Lenze E94AYCCA Bedienungsanleitung

L EDS94AYCCA13411721Ä.J26äCommunication ManualE94AYCCACANopen® communication module9400L-force Communication

E94AYCCA communication manual (CANopen®)About this documentationTerminology used10 L EDS94AYCCA EN 5.0 - 06/2012 1.3 Terminology usedTerm MeaningCAN

E94AYCCA communication manual (CANopen®)Error messagesPossible causes and remedies100 L EDS94AYCCA EN 5.0 - 06/2012 CAN module (MXI2) RPDO8: telegra

EDS94AYCCA EN 5.0 - 06/2012 L 101E94AYCCA communication manual (CANopen®)Parameter referenceCommunication-relevant parameters of the standard device

E94AYCCA communication manual (CANopen®)Parameter referenceCommunication-relevant parameters of the standard device102 L EDS94AYCCA EN 5.0 - 06/2012

EDS94AYCCA EN 5.0 - 06/2012 L 103E94AYCCA communication manual (CANopen®)Parameter referenceCommunication-relevant parameters of the standard device

E94AYCCA communication manual (CANopen®)Parameter referenceCommunication-relevant parameters of the standard device104 L EDS94AYCCA EN 5.0 - 06/2012

EDS94AYCCA EN 5.0 - 06/2012 L 105E94AYCCA communication manual (CANopen®)Parameter referenceCommunication-relevant parameters of the standard device

E94AYCCA communication manual (CANopen®)Parameter referenceCommunication-relevant parameters of the standard device106 L EDS94AYCCA EN 5.0 - 06/2012

EDS94AYCCA EN 5.0 - 06/2012 L 107E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1 13.

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1108 L EDS94AYCCA EN 5.0 - 06/2012 C13

EDS94AYCCA EN 5.0 - 06/2012 L 109E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1 C13

EDS94AYCCA EN 5.0 - 06/2012 L 11E94AYCCA communication manual (CANopen®)About this documentationNotes used 1.4 Notes usedThe following pictographs a

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1110 L EDS94AYCCA EN 5.0 - 06/2012 C13

EDS94AYCCA EN 5.0 - 06/2012 L 111E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1 C13

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1112 L EDS94AYCCA EN 5.0 - 06/2012 C13

EDS94AYCCA EN 5.0 - 06/2012 L 113E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1 C13

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1114 L EDS94AYCCA EN 5.0 - 06/2012 C13

EDS94AYCCA EN 5.0 - 06/2012 L 115E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1 C13

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1116 L EDS94AYCCA EN 5.0 - 06/2012 C13

EDS94AYCCA EN 5.0 - 06/2012 L 117E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1 C13

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1118 L EDS94AYCCA EN 5.0 - 06/2012 C13

EDS94AYCCA EN 5.0 - 06/2012 L 119E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1 C13

E94AYCCA communication manual (CANopen®)Safety instructionsGeneral safety and application notes12 L EDS94AYCCA EN 5.0 - 06/2012 2 Safety instruction

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1120 L EDS94AYCCA EN 5.0 - 06/2012 C13

EDS94AYCCA EN 5.0 - 06/2012 L 121E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1 C13

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1122 L EDS94AYCCA EN 5.0 - 06/2012 C13

EDS94AYCCA EN 5.0 - 06/2012 L 123E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1 C13

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1124 L EDS94AYCCA EN 5.0 - 06/2012 C13

EDS94AYCCA EN 5.0 - 06/2012 L 125E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1 C13

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1126 L EDS94AYCCA EN 5.0 - 06/2012 C13

EDS94AYCCA EN 5.0 - 06/2012 L 127E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI1 C13

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2128 L EDS94AYCCA EN 5.0 - 06/2012 13.

EDS94AYCCA EN 5.0 - 06/2012 L 129E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2 C14

EDS94AYCCA EN 5.0 - 06/2012 L 13E94AYCCA communication manual (CANopen®)Safety instructionsDevice and application-specific safety instructions  All

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2130 L EDS94AYCCA EN 5.0 - 06/2012 C14

EDS94AYCCA EN 5.0 - 06/2012 L 131E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2 C14

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2132 L EDS94AYCCA EN 5.0 - 06/2012 C14

EDS94AYCCA EN 5.0 - 06/2012 L 133E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2 C14

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2134 L EDS94AYCCA EN 5.0 - 06/2012 C14

