Lenze E94AYCET - Manual (Page 65)

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17
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8 Process data transfer
8.2 Example of a drive initialisation with the "CiA402" technology application
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8.2 Example of a drive initialisation with the "CiA402" technology application
Servo Drives 9400 HighLine from software version 7.0 are provided with the "CiA402" CANopen
device profile as technology application. "CiA402" presents a standardised drive behaviour with the
corresponding operating modes and objects.
Drive initialisation
The drive initialisation is carried out by the EtherCAT master and consists of the following parts:
1. Change of the communication status: "Pre-operational"
This is required as the drive can be in any communication status after start-up.
2. Drive identification
3. Initialisation of communication profile objects
4. PDO mapping
5. Initialisation of device profile objects
6. Initialisation of manufacturer-specific objects
After successful initialisation
... the EtherCAT master can carry out a change to the "Operational" communication status. In this
status, the cyclic transmission of the sync telegram from the master and the exchange of process
data via the PDO channel are carried out.
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Reference manual/online help for the Servo Drive 9400
Here you'll find some detailed information relating to the "CiA402" CANopen device
profile and to the CANopen objects implemented.