EDSMF2178IB

.Li|
L−force Communication
Ä.Li|ä
Communication Manual

CANopen

EMF2178IB

Communication module

l
i Contents

1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.4 Notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.1 General safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Device− and application−specific safety instructions . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3 Residual hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3 Product description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.1 Application as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2 Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.3 Product features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.4 Connections and interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

4 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1 General data and operating conditions ................................. 17
4.2 Protective insulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3 Communication time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

5 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.1 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.2.1 Wiring according to EMC (CE−typical drive system) . . . . . . . . . . . . . . . . . 23
5.2.2 Wiring with a host (master) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.2.3 Wiring system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.2.4 Specification of the transmission cable . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.2.5 Bus cable length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.2.6 Voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

6 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.1 Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.2 Installing EDS files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3 Setting node address and baud rate .................................... 33
6.4 Initial switch−on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
6.5 Enable drive via the communication module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

2 l EDSMF2178IB EN 3.0
 Contents i

7 Replacing the EMF2172IB communication module (CAN) . . . . . . . . . . . . . . . . . . . . . . . . 39

8 Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
8.1 Structure of the CAN telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
8.2 CAN communication phases / network management (NMT) ............... 45

9 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

9.1 Available process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
9.2 Configuring process data channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
9.3 Cyclic process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
9.3.1 Process data signals of Lenze controllers . . . . . . . . . . . . . . . . . . . . . . . . . 52
9.3.2 Mapping in CANopen objects (I−160x, I−1A0x) . . . . . . . . . . . . . . . . . . . . . 65

10 Parameter data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

10.1 Access to the codes of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
10.2 Lenze parameter sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
10.2.1 Parameter sets for 8200 vector controller . . . . . . . . . . . . . . . . . . . . . . . . . 71
10.2.2 Parameter sets for controller 93XX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
10.3 Structure of the parameter data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
10.4 Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
10.5 Examples of parameter data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
10.6 Special features for parameter setting of the drive controller . . . . . . . . . . . . . . . 81
10.6.1 8200 vector controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
10.6.2 9300 Servo PLC / Drive PLC / ECS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

11 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
11.1 Heartbeat Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
11.2 Node Guarding Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
11.3 Emergency telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

12 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
12.1 Measures in case of troubled communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
12.2 LED status displays .................................................. 89

EDSMF2178IB EN 3.0 l 3
i Contents

13 Implemented CANopen objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

13.1 Reference between CANopen object and Lenze code . . . . . . . . . . . . . . . . . . . . . . . 91
13.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
13.2.1 I−1000: Device type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
13.2.2 I−1001: Error register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
13.2.3 I−1003: Error history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
13.2.4 I−1005: COB−ID SYNC message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
13.2.5 I−1006: Communication cycle period . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
13.2.6 I−1008: Manufacturer’s device name . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
13.2.7 I−100A: Manufacturer software version . . . . . . . . . . . . . . . . . . . . . . . . . 100
13.2.8 I−100C: Guard time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
13.2.9 I−100D: Life time factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
13.2.10 I−1010: Store parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
13.2.11 I−1011: Restore default parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
13.2.12 I−1014: COB−ID emergency object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
13.2.13 I−1015: Emergency inhibit time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
13.2.14 I−1016: Consumer heartbeat time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
13.2.15 I−1017: Producer heartbeat time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
13.2.16 I−1018: Module device description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
13.2.17 I−1029: Error behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
13.2.18 I−1200/I−1201: Server SDO parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 107
13.2.19 I−1400 ... I−1402: Receive PDO communication parameters . . . . . . . . . 109
13.2.20 I−1600 ... I−1602: Receive PDO mapping parameters . . . . . . . . . . . . . . . 111
13.2.21 I−1800 ... I−1802: Transmit PDO communication parameters . . . . . . . . 112
13.2.22 I−1A00 ... I−1A02: Transmit PDO mapping parameters . . . . . . . . . . . . . . 114

14 Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
14.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
14.2 Communication−relevant Lenze codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
14.3 Important controller codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

15 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

4 l EDSMF2178IB EN 3.0
 About this documentation 1

0Fig. 0Tab. 0

1 About this documentation

Contents
This documentation exclusively contains descriptions of the EMF2178IB communication
module (CANopen).