EDS94AYCCA EN 5.0 - 06/2012 L 135E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2 C14

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2136 L EDS94AYCCA EN 5.0 - 06/2012 C14

EDS94AYCCA EN 5.0 - 06/2012 L 137E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2 C14

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2138 L EDS94AYCCA EN 5.0 - 06/2012 C14

EDS94AYCCA EN 5.0 - 06/2012 L 139E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2 C14

E94AYCCA communication manual (CANopen®)Product descriptionApplication as directed14 L EDS94AYCCA EN 5.0 - 06/2012 3 Product description3.1 Applicat

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2140 L EDS94AYCCA EN 5.0 - 06/2012 C14

EDS94AYCCA EN 5.0 - 06/2012 L 141E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2 C14

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2142 L EDS94AYCCA EN 5.0 - 06/2012 C14

EDS94AYCCA EN 5.0 - 06/2012 L 143E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2 C14

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2144 L EDS94AYCCA EN 5.0 - 06/2012 C14

EDS94AYCCA EN 5.0 - 06/2012 L 145E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2 C14

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2146 L EDS94AYCCA EN 5.0 - 06/2012 C14

EDS94AYCCA EN 5.0 - 06/2012 L 147E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2 C14

E94AYCCA communication manual (CANopen®)Parameter referenceParameters of the communication module for slot MXI2148 L EDS94AYCCA EN 5.0 - 06/2012 C14

EDS94AYCCA EN 5.0 - 06/2012 L 149E94AYCCA communication manual (CANopen®)Parameter referenceTable of attributes 13.4 Table of attributesThe table of

EDS94AYCCA EN 5.0 - 06/2012 L 15E94AYCCA communication manual (CANopen®)Product descriptionFeatures 3.3 FeaturesFor many years the system bus (CAN)

E94AYCCA communication manual (CANopen®)Parameter referenceTable of attributes150 L EDS94AYCCA EN 5.0 - 06/2012 Table of attributesCode Name Index D

EDS94AYCCA EN 5.0 - 06/2012 L 151E94AYCCA communication manual (CANopen®)Parameter referenceTable of attributes C13613 Resp. to CAN heartbeat error

E94AYCCA communication manual (CANopen®)Parameter referenceTable of attributes152 L EDS94AYCCA EN 5.0 - 06/2012 C14612 Resp. CAN node guarding error

EDS94AYCCA EN 5.0 - 06/2012 L 153E94AYCCA communication manual (CANopen®)Implemented CANopen objects 14 Implemented CANopen objectsLenze devices can

E94AYCCA communication manual (CANopen®)Implemented CANopen objects154 L EDS94AYCCA EN 5.0 - 06/2012 I-1029 Error behaviour0 Highest subindex suppor

EDS94AYCCA EN 5.0 - 06/2012 L 155E94AYCCA communication manual (CANopen®)Implemented CANopen objects I-1000 - Device typeThis object specifies the p

E94AYCCA communication manual (CANopen®)Implemented CANopen objects156 L EDS94AYCCA EN 5.0 - 06/2012 I-1003 - Pre-defined error fieldError historyTh

EDS94AYCCA EN 5.0 - 06/2012 L 157E94AYCCA communication manual (CANopen®)Implemented CANopen objects I-1005 - COB-ID SYNC messageThis object serves

E94AYCCA communication manual (CANopen®)Implemented CANopen objects158 L EDS94AYCCA EN 5.0 - 06/2012 I-1006 - Communication cycle periodSetting the

EDS94AYCCA EN 5.0 - 06/2012 L 159E94AYCCA communication manual (CANopen®)Implemented CANopen objects I-1010 - Store parametersSave parameters with m

E94AYCCA communication manual (CANopen®)Product descriptionTerminals and interfaces16 L EDS94AYCCA EN 5.0 - 06/2012 3.4 Terminals and interfaces 9-

E94AYCCA communication manual (CANopen®)Implemented CANopen objects160 L EDS94AYCCA EN 5.0 - 06/2012 I-1011 - Restore default parametersLoad Lenze s

EDS94AYCCA EN 5.0 - 06/2012 L 161E94AYCCA communication manual (CANopen®)Implemented CANopen objects I-1014 - COB-ID EMCYIf a communication error or

E94AYCCA communication manual (CANopen®)Implemented CANopen objects162 L EDS94AYCCA EN 5.0 - 06/2012 I-1016 - Consumer heartbeat timeMonitoring time

