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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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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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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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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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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

Technical data
General data and operating conditions
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4 Technical data
4.1 General data and operating conditions
Field Values
Communication profile EtherCAT
Communication medium S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or
EN 50173), CAT 5e
Interface 2 M12 sockets, standard Ethernet (in accordance with IEEE
802.3),
100Base−TX (Fast Ethernet)
Network topology Line, star
Number of nodes Max. 127
Max. cable length 100 m (typical)
Node type EtherCAT slave
Baud rate 100 Mbps
Conformities, approvals CE

Installation
Electrical installation
Wiring according to EMC (CE−typical drive system)
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5 Installation
5.1 Electrical installation
5.1.1 Wiring according to EMC (CE−typical drive system)
For wiring according to EMC requirements observe the following points:
)Note!
ƒSeparate control cables/data lines from motor cables.
ƒConnect the shields of control cables/data lines at both ends in the case of
digital signals.
ƒUse an equalizing conductor with a cross−section of at least 16mm2
(reference:PE) to avoid potential differences between the bus nodes.
ƒObserve the other notes concerning EMC−compliant wiring given in the
documentation for the standard device.
Wiring procedure
1. Observe bus topology.
2. Observe notes and wiring instructions in the documents for the control system.
3. Only use cables that comply with the given specifications.

Installation
Electrical installation
Network topology
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5.1.2 Network topology
EtherCAT supports line and switch topologies.
Line topology
M
SD SD SD
E94AYCET006
Fig. 5−1 Line topology
M Master
SD Slave Device
ƒThe devices are interconnected successively.
ƒFor correct operation it is necessary that the Ethernet sockets IN and OUT are
assigned correctly.
ƒThe direction of data transmission is from the master to the slaves.
ITip!
The termination of the last node is effected automatically by the slave.
Switch topology
MS
SD SD
E94AYCET006
Fig. 5−2 Switch topology
M Master
S Switch
SD Slave Device
The wiring can also be carried out in a star structure via an appropriate switch. For this,
observe the additional runtimes.

Installation
Electrical installation
Ethernet connection
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5.1.3 Ethernet connection
For connection to the EtherCAT bus system a commercially available 4−pole standard
Ethernet cable is suitable.
Pin assignment
M12 socket Pin Signal
1
2
34
1Tx +
2Rx +
3Tx −
931K_001 4 Rx−
Ethernet cable specifications
)Note!
Only use cables complying with the below specifications.
Specification of the Ethernet cable
Ethernet standard Standard Ethernet (in accordance with IEEE 802.3), 100Base−TX (Fast
Ethernet)
Cable type S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT 5e
Damping 23.2 dB (at 100 MHz and per 100 m)
Crosstalk damping 24 dB (at 100 MHz and per 100 m)
Return loss 10 dB (per 100 m)
Surge impedance 100 W
Design of the Ethernet cable
E94YCEP016
Fig. 5−3 Design of the Ethernet cable (S/FTP, CAT 5e)
A Cable insulation
B Braid
C Foil shielding of the core pairs
TP1 ... TP4 Twisted core pairs 1 ... 4

Commissioning
Configuration with an EtherCAT configuration tool
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6 Commissioning
6.1 Configuration with an EtherCAT configuration tool
For commissioning the EtherCAT network the following configuration tool is required:
ƒLenze »Small Drives Control SDC«
This is a software system for real−time execution, programming, configuration, and
diagnostics of control programs.
ƒThe basic parameters of the EtherCAT bus system are stored in the internal
configuration memory and can be used by the master for the node detection.
ƒDuring the search for nodes (bus scan) the corresponding device descriptions are
used.

Parameter setting7
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7 Parameter setting
The EtherCAT interface is parameterised under the menu Parameters WFieldbus W
EtherCAT WOperating parameters:
931K_100
For activating the EtherCAT interface the following parameter has to be set:
ƒBasic node number
In order to unambiguously identify the nodes in the network, a node number which may
only appear once in the network must be assigned to each node. Via this node number the
device is addressed.
As an additional option there is the possibility of basing the node number of the 931K servo
position controller on the external configuration. After the reset the input combination of
the digital inputs DIN0...DIN3 is added once to the basic node number.
Finally the EtherCAT protocol in the 931K servo position controller can be activated. Please
note that you can only alter the parameters mentioned when the protocol is deactivated.
)Note!
Please note that the parameterisation of the EtherCAT functionality is only
preserved after a reset if the parameter set has been saved in the 931K servo
position controller.
EtherCAT communication can also be monitored in the Small Drives Control via the PDO
editor Parameters WFieldbus WEtherCAT WPDO editor.
In a first step only communication should be monitored via this field. During the
initialisation the control defines the PDO data transfer area and, depending on the XML
device description and start−up settings of the control, assigns a data area (different
objects).
The following graphic representation shows the PDO area which is displayed when the ex
works settings are maintained.
In the NMT status field it can be viewed that the device is in the "Pre−operational" state. It
is not connected to a control and is not "activated".

Parameter setting 7
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931K_101
If the device was triggered via an EtherCAT control with the corresponding XML file and is
active, the displays of the PDO editor change.
931K_102
The "NMT status" field indicates that the device is Operational. The output stage is active
and the drive can be actuated with setpoints. The data input range (receive PDOs) and the
data output range (transmit PDOs) have been changed by the control according to the
selections of the XML file of the devices.
The current parameters of the device in the input range are shown in brackets behind the
objects.
If an object in the left field of the PDO editor is selected using the cursor, the values are also
shown in the editor field down to the right.

