Lenze DeviceNet 9400 Use and care manual

L
Ä.N+öä 13451097
DeviceNet™
Accessories
Servo Drives 9400 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Communication Manual EN
E94AYCDN

2Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
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1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 4
1.1 Document history _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6
1.2 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7
1.3 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8
1.4 Definition of the notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 9
2Safetyinstructions_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 10
2.1 General safety instructions and application notes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 10
2.2 Device and application-specific safety instructions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11
2.3 Residual hazards _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11
3 Product description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
3.1 Application as directed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
3.2 Identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
3.3 Product features _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 13
3.4 Equipment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14
4 Technical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
4.1 General data and operating conditions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
4.2 Protective insulation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
4.3 Protocol data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18
4.4 Communication time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18
4.5 Dimensions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
5Installation_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
5.1 Mechanical installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
5.1.1 Mounting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
5.1.2 Dismounting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
5.2 Electrical installation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22
5.2.1 Wiring of the DeviceNet _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22
5.2.2 DeviceNet connection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24
5.2.3 Specification of the bus cable _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
5.2.4 Bus cable length _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
5.2.5 Voltage supply _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
6 Commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30
6.1 Before initial switch-on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30
6.2 Configuring the host (PLC, scanner) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
6.3 Possible settings via DIP switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
6.3.1 Setting the station address (MAC ID) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
6.3.2 Setting the baud rate _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
6.4 Initial switch-on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
7 Data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
7.1 Communication channels _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
7.2 Telegram types _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
7.2.1 I/O data (process data) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
7.2.2 Explicit messages (parameter data) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
7.2.3 Device Heartbeat Message _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
7.3 Configuring I/O data (PDO mapping) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36
Contents

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17 3
Contents
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8 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
8.1 Interruption of the DeviceNet communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
8.2 Fault with regard to internal communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 40
9Diagnostics_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 41
9.1 LED status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 41
9.2 Polling the current module status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42
9.3 Polling the current network status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42
10 Error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
10.1 Short overview of the DeviceNet error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
10.2 Possible causes and remedies _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 44
10.3 DeviceNet error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 47
11 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48
11.1 Communication-relevant parameters of the standard device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48
11.2 Parameters of the communication module for the MXI1 slot _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 50
11.3 Parameters of the communication module for the MXI2 slot _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
11.4 Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64
12 Implemented DeviceNet objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 66
12.1 Identity Class (0x01 / 1) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 67
12.2 DeviceNet Class (0x03 / 3) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 68
12.3 Assembly Class (0x04 / 4) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 69
12.4 Connection Class (0x05 / 5) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 70
12.5 Acknowledge Handler Class (0x2B / 43) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 73
12.6 Lenze Class (0x65 / 101) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 74
12.7 Lenze Class (0x66 / 102) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 75
12.8 Lenze Class (0x67 / 103) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 76
12.9 Lenze Class (0x68 / 104) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 77
12.10 Lenze Class (0x6E / 110) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78
12.11 Examples for reading/writing with the »Class Instance Editor« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
12.11.1 Writing integer codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
12.11.2 Reading integer codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80
12.11.3 Writing codes with two decimal positions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 81
12.11.4 Reading codes with two decimal positions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82
13 DIP switch positions for setting the station address _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83
Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 88

1 About this documentation
4Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
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1 About this documentation
This documentation only contains descriptions of the E94AYCDN (DeviceNet™) communication
module.
The features and functions of the communication module are described in detail.
Examples illustrate typical applications.
The theoretical concepts are only explained to the level of detail required to understand the
function of the communication module.
This documentation does not describe the software of another manufacturer. No guarantee can be
given for corresponding information in this documentation. Information on the use of the software
can be found in the documents for the host (PLC, scanner).
All brand names mentioned in this documentation are trademarks of their corresponding owners.
Tip!
Detailed information on DeviceNet can be found on the website of the user organisation
ODVA (Open DeviceNet Vendor Association):
www.odva.org
Note!
This documentation supplements the mounting instructions supplied with the
communication module and the Servo Drives 9400 hardware manual.
The mounting instructions contain safety instructions that must be observed!

