Function extensions
- During DC operation the module waits for the 9400 to engage
- Visible process data mapping in the Engineer
Eliminated function restrictions
- Index 0x1000 (device profile) is not updated with the 9400 StateLine
- Mailbox error during SDO download
- When writing index I-1600, an SDO abort 0x06 09 00 11, ¨Invalid subindex¨, may occur after a bus state change from PRE-OP to OP
- Communication monitoring also trips when changing the state from OP to PRE-OP
- String codes cannot be written
- Error message if PDO mapping has a wrong data length
- Wrong default values in the EtherCAT module if operated without xml device description
- Sporadic error when accessing the codes of the 9400 HighLine
- Clicking sounds of the axis of the 9400 StateLine / HighLine
- Operation not possible in case of cycle times => 4 ms
- Module transmits wrong process data to the master
Compatibility with previous versions
New handling of product ID index I-1018
Using the product ID, a distinction can now be drawn between the different versions of the standard device (Baseline, Stateline, Highline, etc.) and between the different technology applications (speed actuating drive TA, torque actuating drive TA, etc.) loaded into the standard device. 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 EtherCAT
The new xml device description can be downloaded from the download area on the Lenze homepage,
http://www.lenze.com.
Name of the device description Standard devices
Lenze_E94AYCET_V200_MOTION.xml 9400 HighLine, TA DSD402
Lenze_E94AYCET_V200_IO.xml 9400 HighLine, all other TAs
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.
Modified process data transfer
EtherCAT distinguishes between three synchronisation modes for the process data.
- Mode 1: Free run (non-synchronous process data transfer) (not implemented in the Lenze devices!!)
- Mode 2: Synchronous with Sync Manager Event Timer synchronises with the cyclic telegram of the Sync Manager (operating mode of the Beckhoff EtherCAT master!)
- Mode 3: Distributed Clock Mode Timer synchronises with the SYNC0 Event defined by the Sync Manager
The default setting of the new V2.x version of the EtherCAT module is mode 3 which replaces the previous default setting, a combination of modes 2 and 3. In the new modules of version 2.X, it will be possible to activate this combination via code C13892 or C14892, value 0.
Lenze products (IPC, 8400, AIF-EtherCAT) also support mode 3. The incurred advantage for the future is a consistent product range. More series and products will support this mode in the future.
The modified process data transfer ensures correct synchronous operation which could not be guaranteed by the previous transfer mode.
This function is available from FV 2.0 of the communication module.
Information taken from
Service Message No. 44/2009.