EDS94AYCCA EN 5.0 - 06/2012 L 163E94AYCCA communication manual (CANopen®)Implemented CANopen objects I-1018 - Identity objectI-1029 - Error behaviou

E94AYCCA communication manual (CANopen®)Implemented CANopen objects164 L EDS94AYCCA EN 5.0 - 06/2012 I-1200 - SDO1 server parameterIdentifier for th

EDS94AYCCA EN 5.0 - 06/2012 L 165E94AYCCA communication manual (CANopen®)Implemented CANopen objects I-1201 - SDO2 server parameterSetting of the id

E94AYCCA communication manual (CANopen®)Implemented CANopen objects166 L EDS94AYCCA EN 5.0 - 06/2012 ExampleThe parameter data channel 2 of the cont

EDS94AYCCA EN 5.0 - 06/2012 L 167E94AYCCA communication manual (CANopen®)Implemented CANopen objects I-1202 - SDO3 server parameterSetting of the id

E94AYCCA communication manual (CANopen®)Implemented CANopen objects168 L EDS94AYCCA EN 5.0 - 06/2012 I-1206 - SDO7 server parameterSetting of the id

EDS94AYCCA EN 5.0 - 06/2012 L 169E94AYCCA communication manual (CANopen®)Implemented CANopen objects I-1400 - RPDO1 communication parameterCommunica

EDS94AYCCA EN 5.0 - 06/2012 L 17E94AYCCA communication manual (CANopen®)Technical dataGeneral data and operating conditions 4 Technical data4.1 Gene

E94AYCCA communication manual (CANopen®)Implemented CANopen objects170 L EDS94AYCCA EN 5.0 - 06/2012 I-1401 - RPDO2 communication parameterCommunica

EDS94AYCCA EN 5.0 - 06/2012 L 171E94AYCCA communication manual (CANopen®)Implemented CANopen objects I-1403 - RPDO4 communication parameterCommunica

E94AYCCA communication manual (CANopen®)Implemented CANopen objects172 L EDS94AYCCA EN 5.0 - 06/2012 I-1601 - RPDO2 mapping parameterThis object ser

EDS94AYCCA EN 5.0 - 06/2012 L 173E94AYCCA communication manual (CANopen®)Implemented CANopen objects I-1800 - TPDO1 communication parameterCommunica

E94AYCCA communication manual (CANopen®)Implemented CANopen objects174 L EDS94AYCCA EN 5.0 - 06/2012 Subindex 3 - inhibit timeThe delay time can onl

EDS94AYCCA EN 5.0 - 06/2012 L 175E94AYCCA communication manual (CANopen®)Implemented CANopen objects I-1802 - TPDO3 communication parameterCommunica

E94AYCCA communication manual (CANopen®)Implemented CANopen objects176 L EDS94AYCCA EN 5.0 - 06/2012 I-1A00 - TPDO1 mapping parameterThis object ser

EDS94AYCCA EN 5.0 - 06/2012 L 177E94AYCCA communication manual (CANopen®)Implemented CANopen objects I-1A02 - TPDO3 mapping parameterThis object ser

E94AYCCA communication manual (CANopen®)DIP switch positions for setting the CAN node address178 L EDS94AYCCA EN 5.0 - 06/2012 15 DIP switch positio

EDS94AYCCA EN 5.0 - 06/2012 L 179E94AYCCA communication manual (CANopen®)DIP switch positions for setting the CAN node address 39 OFF ON OFF OFF ON

E94AYCCA communication manual (CANopen®)Technical dataSupported protocols18 L EDS94AYCCA EN 5.0 - 06/2012 4.2 Supported protocolsCategory ProtocolSt

E94AYCCA communication manual (CANopen®)DIP switch positions for setting the CAN node address180 L EDS94AYCCA EN 5.0 - 06/2012 82 ON OFF ON OFF OFF

EDS94AYCCA EN 5.0 - 06/2012 L 181E94AYCCA communication manual (CANopen®)DIP switch positions for setting the CAN node address 125 ON ON ON ON ON OF

E94AYCCA communication manual (CANopen®)Index182 L EDS94AYCCA EN 5.0 - 06/2012 16 IndexAActivating changed settings 36Addressing through index and s

EDS94AYCCA EN 5.0 - 06/2012 L 183E94AYCCA communication manual (CANopen®)Index C14373 - CAN SDO server Tx identifier 139C14374 - CAN SDO client node

