Additional functionalities
- Change of the application ID
- Change of the device identification
- CAN onboard and module slot 2 available
- Increase in the number of digital and analog inputs and outputs
- The codes assigned to the CiA 402 have an offset of 2000
- Altered stipulation of the torque limits
- Additional precontrol signals for process data available
- Bit assignments of the digital outputs have been extended
- Bit assignments of the digital inputs have been extended
-Touchprobe functionality
- Stipulation of torque limits by means of process data
- Speed-dependent adaptation of the speed controller
- Speed-dependent adaptation of the angle controller or position controller
- Telegram failure detection with extrapolation in the case of EtherCAT
- Telegram failure counter and monitoring in the case of EtherCAT
- Definition of freely mappable objects
Compatibility with previous versions:
New handling of product ID index I-1018
Due to the altered application ID and device identification, the product ID in index I-1018 changes in the case of CANopen and EtherCAT. With the help of the product ID, it is now possible to distinguish which variant of the standard device is concerned (StateLine, HighLine, ServoPLC, etc.) and which technology application (TA speed actuating drive, TA torque actuating drive, etc) has been loaded in the standard device.
Applications
Index I-1018 serves to identify the slaves and to assign the xml device description afterwards. Index I-1018 has been extended to allow for subdivision within the xml device description according to technology application.
Note for EtherCAT:
The new xml device description can be downloaded from the download area on the Lenze homepage, www.lenze.com.
Name of the device description Standard devices
Lenze_E94AYCET_V200_MOTION.xml => 9400 HighLine, TA CiA402
Lenze_E94AYCET_V200_IO.xml => 9400 HighLine, all other TA
Due to the altered product ID of the EtherCAT FV 2.0 communication module, a 1:1 replacement with the previous version is not possible because, during start-up, the EtherCAT master checks the product ID of each slave with the product ID stored in the master. If the IDs do not match each other, the master does not power up the EtherCAT network.
In the case of the Beckhoff TwinCAT software, checking of the product ID during start-up of the master can be deactivated in the slave tab EtherCAT => Advanced Settings button.
Memory module MM110
Due to adaptation of the CiA 402 application of the 9400 StateLine to the 9400 HighLine and the function extensions made, the MM110 memory module is NOT sufficient any more.
TA CiA 402 can be operated with memory module MM220 or larger modules. In addition, the MM110 was previously delivered with TA CiA402. The MM220 is NOT delivered with TA CiA 402.
Previously, the user could directly load TA DS402 from the MM110 memory module in the case of the 9400 StateLine. With the MM220 memory module and 9400 HighLine, this is no longer possible. This means that the customer must use Engineer to carry out a download onto the axis at least once.
Application cycle 1 ms
In the case of the 9400 Stateline, the application ran in a 500 µs task. With the changeover to the 9400 HighLine, the TA CiA 402 now runs in the familiar 1 ms task.
Information taken from the
Service Message No. 43/2009.