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17 5
1 About this documentation
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Target group
This documentation is intended for all persons who plan, install, commission and maintain the
networking and remote servicing of a machine.
Tip!
Current documentation and software updates for Lenze products can be found in the
download area at:
www.lenze.com
Validity information
The information in this documentation applies to the following devices:
Screenshots/application examples
All screenshots in this documentation are application examples. Depending on the firmware
version of the communication module and the software version of the installed engineering tools
(e.g. »Engineer«), the screenshots in this documentation may differ from the screen representation.
Extension module Type designation From hardware
version
From software
version
Communication module DeviceNet E94AYCDN VA 01.00

1 About this documentation
1.1 Document history
6Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
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1.1 Document history
Version Description
1.0 04/2008 TD17 Field test version
2.0 06/2008 TD17 First edition
3.0 11/2008 TD17 General revision
4.0 01/2013 TD17 • Update for C13861 / C14861 (module status) and C13862 / C14862
(network status)
•Newlayout
5.0 02/2014 TD17 General updates

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17 7
1 About this documentation
1.2 Conventions used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.2 Conventions used
This documentation uses the following conventions to distinguish different types of information:
Type of information Identification Examples/notes
Numbers
Decimal Standard notation Example: 1234
Decimal separator Point In general, the decimal point is used.
Example: 1234.56
Hexadecimal 0x[0 ... 9, A ... F] Example: 0x60F4
Binary
• Nibble
In inverted commas
Point
Example: ’100’
Example: ’0110.0100’
Text
Version information Text colour blue All pieces of information that only apply to or from a specific
software version of the device are highlighted accordingly in
this documentation.
Example: This function extension is available from software
version V3.0!
Program name » « The Lenze PC software »Engineer«...
Control element Bold The OK button... / The Copy command... / The Properties
tab... / The Name input field...
Sequence of menu
commands
If several successive commands are required for executing a
function, the individual commands are separated from each
other by an arrow: Select the command File Open to...
Hyperlink Underlined Optically highlighted reference to another topic. Can be
activated with a mouse-click in this online documentation.
Icons
Page reference (8) Optically highlighted reference to another page. Can be
activated with a mouse-click in this online documentation.
Step-by-step instructions Step-by-step instructions are marked by a pictograph.

1 About this documentation
1.3 Terminology used
8Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
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1.3 Terminology used
Term Meaning
Drive Lenze inverters of the "Servo Drives 9400" product series
Standard device
Code Parameter which serves to parameterise and monitor the drive. In normal usage,
the term is usually referred to as "Index".
Subcode If a code contains several parameters, they are stored in so-called "subcodes".
This manual uses a slash "/" as a separator between code and subcode
(e.g. "C00118/3").
In normal usage, the term is also referred to as "Subindex".
CoS Change of State
CoS nodes always transmit their data if the data status changes.
Device DeviceNet slave
DeviceNet™ is a fieldbus system based on CAN (Controller Area Network).
DeviceNet™ is a trademark and patented technology, licensed by the user
organisation ODVA (Open DeviceNet Vendor Association), USA.
»Engineer« PC software from Lenze which supports you during engineering
(parameterisation, diagnostics, and configuration) throughout the entire life
cycle, i.e. from planning to maintenance of the commissioned machine.
Explicit messages Parameter data
HW Hardware
Host DeviceNet master
Scanner
Lenze setting Setting with which the device is preconfigured ex works.
»RSLogix 5000« Programming and development software by Rockwell for hosts (PLCs, scanners)
in DeviceNet networks (e.g. Allen Bradley Logix control systems).
SW Software

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17 9
1 About this documentation
1.4 Definition of the notes used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.4 Definition of the 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
Danger!
(characterises the type and severity of danger)
Note
(describes the danger and suggests how to prevent dangerous situations)
Pictograph Signal word Meaning
Danger! Danger of personal injury through dangerous electrical voltage
Reference to an imminent danger that may result in death or serious personal
injury if the corresponding measures are not taken.
Danger! Danger of personal injury through a general source of danger
Reference to an imminent danger that may result in death or serious personal
injury if the corresponding measures are not taken.
Stop! Danger of damage to material assets
Reference to a possible danger that may result in damage to material assets if
the corresponding measures are not taken.
Pictograph Signal word Meaning
Note! Important note to ensure trouble-free operation
Tip! Useful tip for easy handling
Reference to other documentation