E94AYCCA communication manual (CANopen®)Index184 L EDS94AYCCA EN 5.0 - 06/2012 CAN module (MXI2) RPDO6telegram not received or faulty (error message

EDS94AYCCA EN 5.0 - 06/2012 L 185E94AYCCA communication manual (CANopen®)Index DIP switch positions for setting the CAN node address 178DIP switch s

E94AYCCA communication manual (CANopen®)Index186 L EDS94AYCCA EN 5.0 - 06/2012 I-1802 - TPDO3 communication parameter 175I-1803 - TPDO4 communicatio

EDS94AYCCA EN 5.0 - 06/2012 L 187E94AYCCA communication manual (CANopen®)Index SSafety instructions 12Safety instructions (representation) 11Screens

© 06/2012)Lenze Automation GmbHHans-Lenze-Str. 1D-31855 AerzenGermanyService Lenze Service GmbHBreslauer Straße 3D-32699 ExtertalGermany+49 (0)51

EDS94AYCCA EN 5.0 - 06/2012 L 19E94AYCCA communication manual (CANopen®)Technical dataCommunication time 4.3 Communication timeThe communication tim

2 L EDS94AYCCA EN 5.0 - 06/2012

E94AYCCA communication manual (CANopen®)Technical dataProtective insulation20 L EDS94AYCCA EN 5.0 - 06/2012 4.4 Protective insulation Danger!Danger

EDS94AYCCA EN 5.0 - 06/2012 L 21E94AYCCA communication manual (CANopen®)Technical dataProtective insulation The illustration below ... shows the ar

E94AYCCA communication manual (CANopen®)Technical dataProtective insulation22 L EDS94AYCCA EN 5.0 - 06/2012 ExampleWhich type of protective insulati

EDS94AYCCA EN 5.0 - 06/2012 L 23E94AYCCA communication manual (CANopen®)Technical dataDimensions 4.5 Dimensions[4-2] DimensionsE94YCXX005a 89 mmb 13

E94AYCCA communication manual (CANopen®)Installation24 L EDS94AYCCA EN 5.0 - 06/2012 5 Installation Stop!Electrostatic dischargeElectronic componen

EDS94AYCCA EN 5.0 - 06/2012 L 25E94AYCCA communication manual (CANopen®)InstallationMechanical installation 5.1 Mechanical installation5.1.1 Mountin

E94AYCCA communication manual (CANopen®)InstallationElectrical installation26 L EDS94AYCCA EN 5.0 - 06/2012 5.2 Electrical installation5.2.1 System

EDS94AYCCA EN 5.0 - 06/2012 L 27E94AYCCA communication manual (CANopen®)InstallationElectrical installation Assignment of the 9-pin Sub-D plug conne

E94AYCCA communication manual (CANopen®)InstallationElectrical installation28 L EDS94AYCCA EN 5.0 - 06/2012 5.2.3 Bus cable length5.2.3.1 Total cabl

EDS94AYCCA EN 5.0 - 06/2012 L 29E94AYCCA communication manual (CANopen®)InstallationElectrical installation 5.2.3.2 Segment cable lengthThe segment

EDS94AYCCA EN 5.0 - 06/2012 L 3E94AYCCA communication manual (CANopen®)Contents Contents1 About this documentation . . . . . . . . . . . . . . . . .

E94AYCCA communication manual (CANopen®)InstallationElectrical installation30 L EDS94AYCCA EN 5.0 - 06/2012 5.2.3.3 Checking the use of repeatersCom

EDS94AYCCA EN 5.0 - 06/2012 L 31E94AYCCA communication manual (CANopen®)InstallationElectrical installation 5.2.4 Voltage supply The communication

E94AYCCA communication manual (CANopen®)CommissioningBefore initial switch-on32 L EDS94AYCCA EN 5.0 - 06/2012 6 CommissioningDuring commissioning, t

EDS94AYCCA EN 5.0 - 06/2012 L 33E94AYCCA communication manual (CANopen®)CommissioningPossible settings via DIP switches 6.2 Possible settings via DI

E94AYCCA communication manual (CANopen®)CommissioningPossible settings via DIP switches34 L EDS94AYCCA EN 5.0 - 06/2012 6.2.2 Setting the baud rate

