Lenze 8400 motec Series Use and care manual

L
Ä.YR&ä 13564905
CANopen
Accessories
Inverter Drives 8400 motec_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Communication Manual EN
E84DGFCCxxx

Contents
2Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019
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Contents
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 and application notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 Features and variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.3 Connections and interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.1 General data and operating conditions of the CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2 Supported protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3 Communication time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.1 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.2.1 Network topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.2.2 Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.2.3 Specification of the bus cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.2.4 Bus cable length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.2.5 CANopen connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.1 Before initial switch-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.2 How to configure the host (master) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.3 Possible settings via DIP switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.3.1 Setting the baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.3.2 Setting the CAN node address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.4 Settings in the Lenze »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.5 Initial switch-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019 3
Contents
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7 Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.1 Structure of the CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.1.1 Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.1.2 User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.2 Communication phases/network management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.2.1 State transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7.2.2 Network management telegram (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
7.2.3 Parameterising the Inverter Drives 8400 motec as CAN master . . . . . . . . . . . . 41
8 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
8.1 Accessing process data / PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
8.2 Port interconnection of process data objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
8.3 Identifiers of the process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
8.4 Transmission type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.5 PDO synchronisation via sync telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
9 Parameter data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
9.1 Identifiers of the parameter data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
9.2 User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
9.2.1 Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
9.2.2 Addressing by means of index and subindex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9.2.3 Data 1 ... data 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.2.4 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
9.3 Parameter data telegram examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
9.3.1 Read parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
9.3.2 Write parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.3.3 Reading block parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
10 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
10.1 Monitoring of the RPDOs for data reception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
10.2 Integrated error detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
10.3 Heartbeat protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
10.3.1 Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
10.3.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
10.3.3 Commissioning example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
10.4 Emergency telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
11 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Contents
4Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019
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12 Parameter reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
12.1 Communication-relevant parameters of the operating system . . . . . . . . . . . . . . . . . . . . 73
12.2 Parameters relevant for CANopen communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
12.3 Table of attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
13 Implemented CANopen objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
14 DIP switch positions for setting the CAN node address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
15 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019 5
About this documentation
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1 About this documentation
Contents
This documentation exclusively describes the system bus (CAN) and the CANopen-specific functions
of the Inverter Drive 8400 motec.
The features of the system bus (CAN) and CANopen-specific functions for the Inverter Drive 8400
motec are described in detail.
Examples illustrate typical applications.
This documentation contains as well ...
• the most important technical data for CAN communication;
• information on the installation and commissioning of the CAN network;
• information on CAN data transfer, CAN monitoring functions, communication-relevant
parameters and implemented CAN objects.
The theoretical concepts are only explained to the level of detail required to understand the
function of CAN communication with Inverter Drives 8400 motec.
Depending on the software version of the controller and the version of the »Engineer« software
installed, the screenshots in this documentation may deviate from the »Engineer« representation.
This documentation does not describe the software of other manufacturers. No responsibility is
taken for corresponding information given in this documentation. Information on how to use the
software can be obtained from the documents of the master computer.
All brand names mentioned in this documentation are trademarks of their corresponding owners.
Tip!
Detailed information about the system bus (CAN) can be found on the website of the CAN
user organisation CiA (CAN in Automation):
www.can-cia.org
Note!
This documentation supplements the mounting instructions and the "Inverter Drives
8400 motec" hardware manual supplied with the Communication Unit.
The hardware manual contains safety instructions which must be observed!

About this documentation
6Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019
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Target group
This documentation addresses to persons who configure, install, commission, and maintain the
networking and remote maintenance of a machine.
Tip!
Information and software updates for Lenze products are provided in the download area
at:
www.Lenze.com
Information regarding the validity
The information given in this documentation is valid for the following devices:
Features and variants (13)
Product series Type designation Version
Inverter Drives 8400 motec
CANopen communication unit
E84DGFCCxNx CANopen
E84DGFCCxJx CANopen + safety

Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019 7
About this documentation
Document history
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1.1 Document history
Version Description
4.0 02/2019 TD23 General revision
3.0 11/2011 TD17 General revision
2.0 01/2011 TD17 Update of the ...
•Parameters relevant for CANopen communication (73) (version 02.00)
• »Engineer« screenshots
1.0 09/2010 TD17 First edition

About this documentation
Conventions used
8Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019
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1.2 Conventions used
This documentation uses the following conventions to distinguish between different types of
information:
Type of information Highlighting Examples/notes
Spelling of numbers
Decimal Normal 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 always 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...
Hyperlink Underlined Optically highlighted reference to another topic. Can
be activated with a mouse-click in this
documentation.
Icons
Page reference (8) Optically highlighted reference to another page. Can
be activated with a mouse-click in this
documentation.
Step-by-step instructions Step-by-step instructions are indicated by a
pictograph.

Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019 9
About this documentation
Terminology used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.3 Terminology used
Term Meaning
CAN CAN (Controller Area Network) is an asynchronous, serial fieldbus system.
CANopen® CANopen® is a CAN-based communication protocol and a registered trademark,
licensed by the CiA® (CAN in Automation e. V.) CAN user organisation, www.can-
cia.org.
Inverter Lenze frequency inverter of the "Inverter Drives 8400 motec" product series
Standard device
Drive Unit
Communication unit
Wiring Unit
The 8400 motec inverter has a modular structure that includes the following
modules: "Drive Unit", "Communication Unit", and "Wiring Unit".
• The drive unit is available in different power settings.
• In case of the communication unit you can select between:
• Without fieldbus (basic I/O, standard I/O, extended I/O)
• AS interface (without safety/with safety STO)
• CANopen (without safety/with safety STO)
• EtherCAT (without safety/with safety STO)
• EtherNET/IP (without safety/with safety STO)
• PROFIBUS (without safety/with safety STO)
• PROFINET (without safety/with safety STO)
• POWERLINK (without safety/with safety STO)
• The wiring unit provides flexible connection possibilities for a simple
integration into the power supply of the machine.
»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.
Code Parameter which serves to parameterise and monitor the inverter. In normal
usage, the term is usually referred to as "Index".
Subcode If a code contains several parameters, they are stored in "subcodes".
This manual uses a slash "/" as a separator between code and subcode
(e.g. "C00118/3").
This term is also referred to as "subindex" in common parlance.
Lenze setting This setting is the default factory setting of the device.
Basic setting
HW Hardware
SW Software
Note!
Some of the terms used originate from the CANopen protocol.

About this documentation
Notes used
10 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019
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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 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 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 trouble-free operation
Tip! Useful tip for easy handling
Reference to another document

Safety instructions
General safety and application notes
10 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019
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2 Safety instructions
2.1 General safety and application notes
• Lenze drive and automation components ...
• must only be used as directed.
Application as directed (12)
• must never be commissioned if they display signs of damage.
• must never be technically modified.
• must never be commissioned if they are not fully mounted.
• must never be operated without required covers.
• during and after operation can have live, moving and rotating parts, depending on their
degree of protection. Surfaces can be hot.
• The following applies to Lenze drive components ...
• only use the accessories approved.
• Only use original manufacturer spare parts.
• Observe all specifications contained in the enclosed documentation and related
documentation.
• This is the precondition for safe and trouble-free operation and for obtaining the product
features specified.
Features and variants (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.
• Only qualified personnel may work with and on Lenze drive and automation components.
According to IEC 60364 and CENELEC, these are persons ...
• are familiar with installing, mounting, commissioning, and operating the product.
• who have the corresponding qualifications for their work.
• who know and can apply all regulations for the prevention of accidents, directives, and laws
applicable at the place of use.
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!
If the following basic safety measures are disregarded, severe injuries to persons and
damage to material assets may result.

Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019 11
Safety instructions
Device and application-specific safety instructions
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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, each control cabinet must be provided with a safely
separated power supply unit ("SELV"/"PELV") according to EN 61800-5-1.
• Only use cables that meet the listed specifications.
Specification of the bus cable (24)
2.3 Residual hazards
Device protection
• The Communication Unit contains electronic components that can be damaged or destroyed by
electrostatic discharge.
Installation (20)
Documentation of "Inverter Drives 8400 motec", control system, 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.

Product description
Application as directed
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3 Product description
3.1 Application as directed
The CANopen communication unit ...
• is a unit that can only be used in conjunction with the following modules:
• is a device intended for use in industrial power systems.
• should only be used under the operating conditions prescribed in this documentation.
• may only be used in CANopen networks.
• can also be used without being connected to the CANopen 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

Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019 13
Product description
Features and variants
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3.2 Features and variants
The CANopen communication unit is available in the following versions:
• The CANopen communication unit ...
• mounted on top of the Wiring Unit (E84DGVNxx);
• is exclusively supplied internally by the drive unit (E84DGDVxxxxxxxx).
• The I/O connections can be brought into the device via M12 connectors or cable glands.
• In the E84DGFCC9xx version, a maximum of four digital inputs is conducted on M12 connectors
(see "Inverter Drives 8400 motec" hardware manual).
• Devices without an integrated safety system (safety option) have no analog input and no relay
output.
• In the case of the E84DGFCCxJx communication units, the integrated safety system can be used
for the protection of persons on machines.
• Setting of the CAN node address and baud rate is possible via DIP switch or code.
• Communication with the Lenze »Engineer« (access to all Lenze parameters) is preferably carried
out via the CAN bus. Furthermore communication can be effected via the diagnostic interface
of the drive unit.
Product series Type designation Product features
Enclosure Connection CANopen I/O: Connection via terminal I/O: Connection via M12 Safety
Inverter Drives 8400 motec
CANopen communication unit
E84DGFCCFNP IP 65 M12 3× DI
1× DO
2× DI
E84DGFCCENP IP 65 M12 2× DI 3× DI
1× DO
E84DGFCCFJP IP 65 M12 3× DI
1× DO
1× AI
2× DI 
E84DGFCCEJP IP 65 M12 3× DI 2× DI
1× DO
1× AI

"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).

