Lenze EtherCAT Controller-based Automation Uživatelský manuál Strana 202
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Index
202 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
ECATBus - No. of DC slaves (C286/4) 198
E-mail to Lenze 204
Engineering software 29
Engineering tools 29
Entering controller settings (i700 servo inverter) 54
Entering motor settings (i700 servo inverter) 54
Entering the settings for PDO mapping 96
Error counters of the EtherCAT slaves 172
Error scenarios 174
Error types 183
Error types "Errors" and "Forwarded Errors" 172
ETCSlave 137
EtherCAT 17
EtherCAT cycle times 35
EtherCAT I/O image 95
EtherCAT interface 28
EtherCAT interface of the Lenze Controller 34
EtherCAT product codes 26
EtherCAT state 158
EtherCAT state machine 20
EtherCAT with CANopen, PROFIBUS, PROFINET (mixed
operation)
106
Exchanging i700 parameter sets between »PLC Designer« and
»EASY Starter«
51
Executing manual control (i700 servo inverter) 65
Expert Process Data 98, 102
Export device parameters (i700) 51
Export i700 device parameters 51
Export parameters (i700) 51
F
Feedback to Lenze 204
Field devices 24
Fieldbus communication (interfaces) 16
Fieldbus scan with the »PLC Designer« 75
Firmware download (optional) 45
FoE interface 147
Function library L_IODrvEtherCAT.lib 110
G
GDC files (i700 servo inverter) 50
General data 34
General error codes (L_ETC_ERRORCODE) 183
H
Hardware components 24
I
i700 parameter management in »EASY Starter« 49
i700 parameter management in the Controller-based
Automation system
45
Import device parameters (i700) 51
Import i700 device parameters 51
Import parameters (i700) 51
Importing device description files 78
Importing missing devices 78
Importing/exporting GDC files (i700 servo inverter) 51
Indexing of the Lenze codes 115
Installing field devices 43
Instant of transmission for the EtherCAT bus cycle frame 35,
104
Integrate L_SMC_AxisBasicControl 59
Integrating the L_SMC_AxisBasicControl function block 59
Interfaces for fieldbus communication 16
L
L_ETC_COE_EMERGENCY 155
L_ETC_COE_EMERGENCY_BUFFER_DATA 155
L_ETC_COE_FLAGS 155
L_ETC_CoE_SdoRead 125
L_ETC_CoE_SdoRead4 127
L_ETC_CoE_SdoReadEx 129
L_ETC_CoE_SdoWrite 131
L_ETC_CoE_SdoWrite4 133
L_ETC_CoE_SdoWriteEx 135
L_ETC_DIAGNOSTIC 156
L_ETC_ERRORCODE 183
L_ETC_EVTPARAM_PARAMETERTRANSFER 156
L_ETC_FoE_Read 147
L_ETC_FoE_Write 149
L_ETC_GetEmergency 141
L_ETC_GetErrorString 143
L_ETC_GetMasterDiagnostic 144
L_ETC_GetMasterDiagnostic (visualisation) 166
L_ETC_GetMasterState 151
L_ETC_GetSlave 138
L_ETC_GetSlaveState 152
L_ETC_IoControl 139
L_ETC_IOCTLOPARMS 157
L_ETC_LANGUAGE 157
L_ETC_PARAMETERTRANSFERSERVICE_CODE 158
L_ETC_ReadErrCnt 145
L_ETC_ResetErrCnt 146
L_ETC_SetMasterState 153
L_ETC_SetSlaveState 154
L_ETC_SLAVE_PORTS 157
L_ETC_STATE 158
L_IODrvEtherCAT 110, 140
Layout of the safety instructions 12
LED status displays of the EtherCAT interface 34
Lenze Engineering tools 29
Logbook messages 190
Logbook messages in PLC Designer 165
Logbook of the Lenze Controller 170
Logging in on the controller 103
Logging in on the controller with the »PLC Designer« 103
- Controller-based 1
- Automation 1
- Contents 2
- 1 About this documentation 10
- Pictograph and signal word! 12
- Danger! 13
- 1) In preparation 16
- ( 36) 17
- 4.1.2 Communication 19
- Operational 20
- Pre-Operational 20
- Safe-Operational 20
- 4.1.2.3 Working counter 23
- 4.2.1 Field devices 24
- 4.2.3 EtherCAT product codes 26
- 4.3 Lenze Engineering tools 29
- PLC State of the PLC 30
- 5Technical data 34
- ( 87) 36
- 6.1 Synchronous communication 37
- 6.2 Test of DC synchronicity 38
- »PLC Designer« online help 59
- 7 Commissioning of the system 100
- 8.1 CANopen and EtherCAT 107
- Drives 9400 108
- 8.3 EtherCAT and PROFINET 109
- • Error case: 113
- 9.2 CoE Interface 115
- ( 115) 120
- SDO Download Response 123
- 9.2.2 L_ETC_CoE_SdoRead (FB) 125
- Outputs (VAR_OUTPUT) 126
- 9.2.3 L_ETC_CoE_SdoRead4 (FB) 127
- Inputs (VAR_INPUT) 130
- 9.2.5 L_ETC_CoE_SdoWrite (FB) 131
- 9.3 Device Interface 137
- 9.3.1 ETCSlave (FB) 137
- 9.3.2 L_ETC_GetSlave (FUN) 138
- 9.3.3 L_ETC_IoControl (FUN) 139
- 9.3.4 L_IODrvEtherCAT (FB) 140
- 9.4 Diagnostic Interface 141
- 9.4.1 L_ETC_GetEmergency (FB) 141
- 9.4.4 L_ETC_ReadErrCnt (FB) 145
- 9.4.5 L_ETC_ResetErrCnt (FB) 146
- 9.5 FoE interface 147
- 9.5.1 L_ETC_FoE_Read (FB) 147
- 9.5.2 L_ETC_FoE_Write (FB) 149
- 9.6 State Machine Interface 151
- 9.7 Data types 155
- 9.7.1 L_ETC_COE_EMERGENCY 155
- 9.7.3 L_ETC_COE_FLAGS 155
- 9.7.4 L_ETC_DIAGNOSTIC 156
- 9.7.6 L_ETC_ERRORCODE 157
- 9.7.7 L_ETC_IOCTLOPARMS 157
- 9.7.8 L_ETC_LANGUAGE 157
- 9.7.9 L_ETC_SLAVE_PORTS 157
- ( 160); 160
- ( 162) 160
- How to optimise the system: 162
- 12 Diagnostics 163
- 13 Parameter reference 196
- )(('%$& 204
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