EDS94AYCCA EN 5.0 - 06/2012 L 35E94AYCCA communication manual (CANopen®)CommissioningSettings in the »Engineer« 6.3 Settings in the »Engineer«Go to

E94AYCCA communication manual (CANopen®)CommissioningInitial switch-on36 L EDS94AYCCA EN 5.0 - 06/2012 6.4 Initial switch-on Documentation of Servo

EDS94AYCCA EN 5.0 - 06/2012 L 37E94AYCCA communication manual (CANopen®)Data transferStructure of the CAN data telegram 7 Data transferVia the CANop

E94AYCCA communication manual (CANopen®)Data transferStructure of the CAN data telegram38 L EDS94AYCCA EN 5.0 - 06/2012 7.1.1 IdentifierThe principl

EDS94AYCCA EN 5.0 - 06/2012 L 39E94AYCCA communication manual (CANopen®)Data transferStructure of the CAN data telegram Identifier assignmentThe sys

E94AYCCA communication manual (CANopen®)Contents4 L EDS94AYCCA EN 5.0 - 06/2012 6 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . .

E94AYCCA communication manual (CANopen®)Data transferStructure of the CAN data telegram40 L EDS94AYCCA EN 5.0 - 06/2012 7.1.2 User dataAll nodes com

EDS94AYCCA EN 5.0 - 06/2012 L 41E94AYCCA communication manual (CANopen®)Data transferCommunication phases / network management 7.2 Communication pha

E94AYCCA communication manual (CANopen®)Data transferCommunication phases / network management42 L EDS94AYCCA EN 5.0 - 06/2012 7.2.1 State transitio

EDS94AYCCA EN 5.0 - 06/2012 L 43E94AYCCA communication manual (CANopen®)Data transferCommunication phases / network management 7.2.2 Network managem

E94AYCCA communication manual (CANopen®)Data transferCommunication phases / network management44 L EDS94AYCCA EN 5.0 - 06/2012 7.2.3 Parameterising

EDS94AYCCA EN 5.0 - 06/2012 L 45E94AYCCA communication manual (CANopen®)Process data transfer 8 Process data transfer[8-1] PDO data transfer from /

E94AYCCA communication manual (CANopen®)Process data transferIdentifiers of the process data objects46 L EDS94AYCCA EN 5.0 - 06/2012 8.1 Identifiers

EDS94AYCCA EN 5.0 - 06/2012 L 47E94AYCCA communication manual (CANopen®)Process data transferTransmission type 8.2 Transmission typeThe process data

E94AYCCA communication manual (CANopen®)Process data transferTransmission type48 L EDS94AYCCA EN 5.0 - 06/2012 The communication parameters (as e.g.

EDS94AYCCA EN 5.0 - 06/2012 L 49E94AYCCA communication manual (CANopen®)Process data transferMasking of the TPDOs for event control 8.3 Masking of t

EDS94AYCCA EN 5.0 - 06/2012 L 5E94AYCCA communication manual (CANopen®)Contents 10 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . .

E94AYCCA communication manual (CANopen®)Process data transferSynchronisation of PDOs via sync telegram50 L EDS94AYCCA EN 5.0 - 06/2012 8.4 Synchroni

EDS94AYCCA EN 5.0 - 06/2012 L 51E94AYCCA communication manual (CANopen®)Process data transferSynchronisation of PDOs via sync telegram 8.4.1 Paramet

E94AYCCA communication manual (CANopen®)Process data transferSynchronisation of PDOs via sync telegram52 L EDS94AYCCA EN 5.0 - 06/2012 Sync phase po

EDS94AYCCA EN 5.0 - 06/2012 L 53E94AYCCA communication manual (CANopen®)Process data transferSynchronisation of PDOs via sync telegram Sync applicat

E94AYCCA communication manual (CANopen®)Process data transferSynchronisation of PDOs via sync telegram54 L EDS94AYCCA EN 5.0 - 06/2012 8.4.2 Effect

EDS94AYCCA EN 5.0 - 06/2012 L 55E94AYCCA communication manual (CANopen®)Process data transferSynchronisation of PDOs via sync telegram Example 4:1 S

E94AYCCA communication manual (CANopen®)Process data transferPDO mapping56 L EDS94AYCCA EN 5.0 - 06/2012 8.5 PDO mappingWith Servo Drives 9400 HighL

EDS94AYCCA EN 5.0 - 06/2012 L 57E94AYCCA communication manual (CANopen®)Process data transferPDO mapping  Implementing PDO mapping with the »Engine