) Note!
This documentation supplements the mounting instructions supplied with the
function/communication module and the documentation of the used
standard device.
The mounting instructions contain safety instructions which must be
observed!
The features and functions of the communication module are described in detail.
Examples illustrate typical applications.
Furthermore this documentation contains the following:
ƒ Safety instructions that must be observed.
ƒ Key technical data relating to the communication module
ƒ Information on versions of Lenze standard devices to be used.
ƒ Notes on troubleshooting and fault elimination
The theoretical correlations are only explained in so far as they are necessary for
comprehending the function of the communication module.
This documentation does not describe the software of an original equipment
manufacturer. No responsibility is taken for corresponding information given in this
manual. Information on how to use the software can be obtained from the documents of
the host system (master).
All brand names mentioned in this manual are trademarks of their respective companies.

I Tip!
For further information visit the homepage of the CAN user organisation CiA
(CAN in Automation): www.can−cia.org.

© 2013 Lenze Drives GmbH, Postfach 10 13 52, D−31763 Hameln

No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drives
GmbH.
All information given in this documentation has been selected carefully and complies with the hardware and software described.
Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur.
Necessary corrections will be included in subsequent editions.

EDSMF2178IB EN 3.0 l 5
1 About this documentation

Target group
This documentation is intended for all persons who plan, install, commission and maintain
the networking and remote service of a machine.

I Tip!
Information and auxiliary devices related to the Lenze products can be found
in the download area at
http://www.Lenze.com

Validity information
The information given in this documentation is valid for the following devices:
ƒ EMF2178IB communication modules (CANopen) as of version 1x.2x.

6 l EDSMF2178IB EN 3.0
 About this documentation 1
Document history

1.1 Document history

Material no. Version Description

− 1.0 01/2008 TD17 First edition
13127634 2.0 07/2011 TD17 General revision
.Li| 3.0 06/2013 TD17 l New chapter "Replacing communication module
EMF2172IB (CAN)" (^ 39)
l General updates

Your opinion is important to us!

These instructions were created to the best of our knowledge and belief to give you the
best possible support for handling our product.
If you have suggestions for improvement, please e−mail us to:
feedback−[email protected]
Thank you for your support.
Your Lenze documentation team

EDSMF2178IB EN 3.0 l 7
1 About this documentation
Conventions used

1.2 Conventions used

This documentation uses the following conventions to distinguish between different

types of information:
Type of information Identification Examples/notes
Spelling of numbers
Decimal separator Point In general, the decimal point is used.
For instance: 1234.56
Decimal Standard notation Example: 1234
Hexadecimal 0x[0 ... 9, A ... F] Example: 0x60F4
Binary 0b[0, 1] Example: ´0b0110´
l Nibble Point Example: ´0b0110.0100´
Text
Program name »« PC software
For example: »Engineer«, »Global Drive
Control« (GDC)
Icons
Page reference ^ Reference to another page with additional
information
For instance: ^ 16 = see page 16
Documentation reference , Reference to another documentation with
additional information
For example: , EDKxxx = see
documentation EDKxxx

8 l EDSMF2178IB EN 3.0
 About this documentation 1
Terminology used

1.3 Terminology used

Term Meaning
Standard device Lenze controllers that can be used with the communication module.
Drive ^ 13
»Global Drive Control« / PC software from Lenze which supports you in "engineering" (parameter setting,
»GDC« diagnosing, and configuring) during the entire life cycle, i.e. from planning to
maintenance of the commissioned machine.
Code Parameter which serves to parameterise and monitor the controller. In normal speech,
the term is usually called "Index".
Subcode If a code contains more than one parameter, these parameters are stored in
"subcodes".
In this documentation a slash "/" is used as a separator between code and subcode
(e.g. "C00118/3").
In normal speech, the term is also called "Subindex".
Lenze setting These are settings the device is preconfigured with ex works.
Basic setting
HW Hardware
SW Software
PDO Process data object
SDO Service data object

