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Strany 1 - Automation

L Ä.O5ôä13462095Controller-basedAutomationAutomation SystemsEtherCAT®_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _Communication Ma

Strany 2 - Contents

1 About this documentation1.3 Terminology used10Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _

Strany 3

7 Commissioning of the system7.3 Detailed description of the commissioning steps100Lenze · Controller-based Automation · EtherCAT® Communication Manua

Strany 4

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1017 Commissioning of the system7.3 Detailed descri

Strany 5

7 Commissioning of the system7.3 Detailed description of the commissioning steps102Lenze · Controller-based Automation · EtherCAT® Communication Manua

Strany 6

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1037 Commissioning of the system7.3 Detailed descri

Strany 7

7 Commissioning of the system7.3 Detailed description of the commissioning steps104Lenze · Controller-based Automation · EtherCAT® Communication Manua

Strany 8

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1057 Commissioning of the system7.4 State diagram f

Strany 9

8 Mixed operation - EtherCAT with other bus systems106 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · T

Strany 10 - 1 About this documentation

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1078 Mixed operation - EtherCAT with other bus syst

Strany 11

8 Mixed operation - EtherCAT with other bus systems8.2 PROFIBUS as the logic bus and EtherCAT as a logic bus or motion bus108Lenze · Controller-based

Strany 12 -  Pictograph and signal word!

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1098 Mixed operation - EtherCAT with other bus syst

Strany 13 -  Danger!

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 111 About this documentation1.3 Terminology used _

Strany 14

9 Function library L_IODrvEtherCAT.lib110 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _

Strany 15

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1119 Function library L_IODrvEtherCAT.lib _ _ _ _ _

Strany 16 - 1) In preparation

9 Function library L_IODrvEtherCAT.lib112 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _

Strany 17 - ( 36)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1139 Function library L_IODrvEtherCAT.lib _ _ _ _ _

Strany 18

9 Function library L_IODrvEtherCAT.lib9.1 Overview of functions and function blocks114Lenze · Controller-based Automation · EtherCAT® Communication Ma

Strany 19 - 4.1.2 Communication

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1159 Function library L_IODrvEtherCAT.lib9.2 CoE In

Strany 20 - Safe-Operational

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface116Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 21

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1179 Function library L_IODrvEtherCAT.lib9.2 CoE In

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9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface118Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 23 - 4.1.2.3 Working counter

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1199 Function library L_IODrvEtherCAT.lib9.2 CoE In

Strany 24 - 4.2.1 Field devices

1 About this documentation1.4 Definition of the notes used12Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/201

Strany 25

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface120Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 26 - 4.2.3 EtherCAT product codes

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1219 Function library L_IODrvEtherCAT.lib9.2 CoE In

Strany 27

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface122Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 28

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1239 Function library L_IODrvEtherCAT.lib9.2 CoE In

Strany 29 - 4.3 Lenze Engineering tools

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface124Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 30 - PLC State of the PLC

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1259 Function library L_IODrvEtherCAT.lib9.2 CoE In

Strany 31

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface126Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 32

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1279 Function library L_IODrvEtherCAT.lib9.2 CoE In

Strany 33

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface128Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 34 - 5Technical data

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1299 Function library L_IODrvEtherCAT.lib9.2 CoE In

Strany 35

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 132 Safety instructions _ _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 36 - ( 87)

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface130Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 37 - 6.1 Synchronous communication

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1319 Function library L_IODrvEtherCAT.lib9.2 CoE In

Strany 38 - 6.2 Test of DC synchronicity

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface132Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 39

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1339 Function library L_IODrvEtherCAT.lib9.2 CoE In

Strany 40

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface134Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 41

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1359 Function library L_IODrvEtherCAT.lib9.2 CoE In

Strany 42

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface136Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 43

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1379 Function library L_IODrvEtherCAT.lib9.3 Device

Strany 44

9 Function library L_IODrvEtherCAT.lib9.3 Device Interface138Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/20

Strany 45

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1399 Function library L_IODrvEtherCAT.lib9.3 Device

Strany 46

3 Controller-based Automation: Central motion control14 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 ·

Strany 47

9 Function library L_IODrvEtherCAT.lib9.3 Device Interface140Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/20

Strany 48

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1419 Function library L_IODrvEtherCAT.lib9.4 Diagno

Strany 49

9 Function library L_IODrvEtherCAT.lib9.4 Diagnostic Interface142Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 0

Strany 50

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1439 Function library L_IODrvEtherCAT.lib9.4 Diagno

Strany 51

9 Function library L_IODrvEtherCAT.lib9.4 Diagnostic Interface144Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 0

Strany 52

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1459 Function library L_IODrvEtherCAT.lib9.4 Diagno

Strany 53

9 Function library L_IODrvEtherCAT.lib9.4 Diagnostic Interface146Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 0

Strany 54

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1479 Function library L_IODrvEtherCAT.lib9.5 FoE in