E94AYCCA communication manual (CANopen®)Process data transferPDO mapping58 L EDS94AYCCA EN 5.0 - 06/2012 Settings for transmit objects (TPDO1 ... TP

EDS94AYCCA EN 5.0 - 06/2012 L 59E94AYCCA communication manual (CANopen®)Process data transferPDO mapping 2. On the Ports tab, input ports and output

E94AYCCA communication manual (CANopen®)About this documentation6 L EDS94AYCCA EN 5.0 - 06/2012 1 About this documentationContentsThis documentation

E94AYCCA communication manual (CANopen®)Process data transferPDO mapping60 L EDS94AYCCA EN 5.0 - 06/2012 3. The application can be downloaded to the

EDS94AYCCA EN 5.0 - 06/2012 L 61E94AYCCA communication manual (CANopen®)Parameter data transfer 9 Parameter data transfer[9-1] Parameter data transf

E94AYCCA communication manual (CANopen®)Parameter data transferIdentifiers of the parameter data objects62 L EDS94AYCCA EN 5.0 - 06/2012 9.1 Identif

EDS94AYCCA EN 5.0 - 06/2012 L 63E94AYCCA communication manual (CANopen®)Parameter data transferUser data 9.2 User dataStructure of the user data of

E94AYCCA communication manual (CANopen®)Parameter data transferUser data64 L EDS94AYCCA EN 5.0 - 06/2012 9.2.1 CommandThe following commands can be

EDS94AYCCA EN 5.0 - 06/2012 L 65E94AYCCA communication manual (CANopen®)Parameter data transferUser data 9.2.2 Addressing through index and subindex

E94AYCCA communication manual (CANopen®)Parameter data transferUser data66 L EDS94AYCCA EN 5.0 - 06/2012 9.2.3 Data 1 ... data 4A maximum of 4 bytes

EDS94AYCCA EN 5.0 - 06/2012 L 67E94AYCCA communication manual (CANopen®)Parameter data transferUser data 9.2.4 Error messagesIn case of an error, th

E94AYCCA communication manual (CANopen®)Parameter data transferUser data68 L EDS94AYCCA EN 5.0 - 06/2012 Error codesError code Explanation0x0503 000

EDS94AYCCA EN 5.0 - 06/2012 L 69E94AYCCA communication manual (CANopen®)Parameter data transferExamples for a parameter data telegram 9.3 Examples f

EDS94AYCCA EN 5.0 - 06/2012 L 7E94AYCCA communication manual (CANopen®)About this documentation Target groupThis documentation is intended for peopl

E94AYCCA communication manual (CANopen®)Parameter data transferExamples for a parameter data telegram70 L EDS94AYCCA EN 5.0 - 06/2012 9.3.2 Writing

EDS94AYCCA EN 5.0 - 06/2012 L 71E94AYCCA communication manual (CANopen®)Parameter data transferExamples for a parameter data telegram 9.3.3 Reading

E94AYCCA communication manual (CANopen®)Parameter data transferExamples for a parameter data telegram72 L EDS94AYCCA EN 5.0 - 06/2012 Telegram 2 to

EDS94AYCCA EN 5.0 - 06/2012 L 73E94AYCCA communication manual (CANopen®)Parameter data transferExamples for a parameter data telegram Telegram 3 to

E94AYCCA communication manual (CANopen®)MonitoringNode guarding protocol74 L EDS94AYCCA EN 5.0 - 06/2012 10 Monitoring10.1 Node guarding protocolIn

EDS94AYCCA EN 5.0 - 06/2012 L 75E94AYCCA communication manual (CANopen®)MonitoringNode guarding protocol 10.1.1 Telegram structureRTR telegram The

E94AYCCA communication manual (CANopen®)MonitoringNode guarding protocol76 L EDS94AYCCA EN 5.0 - 06/2012 10.1.2 Parameter settingShort overview of p

EDS94AYCCA EN 5.0 - 06/2012 L 77E94AYCCA communication manual (CANopen®)MonitoringNode guarding protocol Life guarding eventThe "life guarding

E94AYCCA communication manual (CANopen®)MonitoringNode guarding protocol78 L EDS94AYCCA EN 5.0 - 06/2012 10.1.3 Commissioning exampleTaskA Servo Dri