EDSMF2178IB EN 3.0 l 9
1 About this documentation
Notes used

1.4 Notes used

The following pictographs and signal words are used in this documentation to indicate
dangers and important information:

Safety instructions
Structure of safety instructions:

} Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)

Pictograph and signal word Meaning

Danger of personal injury through dangerous electrical voltage.

{ Danger!
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger of personal injury through a general source of danger.

} Danger!
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.

(
Danger of property damage.
Stop! Reference to a possible danger that may result in property
damage if the corresponding measures are not taken.

Application notes
Pictograph and signal word Meaning

) Note! Important note to ensure troublefree operation

I Tip! Useful tip for simple handling

, Reference to another documentation

10 l EDSMF2178IB EN 3.0
 Safety instructions 2
General safety information

2 Safety instructions

) Note!
It is absolutely vital that the stated safety measures are implemented in order
to prevent serious injury to persons and damage to material assets.
Always keep this documentation to hand in the vicinity of the product during
operation.

2.1 General safety information

} Danger!
Disregarding the following basic safety measures may lead to severe personal
injury and damage to material assets!
ƒ Lenze drive and automation components ...
... must only be used for the intended purpose.
... must never be operated if damaged.
... must never be subjected to technical modifications.
... must never be operated unless completely assembled.
... must never be operated without the covers/guards.
... can − depending on their degree of protection − have live, movable or rotating parts
during or after operation. Surfaces can be hot.
ƒ For Lenze drive components ...
... only use permitted accessories.
... only use original manufacturer spare parts.
ƒ All specifications of the corresponding enclosed documentation must be observed.
This is vital for a safe and trouble−free operation and for achieving the specified product
features.
The procedural notes and circuit details provided in this document are proposals which
the user must check for suitability for his application. The manufacturer does not
accept any liability for the suitability of the specified procedures and circuit proposals.
ƒ Only qualified skilled personnel are permitted to work with or on Lenze drive and
automation components.
According to IEC 60364 or CENELEC HD 384, these are persons ...
... who are familiar with the installation, assembly, commissioning and operation of
the product,
... possess the appropriate qualifications for their work,
... and are acquainted with and can apply all the accident prevent regulations, directives
and laws applicable at the place of use.

EDSMF2178IB EN 3.0 l 11
2 Safety instructions
Device− and application−specific safety instructions

2.2 Device− and application−specific safety instructions

ƒ During operation, the communication module must be securely connected to the

standard device.
ƒ With external voltage supply, always use a separate power supply unit, safely
separated in accordance with EN 61800−5−1 in every control cabinet (SELV/PELV).
ƒ Only use cables that meet the given specifications. (¶ 26)

, Documentation of the standard device, control system, and plant/machine

All the other measures prescribed in this documentation must also be
implemented. Observe the safety instructions and application notes contained
in this manual.

2.3 Residual hazards

Protection of persons
ƒ If controllers are connected to phase−earthed system with a rated mains voltage
³ 400 V, external measures need to be implemented to provide reliable protection
against accidental contact. (see chapter "4.2", ^ 18)

Device protection
ƒ The communication module contains electronic components that can be damaged
or destroyed by electrostatic discharge.

12 l EDSMF2178IB EN 3.0
 Product description 3
Application as directed

3 Product description

3.1 Application as directed

The communication module ...

