Functional description
The new 4.02 version of the 94xx EtherCAT module features a new service code that can be used to re-establish compatibility to V1 and V2 EtherCAT module. This function is only used in the event of a service replacement of the V1 and V2 modules by V4.02 or newer.
Two new subcodes are provided for setting the two Tx and Rx PDO process data lengths (SM 2 and SM 3):
- Code 1x893/1: data length of SM3
- Code 1x893/2: data length of SM2
The two SM settings have to comply with the SM settings of the EtherCAT master (register 0x812 (SM2) and register 0x81a (SM3)). Permissible values are 0..255. With values 0..64, automatic calculation from the corresponding mapping objects is avoided. The value in the two codes is indicated in the data size of BYTES. With 0 (default value), the function of the code is deactivated.
Which products are affected?
EtherCAT E94AYCET communication module firmware version 4.02
Applications
With the previous version V3 of the 94xx EtherCAT module, a check of the PDO mapping length has been implemented. With the default setting of the EtherCAT master engineering tools (Lenze PLC Designer, Beckhoff TwinCAT, etc.), the PDO mapping is transmitted to the slave when the EtherCAT bus is started up. Even if the PDO mapping is not written to the slave, the length of the Tx and Rx process data is nevertheless transmitted to the module via the EtherCAT SYNC managers. The V3 and V4 module compares this length to the PDO mapping loaded to the 94xx axis by the Lenze Engineer. The following error message would be output by the EtherCAT master
(SM error, AL status code 0x1e (SM IN), 0x1d (SM OUT).
Important:
The two new codes are only available in the Lenze Engineer if a V4 EtherCAT module has been selected at the same time. When servicing is required, the following configuration sequence should be maintained:
- Open the existing Engineer project with EtherCAT module V1 or V2
- Replace the EtherCAT module by V4.02 (available from Engineer V2.27 onwards)
- Do NOT compile
- Go online with the 94xx axis
- The two codes 1x893/1 and 1x893/2 are shown and can be set
- Save the parameter set
