E94AYCET EtherCAT V04.02 (released version)
Function extensions
- Support of Safety over EtherCAT [FSoE] with an SM 302 safety module
- Check of the PDO mapping length can be deactivated via code
- EMCY message can be deactivated via code
- PDO telegram failure is monitored
Eliminated function restrictions
- DC Out of Snyc messages with actuation as DC master
- 94xx EtherCAT module V3 does not change to the OP status if the module is actuated in DC mode
- EtherCAT module reports "Sync loss of standard device detected", and the axis may move at an incorrect speed
- Station alias (second station address) is saved with mains failure protection
- Currently loaded TA of the 94xx is accepted to the ECAT SII EEPROM
- Start-up problems of the module if an Engineer online connection to the 94xx has been established
- Sporadic error, "EtherCAT: internal error", with an externally supplied ECAT module
Compatibility with previous versions:
New revision number in identity index I-1018 subindex 3
Index I-1018 serves to identify the slaves and to assign the xml device description afterwards. It consists of the following 4 subindexes:
Subindex 1 = Vendor ID (59dec always the same for Lenze)
Subindex 2 = Product Code (depending on standard device and application)
Subindex 3 = Revision Number (major firmware version of EtherCAT module 1.x, 2.x, 3.x, 4.02 etc.)
Subindex 4 = Serial Number (serial number of EtherCAT module)
Due to the new V03 firmware version of the module, the subindex 3 (revision number) has changed. Subindex 3 is read out during the EtherCAT bus scan (Lenze, Beckhoff) and used for the xml file assignment. Therefore, this revision number has been added to the two existing xml files for 9400.
This does not cause any problems in existing systems or when a V2 module is replaced by a V3 module because the Lenze and Beckhoff EtherCAT master only carries out an online comparison of subindexes 1 and 2 during the EtherCAT master start if the default settings are selected.
The new XML / ESI device description can be downloaded from the download area on the Lenze homepage, www.lenze.com. The device description files for the basic devices are named as follows:
Lenze_E94AYCET_MOTION_20180214.xml for 94xx Highline, TA DSD402
Lenze_E94AYCET_IO_20180214.xml for 94xx Highline, any other TAs
Green error counters (registers 0x0308 and 0x030B) no longer existent
The internal EtherCAT green error counters (Previous Error Counter) are not supported by the V3 EtherCAT module. These counters are contained in the registers 0x0308 and 0x030B.
According to the EtherCAT specification, these error counters are optional.
The red error counters are still supported by the V3 module.
Applications
The error counters are used by the EtherCAT master for diagnosing purposes. The absence of the green error counters does not cause malfunctioning of the EtherCAT master.
Included in which products/versions?
This function is included in Firmware Versions 1.01 and 2.0 of the communication module.
E94AYCET EtherCAT V03.00 (released version)Function extensions- Synchronisation and transition into OP state in case of DC use- New codes C13884, C13870, C13882, C13867 and C14884, C14870, C14882, C14867- New CoE object 1001h (error register)- New default value for code C13881 and C14881 (response time for exiting operational)Eliminated function restrictions- Module signals 'internal mapping error'- EtherCAT module signals 'internal error'- Error during creation of emergency message- Emergency messages are missing sporadically- No 'errorfree' emergency telegram is sent- Access to the subindexes of the CoE objects 0x1000 to 0x1FFF- Segment error while reading the device's parameter set ( Engineer via Ethercat ADS)- Module response to 9400 standard device loss- Activation of DC functionality / adaptation of AL status code- Incorrect PDO mapping- Display of Lenze code C13879 and C14879 (bus error)- Checking of code C13899 and C14899 (station alias)- Activation of DC functionality without activation of controller synchronisation in code C01120- Automatic state change from ErrSafeOP to OPKnown function restrictions No synchronisation when the cycle time is changed from 5 to 1 msControl Technology – no ECAT operation with 2ms possibleCompatibility with previous versions: New revision number in identity index I-1018 subindex 3 Index I-1018 serves to identify the slaves and to assign the xml device description afterwards. It consists of the following 4 subindexes:
Subindex 1 = Vendor ID (59dec always the same for Lenze)
Subindex 2 = Product Code (depending on standard device and application)
Subindex 3 = Revision Number (major firmware version of EtherCAT module 1.x, 2.x, 3.x etc.)
