation, assembly, commissioning and operation of
the product,
... possess the appropriate qualifications for their work,
... and are acquainted with and can apply all the accident prevent regulations, directives
and laws applicable at the place of use.

Safety instructions
Device− and application−specific safety instructions
2
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12 EDSMF2178IB EN 3.0
2.2 Device− and application−specific safety instructions
ƒDuring operation, the communication module must be securely connected to the
standard device.
ƒWith 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).
ƒOnly use cables that meet the given specifications. (¶26)
,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 contained
in this manual.
2.3 Residual hazards
Protection of persons
ƒIf controllers are connected to phase−earthed system with a rated mains voltage
³400 V, external measures need to be implemented to provide reliable protection
against accidental contact. (see chapter "4.2", ^18)
Device protection
ƒThe communication module contains electronic components that can be damaged
or destroyed by electrostatic discharge.

Product description
Application as directed
3
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EDSMF2178IB EN 3.0
3 Product description
3.1 Application as directed
The communication module ...
ƒenables communication with Lenze controllers over the CAN bus with the CANopen
communication profile.
ƒis a device intended for use in industrial power systems.
ƒcan be used in conjunction with the following Lenze controllers:
Series Device type Version Explanation
HW SW 1)
8200 vector E82xVxxxKxBxxxXX Vx 1x 8200 vector frequency inverter
9300 EVS9321−xS ... EVS9332−xS 2x 1x Servo inverter
EVS9321−xK ... EVS9332−xK 2x 1x Servo cam profiler
EVS9321−xP ... EVS9332−xP 2x 1x Servo position controller
EVS9321−xR ... EVS9332−xR 2x 1x Servo register controller
EVS9321−xI ... EVS9332−xI 2x 8x 9300 servo PLC
EVS9321−xT ... EVS9332−xT 2x 8x
9300 vector EVF9321−xV ... EVF9333−xV 2x 1x 9300 vector frequency inverter
EVF9335−xV ... EVF9338−xV 1x 0x
EVF9381−xV ... EVF9383−xV 1x 0x
ECS servo
system
ECSxSxxxC4xxxxXX 1A 6x "Speed and Torque"
ECSxPxxxC4xxxxXX 1A 6x "Posi and Shaft"
ECSxMxxxC4xxxxXX 1A 6x "Motion"
ECSxAxxxC4xxxxXX 1A 6x "Application"
Drive PLC EPL10200−xI ... EPL10203−xI 1x 8x Drive PLC
1) Operating system software versions of the controllers
Any other use shall be deemed inappropriate!

Product description
Identification
3
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14 EDSMF2178IB EN 3.0
3.2 Identification
E82AF000P0B201XX
L
Type
Id.-No.
Prod.-No.
Ser.-No.

99371BC013
Type code  W33.2178IB 1x 2x
Series
Hardware version
Software version

Product description
Product features
3
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EDSMF2178IB EN 3.0
3.3 Product features
ƒAttachable communication module for the basic Lenze devices 8200 vector, 93XX,
9300 Servo PLC, Drive PLC, ECSXX
ƒFront DIP switches for setting the ...
– CAN node address (max. 127 nodes)
– baud rate (10, 20, 50, 125, 250, 500 and 1000 kbit/s)
ƒBus expansion without repeater up to 7450 m
ƒTopology: Line terminated at both ends (R = 120 W)
ƒSimple connection through plug−on screw terminals
ƒTogether with a 9300 Servo PLC, additional CANopen application profiles can be
implemented.

Product description
Connections and interfaces
3
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16 EDSMF2178IB EN 3.0
3.4 Connections and interfaces
2178
Address Bd
CANopen
L
0
5
4
1
62
3
EMF2178IB
CAN_L
SHLD
V+
CAN_H
GND
2178CAN003
2102LEC007
Legend for fold−out page
Pos. Description Detailed
information
0Connection status to standard device (two−colour LED)
^89
1Connection status to fieldbus (two−colour LED)
2Operating status of standard device (green and red Drive LED)
3Fixing screw
4Plug connector with double screw connection, 5−pole ^24
5PE shield cable connection
6DIP switches for setting the
lnode address (switches 1 ... 7)
lbaud rate (switches 8 ... 10)
^33
8Nameplate ^14

Technical data
General data and operating conditions
4
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EDSMF2178IB EN 3.0
4 Technical data
4.1 General data and operating conditions
Field Values
Order designation EMF2178IB
Communication media DIN ISO 11898
Network topology Line terminated at both ends (R = 120 W)
Communication profile CANopen, DS301 V4.01
Node addresses Max. 127
Cable length Max. 7450 m (depending on the baud rate, ^27)
Baud rate [kbit/s] 10, 20, 50, 125, 250, 500, 1000
Voltage supply Internal or external supply possible for basic devices: 8200 vector / 93XX /
9300 Servo PLC / Drive PLC / ECSXX
(also see ^30)
External supply via separate power supply unit:
V+: V = 24 V DC ±10 %
I = 100 mA
GND: Reference potential for external voltage supply
,Documentation for Lenze series of devices 8200 vector, 9300 and ECS
Here you can find the ambient conditions and the electromagnetic
compatibility (EMC) specifications applying to the communication module.

Technical data
Protective insulation
4
l
18 EDSMF2178IB EN 3.0
4.2 Protective insulation
{Danger!
Dangerous electrical voltage
If Lenze controllers are used on a phase earthed mains with a rated mains
voltage ³400 V, protection against accidental contact is not ensured without
implementing external measures.
Possible consequences:
ƒDeath or serious injury
Protective measures:
ƒIf protection against accidental contact is required for the control terminals
of the controller and the connections of the plugged device modules, ...
– a double isolating distance must exist.
– the components to be connected must be provided with the second
isolating distance.
Protective insulation between the bus and ... Type of insulation according to EN 61800−5−1
Reference earth / PE Functional insulation
External supply No functional insulation
Power section
l8200 vector Double insulation
l9300 vector, Servo PLC Double insulation
lDrive PLC Double insulation
lECSXX Double insulation
Control terminals
l8200 vector
(with internal supply, ^30)
No functional insulation
l8200 vector
(with external supply, ^30)
Basic insulation
l9300 vector, Servo PLC Basic insulation
lDrive PLC Basic insulation
lECSXX Basic insulation

Technical data
Communication time
4
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EDSMF2178IB EN 3.0
4.3 Communication time
The communication time is the time between the start of a request and the arrival of the
corresponding response.
The CAN bus communication times depend on ...
ƒthe processing time in the controller (see documentation of the controller)
ƒTelegram runtime
– baud rate
– telegram length
ƒthe data priority
ƒthe bus load
Processing time in the controller
,Documentation for the controller
Here you can find information on the processing times in the controller.
Telegram time
The telegram times depend on the baud rate and the telegram length:
Baud rate
[kbit/s]
Telegram runtime
[ms]
0 bytes 2 bytes 8 bytes
10 5.44 7.36 13.12
20 2.72 3.68 6.56
50 1.09 1.47 2.62
125 0.44 0.59 1.05
250 0.22 0.29 0.52
500 0.11 0.15 0.26
1000 0.05 0.07 0.13

Technical data
Dimensions
4
l
20 EDSMF2178IB EN 3.0
4.4 Dimensions
2178
Address Bd
CANopen
L
CAN_L
SHLD
V+
CAN_H
GND
62
18
36
75
2178CAN003
Fig. 4−1 Dimensions of the communication module (all dimensions in mm)