EDS94AYCCA EN 5.0 - 06/2012 L 79E94AYCCA communication manual (CANopen®)MonitoringNode guarding protocol Parameterise NMT slave (node 2)1. Adapt the

E94AYCCA communication manual (CANopen®)About this documentationDocument history8 L EDS94AYCCA EN 5.0 - 06/2012 1.1 Document historyYour opinion is

E94AYCCA communication manual (CANopen®)MonitoringHeartbeat protocol80 L EDS94AYCCA EN 5.0 - 06/2012 10.2 Heartbeat protocolThe heartbeat protocol c

EDS94AYCCA EN 5.0 - 06/2012 L 81E94AYCCA communication manual (CANopen®)MonitoringHeartbeat protocol 10.2.1 Telegram structure The heartbeat telegr

E94AYCCA communication manual (CANopen®)MonitoringHeartbeat protocol82 L EDS94AYCCA EN 5.0 - 06/2012 Heartbeat consumer timeMonitoring time for the

EDS94AYCCA EN 5.0 - 06/2012 L 83E94AYCCA communication manual (CANopen®)MonitoringHeartbeat protocol 10.2.3 Commissioning exampleTaskA Servo Drive 9

E94AYCCA communication manual (CANopen®)MonitoringEmergency telegram84 L EDS94AYCCA EN 5.0 - 06/2012 10.3 Emergency telegramIf the error status chan

EDS94AYCCA EN 5.0 - 06/2012 L 85E94AYCCA communication manual (CANopen®)MonitoringSettings in the »Engineer« 10.4 Settings in the »Engineer«Go to th

E94AYCCA communication manual (CANopen®)DiagnosticsLED status displays86 L EDS94AYCCA EN 5.0 - 06/2012 11 Diagnostics11.1 LED status displaysStatus

EDS94AYCCA EN 5.0 - 06/2012 L 87E94AYCCA communication manual (CANopen®)DiagnosticsLED status displays Status displays BS and BE (connection status

E94AYCCA communication manual (CANopen®)DiagnosticsDiagnostics with the »Engineer«88 L EDS94AYCCA EN 5.0 - 06/2012 11.2 Diagnostics with the »Engine

EDS94AYCCA EN 5.0 - 06/2012 L 89E94AYCCA communication manual (CANopen®)Error messagesShort overview of the CANopen error messages 12 Error messages

EDS94AYCCA EN 5.0 - 06/2012 L 9E94AYCCA communication manual (CANopen®)About this documentationConventions used 1.2 Conventions usedThis documentati

E94AYCCA communication manual (CANopen®)Error messagesShort overview of the CANopen error messages90 L EDS94AYCCA EN 5.0 - 06/2012 0x00ad0000...0x00

EDS94AYCCA EN 5.0 - 06/2012 L 91E94AYCCA communication manual (CANopen®)Error messagesPossible causes and remedies 12.2 Possible causes and remedies

E94AYCCA communication manual (CANopen®)Error messagesPossible causes and remedies92 L EDS94AYCCA EN 5.0 - 06/2012 CAN module (MXI1): basic configur

EDS94AYCCA EN 5.0 - 06/2012 L 93E94AYCCA communication manual (CANopen®)Error messagesPossible causes and remedies CAN module (MXI1): emergency conf

E94AYCCA communication manual (CANopen®)Error messagesPossible causes and remedies94 L EDS94AYCCA EN 5.0 - 06/2012 CAN module (MXI1) RPDO2: telegram

EDS94AYCCA EN 5.0 - 06/2012 L 95E94AYCCA communication manual (CANopen®)Error messagesPossible causes and remedies CAN module (MXI1) RPDO7: telegram

E94AYCCA communication manual (CANopen®)Error messagesPossible causes and remedies96 L EDS94AYCCA EN 5.0 - 06/2012 CAN module (MXI1) SDO client: con

EDS94AYCCA EN 5.0 - 06/2012 L 97E94AYCCA communication manual (CANopen®)Error messagesPossible causes and remedies CAN module (MXI2): heartbeat erro

E94AYCCA communication manual (CANopen®)Error messagesPossible causes and remedies98 L EDS94AYCCA EN 5.0 - 06/2012 CAN module (MXI2): node guarding

EDS94AYCCA EN 5.0 - 06/2012 L 99E94AYCCA communication manual (CANopen®)Error messagesPossible causes and remedies CAN module (MXI2) RPDO3: telegram