ƒ enables communication with Lenze controllers over the CAN bus with the CANopen
communication profile.
ƒ is a device intended for use in industrial power systems.
ƒ can be used in conjunction with the following Lenze controllers:
Series Device type Version Explanation
HW SW 1)
8200 vector E82xVxxxKxBxxxXX Vx 1x 8200 vector frequency inverter
9300 EVS9321−xS ... EVS9332−xS 2x 1x Servo inverter
EVS9321−xK ... EVS9332−xK 2x 1x Servo cam profiler
EVS9321−xP ... EVS9332−xP 2x 1x Servo position controller
EVS9321−xR ... EVS9332−xR 2x 1x Servo register controller
EVS9321−xI ... EVS9332−xI 2x 8x
9300 servo PLC
EVS9321−xT ... EVS9332−xT 2x 8x
9300 vector EVF9321−xV ... EVF9333−xV 2x 1x 9300 vector frequency inverter
EVF9335−xV ... EVF9338−xV 1x 0x
EVF9381−xV ... EVF9383−xV 1x 0x
ECS servo ECSxSxxxC4xxxxXX 1A 6x "Speed and Torque"
system ECSxPxxxC4xxxxXX 1A 6x "Posi and Shaft"
ECSxMxxxC4xxxxXX 1A 6x "Motion"
ECSxAxxxC4xxxxXX 1A 6x "Application"
Drive PLC EPL10200−xI ... EPL10203−xI 1x 8x Drive PLC
1) Operating system software versions of the controllers

Any other use shall be deemed inappropriate!

EDSMF2178IB EN 3.0 l 13
3 Product description
Identification

3.2 Identification

L
Type
Id.-No.
Prod.-No.
Ser.-No.

E82AF000P0B201XX 

99371BC013

Type code  W 33.2178IB 1x 2x

Series
Hardware version
Software version

14 l EDSMF2178IB EN 3.0
 Product description 3
Product features

3.3 Product features

ƒ Attachable communication module for the basic Lenze devices 8200 vector, 93XX,
9300 Servo PLC, Drive PLC, ECSXX
ƒ Front DIP switches for setting the ...
– CAN node address (max. 127 nodes)
– baud rate (10, 20, 50, 125, 250, 500 and 1000 kbit/s)
ƒ Bus expansion without repeater up to 7450 m
ƒ Topology: Line terminated at both ends (R = 120 W)
ƒ Simple connection through plug−on screw terminals
ƒ Together with a 9300 Servo PLC, additional CANopen application profiles can be
implemented.

EDSMF2178IB EN 3.0 l 15
3 Product description
Connections and interfaces

3.4 Connections and interfaces

EMF2178IB 0 1
Address Bd
2
6
L
CANopen

4
C
C

SH

AN
G

AN

V+
N

LD

5
_H
_L
D

2178

2178CAN003

2102LEC007

Legend for fold−out page

Pos. Description Detailed
information
0 Connection status to standard device (two−colour LED)
1 Connection status to fieldbus (two−colour LED) ^ 89
2 Operating status of standard device (green and red Drive LED)
3 Fixing screw
4 Plug connector with double screw connection, 5−pole ^ 24
5 PE shield cable connection
6 DIP switches for setting the
l node address (switches 1 ... 7) ^ 33
l baud rate (switches 8 ... 10)
8 Nameplate ^ 14

16 l EDSMF2178IB EN 3.0
 Technical data 4
General data and operating conditions

4 Technical data

4.1 General data and operating conditions

Field Values
Order designation EMF2178IB
Communication media DIN ISO 11898
Network topology Line terminated at both ends (R = 120 W)
Communication profile CANopen, DS301 V4.01
Node addresses Max. 127
Cable length Max. 7450 m (depending on the baud rate, ^ 27)
Baud rate [kbit/s] 10, 20, 50, 125, 250, 500, 1000
Voltage supply Internal or external supply possible for basic devices: 8200 vector / 93XX /
9300 Servo PLC / Drive PLC / ECSXX
(also see ^ 30)
External supply via separate power supply unit:
V+: V = 24 V DC ± 10 %
I = 100 mA
GND: Reference potential for external voltage supply

, Documentation for Lenze series of devices 8200 vector, 9300 and ECS
Here you can find the ambient conditions and the electromagnetic
compatibility (EMC) specifications applying to the communication module.

