Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 28)

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Drive initialisation
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EDS94TA11010xxxx EN 1.2 - 03/2010
3.4.3 Example of a typical drive initialisation for EtherCAT
Basic conditions
 The communication is carried via an EtherCAT network.
 For communication, the E94AYCET communication module (EtherCAT) must be
plugged into the MXI1 module slot of the Servo Drive 9400.
 The first EtherCAT slave in the drive compound is assigned with the station address
"1001" during initialisation.
 The PDO1-Rx to the controller contains the following objects:
– 0x6040 : Controlword
– 0x60C1/1 : Interpolation data record/X1
 The PDO1-Tx from the controller contains the following objects:
– 0x6041 : Statusword
– 0x6064 : Position actual value
 The " Interpolated position mode " operating mode is selected.
 The synchronisation of the Servo Drive 9400 must be set via code C01120 (sync source).
Sequence

Detailed information on EtherCAT is provided in the Lenze library in the
"EtherCAT" communication manual.
Communication service Object Value Information
Change of the communication status
NMT
- - Switch drive to the PREOPERATIONAL
communication status.
Drive identification
SDO read request
0x1000 - Check if the drive supports the CiA402 CANopen
device profile.
SDO read request 0x1018/1 - Manufacturer's identification mark
SDO read request 0x1018/2 - Product identification
SDO read request 0x1018/3 - Revision number
SDO read request 0x1008 - Manufacturer's device name
Initialisation of communication profile objects
SDO read request
0x1010 Manufacturer's software version
PDO mapping
SDO write request
0x1600/0 0 PDO1-Rx does not contain any objects; deactivate
mapping.
SDO write request 0x1600/1 0x60400010 Map the 0x6040 object (controlword) to PDO1-Rx.
SDO write request 0x1600/2 0x60C10120 Map the 0x60C1/1 object (interpolation data record/
X1) to PDO1-Rx.
SDO write request 0x1600/0 2 PDO1-Rx contains 2 objects; activate mapping.
SDO write request 0x1A00/0 0 PDO1-Tx does not contain any objects; deactivate
mapping.