Subindex 4 = Serial Number (serial number of EtherCAT module)
Due to the new V03 firmware version of the module, the subindex 3 (revision number) has changed. Subindex 3 is read out during the EtherCAT bus scan (Lenze, Beckhoff) and used for the xml file assignment. Therefore, this revision number has been added to the two existing xml files for 9400.
This does not cause any problems in existing systems or when a V2 module is replaced by a V3 module because the Lenze and Beckhoff EtherCAT master only carries out an online comparison of subindexes 1 and 2 during the EtherCAT master start if the default settings are selected.
The new XML / ESI device description can be downloaded from the download area on the Lenze homepage, www.lenze.com. The device description files for the basic devices are named as follows:
Lenze_E94AYCET_MOTION_20120424.xml for 94xx Highline, TA DSD402
Lenze_E94AYCET_IO_20120425.xml for 94xx Highline, any other TAs
Green error counters (registers 0x0308 and 0x030B) no longer existent The internal EtherCAT green error counters (Previous Error Counter) are not supported by the V3 EtherCAT module. These counters are contained in the registers 0x0308 and 0x030B.
According to the EtherCAT specification, these error counters are optional.
The red error counters are still supported by the V3 module.
Applications
The error counters are used by the EtherCAT master for diagnosing purposes. The absence of the green error counters does not cause malfunctioning of the EtherCAT master.
Included in which products/versions?
This function is included in Firmware Versions 1.01 and 2.0 of the communication module.
E94AYCET EtherCAT V02.00 (released version)Function extensions - During DC operation the module waits for the 9400 to engage- Visible process data mapping in the EngineerEliminated function restrictions - Index 0x1000 (device profile) is not updated with the 94xx 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- 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 94xx 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 masterCompatibility with previous versions: New handling of product ID index I-1018 Due to the changed Application ID and device ID, the product ID in index I-1018 with CANopen and EtherCAT changes. By means of 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 / eds device description afterwards.
EtherCAT note
Due to these changes a new XML device description has been created. The new device description can be downloaded from the download area on the Lenze homepage, www.lenze.com.
The device description files for the basic devices are named as follows:
Lenze_E94AYCET_V200_MOTION.xml => 9400 Highline, TA CiA402
Lenze_E94AYCET_V200_IO.xml => 9400 Highline, any other TAs
Due to the changed product ID of the EtherCAT FV 2.0 communication module this module cannot be replaced 1:1 by the previous version since the EtherCAT Master compares the product ID of every slave with the product ID saved in the master when being started! If the ID does not match the master does not boot the EtherCAT network.
In case of the Beckhoff TwinCAT software the checking of the product ID when starting the master can be deactivated in the slave tab EtherCAT => Extended setting button.
Modified acceptance of the process data EtherCAT differs between three synchronisation modes for the process data
- Mode 1: Free Run (unsynchronous process data acceptance) (not implemented in Lenze devices!!)
- Mode 2: Synchronous with Sync Manager Event: Timer is synchronised with the cyclic telegrams of the Sync Manager (Beckhoff EtherCAT Master operating mode!!)
- Mode 3: Distributed Clock Mode Timer is synchronised with the SYNC0 Event, specified by the Sync Manager
In case of the new version V2.X of the EtherCAT module mode 3 becomes the standard default setting (Lenze setting) and replaces the previous Lenze setting (mix of mode 2 and 3). In the new modules with version 2.X this mix can either be activated via code C13892 or C14892 = 0 in future.
Lenze products (IPC, 8400, AIF-EtherCAT) also support mode 3. The benefit which can be derived from that for the future is that we can offer a continuity in our product range. Further device series and products will also support this mode in future. The modified acceptance of the process data ensures a perfect synchronous operation which could not be guaranteed by the previous acceptance mode.
This function is available from Firmware Version 2.0 of the communication module.