EDSMF2178IB EN 3.0 l 17
4 Technical data
Protective insulation

4.2 Protective insulation

{ Danger!
Dangerous electrical voltage
If Lenze controllers are used on a phase earthed mains with a rated mains
voltage ³ 400 V, protection against accidental contact is not ensured without
implementing external measures.
Possible consequences:
ƒ Death or serious injury
Protective measures:
ƒ If protection against accidental contact is required for the control terminals
of the controller and the connections of the plugged device modules, ...
– a double isolating distance must exist.
– the components to be connected must be provided with the second
isolating distance.

Protective insulation between the bus and ... Type of insulation according to EN 61800−5−1
Reference earth / PE Functional insulation
External supply No functional insulation
Power section
l 8200 vector Double insulation
l 9300 vector, Servo PLC Double insulation
l Drive PLC Double insulation
l ECSXX Double insulation
Control terminals
l 8200 vector No functional insulation
(with internal supply, ^ 30)
l 8200 vector Basic insulation
(with external supply, ^ 30)
l 9300 vector, Servo PLC Basic insulation
l Drive PLC Basic insulation
l ECSXX Basic insulation

18 l EDSMF2178IB EN 3.0
 Technical data 4
Communication time

4.3 Communication time

The communication time is the time between the start of a request and the arrival of the
corresponding response.
The CAN bus communication times depend on ...
ƒ the processing time in the controller (see documentation of the controller)
ƒ Telegram runtime
– baud rate
– telegram length
ƒ the data priority
ƒ the bus load

Processing time in the controller

, Documentation for the controller

Here you can find information on the processing times in the controller.

Telegram time
The telegram times depend on the baud rate and the telegram length:
Baud rate Telegram runtime
[kbit/s] [ms]
0 bytes 2 bytes 8 bytes
10 5.44 7.36 13.12
20 2.72 3.68 6.56
50 1.09 1.47 2.62
125 0.44 0.59 1.05
250 0.22 0.29 0.52
500 0.11 0.15 0.26
1000 0.05 0.07 0.13

EDSMF2178IB EN 3.0 l 19
4 Technical data
Dimensions

4.4 Dimensions

62

Address Bd

L
CANopen

75
C
C

SH

AN
G

AN

V+
N

LD

_H
_L
D

2178

18
36
2178CAN003

Fig. 4−1 Dimensions of the communication module (all dimensions in mm)

20 l EDSMF2178IB EN 3.0
 Installation 5

5 Installation

} Danger!
Inappropriate handling of the communication module and the standard device
can cause serious personal injury and material damage.
Observe the safety instructions and residual hazards described in the
documentation for the standard device.

( Stop!
The device contains components that can be destroyed by electrostatic
discharge!
Before working on the device, the personnel must ensure that they are free of
electrostatic charge by using appropriate measures.

EDSMF2178IB EN 3.0 l 21
5 Installation
Mechanical installation

5.1 Mechanical installation

2102LEC014

Fig. 5−1 Attaching the communication module

ƒ Plug the communication module onto the standard device (here: 8200 vector).
ƒ Tighten the communication module to the standard device using the fixing screw in
order to ensure a good PE connection.

) Note!
For the internal supply of the communication module by the 8200 vector
frequency inverter the jumper has to be adjusted within the interface opening
(see illustration above).
Observe the notes (¶ 30).

22 l EDSMF2178IB EN 3.0
 Installation 5
Electrical installation
Wiring according to EMC (CE−typical drive system)

5.2 Electrical installation

5.2.1 Wiring according to EMC (CE−typical drive system)

For wiring according to EMC requirements observe the following points:

) Note!
ƒ Separate control cables/data lines from motor cables.
ƒ Connect the shields of control cables/data lines at both ends in the case of
digital signals.
ƒ Use an equalizing conductor with a cross−section of at least 16mm2
(reference:PE) to avoid potential differences between the bus nodes.
ƒ Observe the other notes concerning EMC−compliant wiring given in the
documentation for the standard device.

