Lenze 931 Series Use and care manual

KHB 13.0005−EN
.Cb>
Ä.Cb>ä
Communication Manual
Servo Drives 930
l
931K
EtherCAT

Contentsi
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1 About this documentation 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Document history 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Conventions used 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Terminology used 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Notes used 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Safety instructions 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General safety information 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Device− and application−specific safety instructions 9. . . . . . . . . . . . . . . . . . . . . . . .
3 Product description 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Product features 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Technical data 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 General data and operating conditions 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Installation 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Electrical installation 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1 Wiring according to EMC (CE−typical drive system) 12. . . . . . . . . . . . . . . . .
5.1.2 Network topology 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.3 Ethernet connection 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 Commissioning 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Configuration with an EtherCAT configuration tool 15. . . . . . . . . . . . . . . . . . . . . . . .
7 Parameter setting 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 CANopen over EtherCAT (CoE) 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 CANopen communication objects supported 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2 New communication objects 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.1 Configuration of the communication interface 19. . . . . . . . . . . . . . . . . . . .
8.2.2 New and changed CANopen communication objects under CoE 21. . . . . .
8.2.3 CANopen communication objects under CoE that are not supported 27. .
8.3 EtherCAT state machine 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.1 Differences in the state machine under CANopen and EtherCAT 30. . . . . .
8.4 Parameter data transfer 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5 Process data transfer 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6 Error states 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.7 Emergency telegram 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i
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KHB 13.0005−EN 1.0
8.8 Adaptation of the device description file 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.8.1 Structure of the device description file 36. . . . . . . . . . . . . . . . . . . . . . . . . . .
8.8.2 Receive PDO configuration in the RxPDO node 38. . . . . . . . . . . . . . . . . . . . .
8.8.3 Transmit PDO configuration in the TxPDO node 40. . . . . . . . . . . . . . . . . . .
8.8.4 Initialisation commands via the Mailbox node 40. . . . . . . . . . . . . . . . . . . .
8.9 Synchronisation with "Distributed clocks" (DC) 41. . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 Index 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

About this documentation1
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0Fig. 0Tab. 0
1 About this documentation
Contents
This documentation contains descriptions for the EtherCAT bus system for servo inverters
of the 931 series.
)Note!
This documentation completes the mounting instructions coming with the
931 servo inverter and the corresponding hardware manual.
The mounting instructions and the hardware manual contain safety
instructions which must be observed!
ƒThe features of the EtherCAT bus system for servo inverters of the 931 series are
described in detail.
ƒFurthermore this documentation contains:
– the most important technical data for EtherCAT communication;
– information on the installation and commissioning of the EtherCAT network;
– information on the EtherCAT data transfer, EtherCAT monitoring functions,
communication−relevant parameters, and different operating modes.
The theoretical connections are only explained as far as required for understanding
EtherCAT communication for servo inverters of the 931 series.
All trade names listed in this manual are trademarks of their respective owners.
Validity information
The information given in this documentation is valid for servo inverters of the 931 series.
Target group
This documentation addresses to all persons designing, installing, commissioning, and
setting the servo inverters of the 931 series.
ITip!
Documentation and software updates for further Lenze products can be found
on the Internet in the "Services & Downloads" area under
http://www.Lenze.com

About this documentation
Document history
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KHB 13.0005−EN 1.0
1.1 Document history
Material number Version Description
.Cb> 1.0 07/2010 TD34 First edition
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
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 For example: 1234
Hexadecimal 0x[0 ... 9, A ... F] For example: 0x60F4
Binary
lNibble
In quotation marks
Point
For example: ´100´
For example: ´0110.0100´
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

About this documentation
Terminology used
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6 KHB 13.0005−EN 1.0
1.3 Terminology used
Term Meaning
EtherCAT Fieldbus sytem of the EtherCAT Technology Group
Standard device Lenze controllers with which the bus system can be used.
Controller
Master EtherCAT node which takes over the master function in the fieldbus system.
Slave EtherCAT node representing a slave in the fieldbus system.
Station alias address By means of the station alias address, a permanent address is assigned to the
EtherCAT slave.
EtherCAT configuration
tool
Software system for real−time execution, programming, configuration, and
diagnostics of »Small Drives Control SDC« control programs
HW Hardware
SW Software
CoE CANopen over EtherCAT
PDO Process data object
SDO Service data object
DC "Distributed clocks" for fieldbus synchronisation

About this documentation
Notes used
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KHB 13.0005−EN 1.0
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
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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 components ...
... must only be applied as directed.
... must never be commissioned if visibly damaged.
... must never be technically modified.
... must never be commissioned if incompletely mounted.
... must never be operated without the required covers.
... can be live, moving and rotating during operation depending on their type of
protection. Some surfaces may 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 as well as 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 is permitted to work on and with Lenze drive
components.
According to IEC 60364 / CENELEC HD 384, these are persons who ...
... are familiar with the installation, mounting, commissioning, and operation of the
product.
... have the qualifications required for their occupation.
... know and are able to apply all national regulations for the preventions of accidents,
directives and laws applicable on site.

Safety instructions
Device− and application−specific safety instructions
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KHB 13.0005−EN 1.0
2.2 Device− and application−specific safety instructions
ƒOnly use cables that comply with the given specifications.
,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.

Product description
Product features
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3 Product description
3.1 Product features
ƒEtherCAT in accordance with IEEE−802.3u ( 100Base−TX ) with 100Mbps ( full duplex )
ƒStar and line topology
ƒConnector: two M12 sockets, shielded and D−coded, 4−pole
ƒElectrically isolated EtherCAT interface
ƒCommunication cycle: 1.6ms task
ƒMax. 127 slaves
ƒEtherCAT slave implementation is based on the FPGA image ESC10