2 Safety instructions
2.1 General safety instructions and application notes
10 Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
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2 Safety instructions
2.1 General safety instructions 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.
• can have live, moving or rotating parts during and after operation, depending on their degree of
protection. Surfaces can be hot.
The following applies to Lenze drive components ...
• Only use permissible accessories.
• Only use original manufacturer spare parts.
Observe all the specifications contained in the enclosed and related documentation.
• This is the precondition for safe and trouble-free operation and for obtaining the product
features specified.
Product features (13)
• The procedural notes and circuit details described in this document are only proposals. It is up
to the user to check whether they can be adapted to the particular applications. Lenze does not
take any responsibility for the suitability of the procedures and circuit proposals described.
All work with or on Lenze drive components and automation components must be carried out only
by qualified specialist personnel. According to IEC 60364 or CENELEC HD 384, these are persons ...
• who are familiar with the installation, mounting, commissioning, and operation of 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!
Disregarding the following basic safety measures may lead to severe personal injury and
damage to material assets.

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17 11
2 Safety instructions
2.2 Device and application-specific safety instructions
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2.2 Device and application-specific safety instructions
• During operation, the communication module must be firmly connected to the standard device.
• With external voltage supply, always use a separate power supply unit, safely separated in
accordance with EN 61800-5-1 in every control cabinet (SELV/PELV).
• Only use cables that meet the listed specifications.
Specification of the bus cable (25)
• Connect a bus terminating resistor of 120 each to the first and last node of the DeviceNet line.
Wiring of the DeviceNet (22)
• Connect the shield at the voltage supply together with the "V-" connection to GND once. For this
purpose, use the centre point of the DeviceNet line, if possible.
• Connect the shield of the DeviceNet cable for each node only to the SHIELD connection of the
plug connector.
2.3 Residual hazards
Protection of persons
If Servo Drives 9400 are used on a phase earthed mains with a rated mains voltage of 400V,
protection against accidental contact is not ensured without external measures.
Protective insulation (16)
Device protection
The communication module contains electronic components which may be damaged or destroyed
by electrostatic discharge.
Installation (20)
Documentation relating to the standard device, host (PLC, scanner), system/machine
All the other measures prescribed in this documentation must also be implemented.
Observe the safety instructions and application notes contained in this manual.

3 Product description
3.1 Application as directed
12 Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
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3 Product description
3.1 Application as directed
The communication module ...
• is an accessory module which can be used in conjunction with the following standard devices:
• is a device intended for use in industrial power systems.
• should only be used under the operating conditions prescribed in this documentation.
• can only be used in DeviceNet networks.
Any other use shall be deemed inappropriate!
3.2 Identification
The type designation and hardware and software version of the communication module are
specified on the nameplate:
[3-1] Identification data
Product series Type designation From hardware
version
From software
version
Servo Drives 9400 HighLine E94AxHxxxx 1A 01.50
Servo Drives 9400 PLC E94AxPExxxx VA 02.00
Regenerative power supply module E94ARNxxxx VA 01.00
E94YCDN005
1 Type designation (type)
E94 Product series
AVersion
Y Module identification: extension module
C Module type: communication module
DN DeviceNet
2 Hardware version (HW)
3 Software version (SW)

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17 13
3 Product description
3.3 Product features
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3.3 Product features
• Interface module for connecting the DeviceNet communication system to the expansion slots
of Servo Drives 9400
• External voltage supply via the fieldbus
• "Group 2 Only Server (Device)" functionality
• Access to all Lenze parameters
• The MAC ID and baud rate (125, 250 and 500 kbps) can be set via the DIP switches on the front
• Can be easily connected due to pluggable terminal strip with double screw connection for thick/
thin cables
• Up to 32 I/O data words (16 bits/word) per direction can be exchanged.
• Support of the services:
• Poll Messages I/O
• Cyclic I/O
• Change of State (CoS) I/O
• Explicit messages
• Device Heartbeat Message

3 Product description
3.4 Equipment
14 Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
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3.4 Equipment
[3-2] E94AYCDN communication module (DeviceNet)
E94YCDN001B
X225 5-pole plug connector with screw connection
Wiring of the DeviceNet (22)
DeviceNet connection (24)
Voltage supply (29)
ST
ER
MS
NS
DE
LED status displays for diagnostic purposes
LED status displays (41)
S225 DIP switches for setting the station address
(MAC ID) and baud rate
Possible settings via DIP switch
(32)