Product description
Features and variants
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The system bus (CANopen) of the Inverter Drives 8400 motec is the advanced version of the system
bus (CAN) and includes the following features:
• Full compatibility according to CANopen DS301, V4.02.
• Support of the "Heartbeat" NMT slave function (DS301, V4.02).
• Number of parameterisable server SDO channels:
• Max. 2 channels with 1 ... 8 bytes
• Because of the 2 server SDO channels, the address range from 1 ... 63 is available.
• Number of parameterisable PDO channels:
• Max. 2 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
• Max. 2 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)
• All PDO channels are functionally equivalent.
• Monitoring of the RPDOs for data reception
• Adjustable error response to ...
• physical CAN errors (frame, bit, ACK error)
• bus-stop, bus-working
•missingPDOs
• Telegram counters for SDOs and PDOs
• Bus status diagnostics
• Boot-up telegram generation
• Emergency telegram generation
• Reset node telegram generation (in the case of master configuration)
• Sync telegram generation and response to sync telegrams:
• Data transmission/reception
• Device-internal time base synchronisation
• Abort codes
• Object directory (all mandatory functions, optional functions, indexes)

Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019 15
Product description
Connections and interfaces
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3.3 Connections and interfaces
[3-1] CANopen communication unit
E84DG002
Pos. Description
DIP DIP switch
Possible settings via DIP switch (30)
A2 CANopen input (M12 pins, 5-pole)
CANopen connection (27)
A3 CANopen output (M12 socket, 5-pole)
CANopen connection (27)
A1 / A4 Positions for further freely designable inputs and outputs:
• Digital inputs
•Digitaloutput
• Analog input (only for E84DGFCCxJx)
• Relay output (only for E84DGFCCxJx)
• Connection of safety system "Safety Option" (only for E84DGFCCxJx)
B1 ... B4
X3 / X4 / X61 Terminal strips for wiring the connectors at A1 ... A4 and B1 ... B4
X5 Plug connector for connection to the Drive Unit

Product description
Connections and interfaces
16 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019
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• By default, the CANopen connectors are already pre-assembled and wired with the terminal
strip X3.
• The CANopen connections and further connections (e.g. digital inputs) can be freely designed at
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 plugs or cable glands used with the corresponding contacts of the terminal strips
X3, X4 and X61.
"Inverter Drives 8400 motec" hardware manual
Observe the notes and wiring instructions contained in this documentation.

Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019 17
Technical data
General data and operating conditions of the CANopen
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4 Technical data
4.1 General data and operating conditions of the CANopen
"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.
Range Values
Order designation • E84DGFCCxNx (CANopen)
• E84DGFCCxJx (CANopen + Safety)
Communication profile CANopen, DS301 V4.02
Communication medium DIN ISO 11898
Interface • CANopen input: M12 pins, 5-pole, A-coded
• CANopen output: M12 socket, 5-pole, A-coded
Network topology Line terminated on both sides
Adjustable node address 1 ... 63 (can be set via DIP switch or code C00350)
Max. number of nodes 63
Baud rate [kbps] 20, 50, 125, 250, 500, 800, 1000 kbps, adjustable via DIP switches or code
C00351
Process data • Max. 2 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
• Max. 2 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)
Parameter data Max. 2 server SDO channels with 1 ... 8 bytes
Transmission mode for TPDOs • With change of data
• Time-controlled, 1 to x ms
• After the reception of 1 to 240 sync telegrams
Conformities, approvals • CE
•UR/cUR
(see also hardware manual)

Technical data
Supported protocols
18 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019
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4.2 Supported protocols
Protocols
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 protocol (slave)
Monitoring protocols Heartbeat (heartbeat producer and heartbeat consumer)
• 1 Heartbeat Producer can be monitored.
Emergency telegram (to master)

Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019 19
Technical data
Communication time
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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 a CANopen network depend on ...
• processing time in the inverter;
• frame runtime (baud rate / frame length);
• nesting depth of the network.
Processing time inside the inverter
There are no interdependencies between parameter data and process data.
Data Processing time
Process data Approx. 2 ms
+ 0 ... 1 ms
+ 1 ... x ms
Update cycle
Processing time in the module
Runtime of the application task of the technology
application used (tolerance)
Parameter data Approx. 30 ms + a tolerance of 20 ms (typically)
• For some codes, the processing time may be longer (see software
manual/»Engineer« online help "Inverter Drives 8400 motec").