Strany 55

9 Function library L_IODrvEtherCAT.lib9.5 FoE interface148Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 56

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1499 Function library L_IODrvEtherCAT.lib9.5 FoE in

Strany 57

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 153 Controller-based Automation: Central motion con

Strany 58

9 Function library L_IODrvEtherCAT.lib9.5 FoE interface150Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 59 -  »PLC Designer« online help

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1519 Function library L_IODrvEtherCAT.lib9.6 State

Strany 60

9 Function library L_IODrvEtherCAT.lib9.6 State Machine Interface152Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN

Strany 61

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1539 Function library L_IODrvEtherCAT.lib9.6 State

Strany 62

9 Function library L_IODrvEtherCAT.lib9.6 State Machine Interface154Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN

Strany 63

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1559 Function library L_IODrvEtherCAT.lib9.7 Data t

Strany 64

9 Function library L_IODrvEtherCAT.lib9.7 Data types156Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · T

Strany 65

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1579 Function library L_IODrvEtherCAT.lib9.7 Data t

Strany 66

9 Function library L_IODrvEtherCAT.lib9.7 Data types158Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · T

Strany 67

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 15910 Restarting the EtherCAT fieldbus _ _ _ _ _ _

Strany 68

3 Controller-based Automation: Central motion control16 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 ·

Strany 69

11 Defining the cycle time of the PLC project11.1 Determining the task utilisation of the application160Lenze · Controller-based Automation · EtherCAT

Strany 70

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 16111 Defining the cycle time of the PLC project11.

Strany 71

11 Defining the cycle time of the PLC project11.2 Optimising the system162Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6

Strany 72

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 16312 Diagnostics12.1 Diagnostics with the »PLC Des

Strany 73

12 Diagnostics12.1 Diagnostics with the »PLC Designer«164Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 ·

Strany 74

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 16512 Diagnostics12.1 Diagnostics with the »PLC Des

Strany 75

12 Diagnostics12.1 Diagnostics with the »PLC Designer«166Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 ·

Strany 76

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 16712 Diagnostics12.1 Diagnostics with the »PLC Des

Strany 77

12 Diagnostics12.1 Diagnostics with the »PLC Designer«168Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 ·

Strany 78

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 16912 Diagnostics12.2 Diagnostic codes in the »WebC

Strany 79

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 174 The Lenze automation system with EtherCAT4.1 Br

Strany 80

12 Diagnostics12.3 Logbook of the Lenze Controller in the »WebConfig«170Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4

Strany 81

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 17112 Diagnostics12.3 Logbook of the Lenze Controll

Strany 82

12 Diagnostics12.4 Error counters of the EtherCAT slaves172Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Strany 83

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 17312 Diagnostics12.4 Error counters of the EtherCA

Strany 84

12 Diagnostics12.5 Error scenarios174Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _

Strany 85

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 17512 Diagnostics12.5 Error scenarios _ _ _ _ _ _ _

Strany 86

12 Diagnostics12.5 Error scenarios176Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _

Strany 87

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 17712 Diagnostics12.5 Error scenarios _ _ _ _ _ _ _

Strany 88

12 Diagnostics12.5 Error scenarios178Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _

Strany 89

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 17912 Diagnostics12.5 Error scenarios _ _ _ _ _ _ _

Strany 90

4 The Lenze automation system with EtherCAT4.1 Brief description of EtherCAT18Lenze · Controller-based Automation · EtherCAT® Communication Manual · D

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12 Diagnostics12.5 Error scenarios180Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _

Strany 92

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 18112 Diagnostics12.5 Error scenarios _ _ _ _ _ _ _

Strany 93

12 Diagnostics12.5 Error scenarios182Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _

Strany 94

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 18312 Diagnostics12.6 System error messages _ _ _ _

Strany 95

12 Diagnostics12.6 System error messages184Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _

Strany 96

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 18512 Diagnostics12.6 System error messages _ _ _ _

Strany 97

12 Diagnostics12.6 System error messages186Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _

Strany 98

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 18712 Diagnostics12.6 System error messages _ _ _ _

Strany 99

12 Diagnostics12.6 System error messages188Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _

Strany 100 - 7 Commissioning of the system

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 18912 Diagnostics12.6 System error messages _ _ _ _

Strany 101

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 194 The Lenze automation system with EtherCAT4.1 Br

Strany 102

12 Diagnostics12.6 System error messages190Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _

Strany 103

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 19112 Diagnostics12.6 System error messages _ _ _ _

Strany 104

12 Diagnostics12.6 System error messages192Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _

Strany 105

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 19312 Diagnostics12.6 System error messages _ _ _ _

Strany 106

12 Diagnostics12.6 System error messages194Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _

Strany 107 - 8.1 CANopen and EtherCAT

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 19512 Diagnostics12.6 System error messages _ _ _ _

Strany 108 - Drives 9400

13 Parameter reference196 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 109 - 8.3 EtherCAT and PROFINET

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 19713 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 110

13 Parameter reference198 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 111

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 19913 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 112

2 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 113 - • Error case:

4 The Lenze automation system with EtherCAT4.1 Brief description of EtherCAT20Lenze · Controller-based Automation · EtherCAT® Communication Manual · D

Strany 114

13 Parameter reference200 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 115 - 9.2 CoE Interface

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 201Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 116

Index202 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 117

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 203Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 118

204Your opinion is important to usThese instructions were created to the best of our knowledge andbelief to give you the best possible support for han

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LController-based Automation · EtherCAT® Communication Manual · KHBECATPCBAUTO · 13462095 · DMS 6.4 EN · 04/2014 · TD17Lenze Automation GmbHPostfach 1

Strany 120 - ( 115)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 214 The Lenze automation system with EtherCAT4.1 Br

Strany 121

4 The Lenze automation system with EtherCAT4.1 Brief description of EtherCAT22Lenze · Controller-based Automation · EtherCAT® Communication Manual · D

Strany 122

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 234 The Lenze automation system with EtherCAT4.1 Br

Strany 123 - SDO Download Response

4 The Lenze automation system with EtherCAT4.2 Required hardware components24Lenze · Controller-based Automation · EtherCAT® Communication Manual · DM

Strany 124

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 254 The Lenze automation system with EtherCAT4.2 Re

Strany 125 - 9.2.2 L_ETC_CoE_SdoRead (FB)

4 The Lenze automation system with EtherCAT4.2 Required hardware components26Lenze · Controller-based Automation · EtherCAT® Communication Manual · DM

Strany 126 - Outputs (VAR_OUTPUT)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 274 The Lenze automation system with EtherCAT4.2 Re

Strany 127 - 9.2.3 L_ETC_CoE_SdoRead4 (FB)

4 The Lenze automation system with EtherCAT4.2 Required hardware components28Lenze · Controller-based Automation · EtherCAT® Communication Manual · DM

Strany 128

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 294 The Lenze automation system with EtherCAT4.3 Le

Strany 129

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 3Contents _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 130 - Inputs (VAR_INPUT)

4 The Lenze automation system with EtherCAT4.4 Interaction of the components30Lenze · Controller-based Automation · EtherCAT® Communication Manual · D

Strany 131 - 9.2.5 L_ETC_CoE_SdoWrite (FB)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 314 The Lenze automation system with EtherCAT4.4 In

Strany 132

4 The Lenze automation system with EtherCAT4.4 Interaction of the components32Lenze · Controller-based Automation · EtherCAT® Communication Manual · D

Strany 133

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 334 The Lenze automation system with EtherCAT4.4 In

Strany 134

5Technical data5.1 General data34Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _

Strany 135

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 355Technical data5.3 Communication times and drive-

Strany 136

6 Synchronisation with "Distributed clocks" (DC)36 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/20

Strany 137 - 9.3.1 ETCSlave (FB)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 376 Synchronisation with "Distributed clocks&q

Strany 138 - 9.3.2 L_ETC_GetSlave (FUN)

6 Synchronisation with "Distributed clocks" (DC)6.2 Test of DC synchronicity38Lenze · Controller-based Automation · EtherCAT® Communication

Strany 139 - 9.3.3 L_ETC_IoControl (FUN)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 397 Commissioning of the system7.1 Sample projects

Strany 140 - 9.3.4 L_IODrvEtherCAT (FB)

Contents4 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 141 - 9.4.1 L_ETC_GetEmergency (FB)

7 Commissioning of the system7.2 Overview of the commissioning steps40Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 E

Strany 142

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 417 Commissioning of the system7.2 Overview of the

Strany 143

7 Commissioning of the system7.3 Detailed description of the commissioning steps42Lenze · Controller-based Automation · EtherCAT® Communication Manual

Strany 144

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 437 Commissioning of the system7.3 Detailed descrip

Strany 145 - 9.4.4 L_ETC_ReadErrCnt (FB)

7 Commissioning of the system7.3 Detailed description of the commissioning steps44Lenze · Controller-based Automation · EtherCAT® Communication Manual

Strany 146 - 9.4.5 L_ETC_ResetErrCnt (FB)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 457 Commissioning of the system7.3 Detailed descrip

Strany 147 - 9.5.1 L_ETC_FoE_Read (FB)

7 Commissioning of the system7.3 Detailed description of the commissioning steps46Lenze · Controller-based Automation · EtherCAT® Communication Manual

Strany 148

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 477 Commissioning of the system7.3 Detailed descrip

Strany 149 - 9.5.2 L_ETC_FoE_Write (FB)

7 Commissioning of the system7.3 Detailed description of the commissioning steps48Lenze · Controller-based Automation · EtherCAT® Communication Manual

Strany 150

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 497 Commissioning of the system7.3 Detailed descrip

Strany 151 - 9.6 State Machine Interface

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 5Contents _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Strany 152

7 Commissioning of the system7.3 Detailed description of the commissioning steps50Lenze · Controller-based Automation · EtherCAT® Communication Manual

Strany 153

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 517 Commissioning of the system7.3 Detailed descrip

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