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17 15
4Technicaldata
4.1 General data and operating conditions
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4 Technical data
4.1 General data and operating conditions
Area Values
Order designation E94AYCDN
Communication profile DeviceNet
Interface 5-pole plug connector with screw connection
Communication medium EN 11898
Network topology Line terminated at both ends (R = 120 )
Number of nodes Max. 64
Max. cable length 500 m (dependent on the selected baud rate and the cable type used)
DeviceNet nodes Slave
Vendor ID 445 (0x1BD)
Device type 0 (generic device)
Product code 9400 (0x24B8)
Baud rate 125, 250, 500 kbps (adjustable via DIP switch)
Voltage supply External supply via the 5-pole plug connector
V+ : U = 24 V DC, Imax = 170 mA
V- : reference potential for external voltage supply
Conformities , approvals • CE
•UL
(see also hardware manual)
Servo Drives 9400 hardware manual
Here you can find the ambient conditions and information on the electromagnetic
compatibility (EMC) which also apply to the communication module.

4Technicaldata
4.2 Protective insulation
16 Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
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4.2 Protective insulation
Danger!
Dangerous voltage
If the Servo Drives 9400 are operated on a phase earthed mains with a rated mains
voltage 400 V, external measures need to be implemented in order to ensure
protection against accidental contact.
Possible consequences:
Death or severe injury
Protective measures:
If protection against accidental contact is required for the control terminals of the drive
and the connections of the plugged-in device modules, ...
• a double isolating distance must exist.
• the components to be connected must be provided with the second isolating
distance.
Note!
The available protective insulation in Servo Drives 9400 is implemented in accordance
with EN 61800-5-1.

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17 17
4Technicaldata
4.2 Protective insulation
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The following illustration ...
• shows the arrangement of the terminal strips and the separate potential areas of the drive.
• serves to determine the decisive protective insulation between two terminals located in
differently insulated separate potential areas.
[4-1] Protective insulation to EN61800-5-1
E94YCXX007
Reinforced insulation
Basic insulation
Functional insulation
Ext. DC
I/O
X4
X6X6
X5
X7X7
X8X8
X3
X2
X1
X105X105
X106
X100
X107
MXI1
MXI2
Bus
Ext. DC
MSI
MMI
Terminal strip Connection Terminal strip Connection
X100 L1, L2, L3 (only Single Drive) X1 CAN on board 9400
+UG, -UG X2 Statebus
X105 U, V, W 24 V (ext.)
Rb1, Rb2 (only Single Drive) X3 Analog inputs/outputs
X106 Motor PTC X4 Digital outputs
X107 Control of the motor holding
brake
X5 Digital inputs
X6 Diagnostics
X7 Resolver
X8 Encoder
MXI1, MXI2 Extension module
MMI Storage module
MSI Safety module

4Technicaldata
4.3 Protocol data
18 Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
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Example
Which type of protective insulation is there between the bus terminal of the device module on slot
MXI1 or MXI2 and the mains terminal X100?
The separate potential area with the better protective insulation is decisive.
• The separate potential area of the bus terminal of the device module has a "functional
insulation".
• The separate potential area of the mains terminal has a "reinforced insulation".
Result: The insulation between mains terminal X100 and the bus terminal is a "reinforced
insulation".
4.3 Protocol data
4.4 Communication time
The communication time is the time between the start of a request and the arrival of the
corresponding response.
The communication times in an DeviceNet network depend on the ...
• Processing time inside the drive;
• telegram runtime (baud rate / telegram length).
Processing time inside the drive
There are no interconnections between parameter data and process data.
Area Values
Process data words 1 ... 32 words (16 bits/word)
Supported services • Reset
• Get_Attribute_Single
• Set_Attribute_Single
• Allocate_Master/Slave_Connection_Set
• Release_Group_2_Identifier_Set
Data Processing time
Process data Approx. 2 ms + 1 ms tolerance + runtime of the technology applications used
Parameter data Approx. 30 ms + a tolerance of 20 ms (typically)
For some codes the processing time can be longer (see reference manual/
»Engineer« online help for the Servo Drive 9400).

Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17 19
4Technicaldata
4.5 Dimensions
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4.5 Dimensions
[4-2] Dimensions
E94YCXX005
a89 mm
b134 mm
b1 87 mm
e23 mm

5 Installation
20 Lenze · E94AYCDN communication module (DeviceNet™) · Communication Manual · DMS 5.0 EN · 02/2014 · TD17
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5 Installation
Stop!
Electrostatic discharge
Electronic components within the communication module can be damaged or destroyed
by electrostatic discharge.
Possible consequences
• The communication module is defective.
• Fieldbus communication is not possible or faulty.
Protective measures
Free yourself from any electrostatic charge before you touch the module.