CANopen over EtherCAT (CoE)
CANopen communication objects supported
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8 CANopen over EtherCAT (CoE)
8.1 CANopen communication objects supported
As already described in the previous chapters, the user protocols are tunneled via
EtherCAT. For the CANopen over EtherCAT (CoE) protocol supported by the 931K most
objects for the communication layer are supported by EtherCAT in accordance with the CiA
DS301 standard. These are mostly objects for establishing communication between the
master and the slave.
For the CANopen motion profile in accordance with CiA DSP402 most objects are
supported that can also be operated via the standard CANopen fieldbus. Basically the
following services and object groups are supported by the EtherCAT CoE implementation
in the 931K servo position controller:
Object Description
SDO Service Data Object Are used for the standard parameterisation of the controller.
PDO Process Data Object Quick exchange of process data (e.g. actual speed) possible.
EMCY Emergency Message Transfer of error messages.
The individual objects that can be addressed via the CoE protocol in the 931K servo position
controller are transferred to the existing CANopen implementation within the controller
and are processed there.
8.2 New communication objects
However, some new CANopen objects were added to the CoE implementation under
EtherCAT, which are required for the specific connection via CoE. This results from the
altered communication interface between the EtherCAT protocol and the CANopen
protocol. There a so−called sync manager is used to control the transmission of PDOs and
SDOs via the two EtherCAT transfer types (mailbox and process data protocol).
Furthermore some CANopen objects of the 931K, which are provided under a standard
CANopen connection, are not supported in the case of a CoE connection via EtherCAT.

CANopen over EtherCAT (CoE)
New communication objects
Configuration of the communication interface
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8.2.1 Configuration of the communication interface
The EtherCAT protocol uses two different transfer types for the transmission of the device
and user protocols, like for instance the CANopen over EtherCAT (CoE) protocol used by the
931K. These two transfer types are the mailbox telegram protocol for acyclic data and the
process data telegram protocol for the transmission of cyclic data.
For the CoE protocol these two transfer types are used for the different CANopen transfer
types. They are used as follows:
ƒMailbox telegram protocol
This transfer type serves to transmit the Service Data Objects (SDOs) defined under
CANopen. In EtherCAT they are transferred to SDO frames.
ƒProcess data telegram protocol
This transfer type serves to transmit the Process Data Objects (PDOs) defined under
CANopen, which are used to exchange cyclic data. In EtherCAT they are transferred to
PDO frames.
Basically all PDOs and SDOs can be used via these two transfer types just in the way they
are defined for the CANopen protocol for the 931K. For this, please refer to the CANopen
931E/K communication manual.
However, the parameterisation of the PDOs and SDOs for transmitting the objects via
EtherCAT is different to the settings that have to be made under CANopen. In order to
integrate the CANopen objects which are to be exchanged between the master and slave
via PDO or SDO transfers into the EtherCAT protocol, a so−called sync manager is
implemented under EtherCAT.
This sync manager serves to integrate the data of the PDOs and SDOs to be transmitted in
the EtherCAT telegrams. For this purpose the sync manager provides several sync channels
which can transfer a CANopen data channel (receive SDO, transmit SDO, receive PDO, or
transmit PDO) to the EtherCAT telegram in each case.
Receive SDO
Receive PDO (1/2)
Transmit SDO
Transmit PDO (1/2)
SYNC-Kanal 0
EtherCAT Bus
SYNC-Kanal 1
SYNC-Kanal 2
SYNC-Kanal 3
ESC10
931K_002
All objects are sent via so−called sync channels. The data of these channels are
automatically integrated in the EtherCAT data stream and are transferred. The EtherCAT
implementation in the 931K servo position controller supports four of these sync channels.
Therefore, in contrast to CANopen, an additional mapping of the SDOs and PDOs to the
sync channels is required. This is effected via the so−called sync manager objects (objects
0x1C00 and 0x1C10 to 0x1C13). These objects are specified in the following:
The 931K is provided with four individual sync channels. The assignment of these sync

CANopen over EtherCAT (CoE)
New communication objects
Configuration of the communication interface
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channels to the individual transfer types is fixed and cannot be changed by the user. The
assignment is as follows:
ƒSync channel 0: mailbox telegram protocol for incoming SDOs (master ®slave)
ƒSync channel 1: mailbox telegram protocol for outgoing SDOs (master ¬slave)
ƒSync channel 2: process data telegram protocol for incoming PDOs (master ®slave)
Here object 0x1C12 is to be observed.
ƒSync channel 3: process data telegram protocol for outgoing PDOs (master ¬slave)
Here object 0x1C13 is to be observed.
The parameterisation of the individual PDOs is set via the objects 0x1600 and 0x1601
(receive PDOs) and 0x1A00 and 0x1A01 (transmit PDOs). The parameterisation of the
PDOs in the delivery status is carried out via the control system. However, it can also be
carried out via the PDO editor of the SDC.
Basically the setting of the sync channels and the configuration of the PDOs can only be
carried out in the "Pre−operational state.
)Note!
EtherCAT does not allow for carrying out the parameterisation of the slave on
one’s own. For this purpose the device description files are provided. They
contain the entire parameterisation, including the PDO parameterisation,
which is used like this by the master during the initialisation.
Therefore all changes of the parameter setting should not be carried out
manually, but in the device description files. For this purpose the sections of
the device description files that are important to the user are specified in the
following chapters.
For most applications Lenze provides complete device description files for the
931K.
)Note!
The sync channels described here do NOT comply with the sync telegrams
known from CANopen. CANopen sync telegrams can furthermore be
transferred as SDOs via the SDO interface implemented under CoE, however,
they have no direct impact on the sync channels described above.