Procedure for wiring

1. Observe the bus topology, i.e. do not use stubs.
2. Observe notes and wiring instructions in the documents for the control system.
3. Only use cables corresponding to the listed specifications (¶ 26).
4. Observe the permissible bus cable length (¶ 27).
5. Connect bus terminating resistors of 120 W each (scope of supply):
– only to the physically first and last node
– between the terminals CAN−LOW and CAN−HIGH

EDSMF2178IB EN 3.0 l 23
5 Installation
Electrical installation
Wiring with a host (master)

5.2.2 Wiring with a host (master)

{ Danger!
An additional electrical isolation is required if a safe electrical isolation
(reinforced insulation) to EN61800−5−1 is necessary.
For this purpose for instance an interface module for the master computer with an
additional electrical isolation can be used (see respective manufacturer information).
For wiring observe the electrical isolation of the supply voltage. The supply voltage is on the
same potential as the data bus.
The 5−pole plug connector with double screw connection serves to
ƒ connect the bus (¶ 25);
ƒ effect the external voltage supply (¶ 30).
C
C

SH

AN
G

AN

V+
N

LD

_H
_L
D

120W

2178CAN003

Fig. 5−2 5−pole plug connector with double screw connection

Designation Explanation
GND Reference potential for external voltage supply
CAN−GND connection
CAN_L Data line / input for terminating resistor 120 W
SHIELD Shielding
CAN_H Data line / input for terminating resistor 120 W
V+ External voltage supply

24 l EDSMF2178IB EN 3.0
 Installation 5
Electrical installation
Wiring system bus (CAN)

5.2.3 Wiring system bus (CAN)

Structure of a CAN bus system (example)

The CAN bus system is designed as a 2 conductor (twisted pair) shielded with additional
mass and termination at both ends of the line.
For sending and receiving data the following paths are available:
ƒ Max. three process data channels (PDO = Process Data Object)
– Process data are sent via the process data channel and are used for high−speed and
high−priority control tasks. Typical process data are, for instance, control words,
status words, setpoints and actual values of a standard device.
ƒ Two parameter data channels (SDO = Service Data Object)
– The parameters are transferred at lower priority than the process data and are set
or changed e.g. during commissioning or product change.
– The parameters are accessed via the parameter data channels of the EMF2178IB
communication module to the codes of the basic Lenze device or the
corresponding CANopen objects.
– With both parameter data channels, two masters can be connected to a standard
device. A PC (e.g. with the Lenze software "Global Drive Control") or an operator
terminal serve to change parameters directly at the standard device during
operation of a system connected to PLC. The second parameter data channel can
be reached under the set address (via DIP switch or C0009) with an offset of "64".
If, e.g., a PLC addresses the standard device with the address "1" and a second
commanding device the address "65", always the same standard device is
addressed.
– The second parameter channel is deactivated in the default state.

) Note!
ƒ The last telegram determines the parameter when a parameter is accessed
by two units (see CANopen objects 1200 and 1201 "Server SDO
Parameters".(¶ 107)).
ƒ Please observe the notes in the chapter 6Commissioning (¶ 33), if you do
not select the baud rate and address via the front DIP switches.

EDSMF2178IB EN 3.0 l 25
5 Installation
Electrical installation
Specification of the transmission cable

CAN_H
CAN_L
SHLD
GND

V+
CAN
HIGH
LOW
GND

+
EMF2178IB

+
GND
120 W

120 W
2178CAN002

Fig. 5−3 Connection to the plug connector

5.2.4 Specification of the transmission cable

We recommend the use of CAN cables in accordance with ISO 11898−2:

CAN cable in accordance with ISO 11898−2
Cable type Paired with shielding
Impedance 120 W (95 ... 140 W)
Cable resistance/cross−section
Cable length £ 300 m £ 70 mW/m / 0.25  0.34 mm2 (AWG22)
Cable length 301  1000 m £ 40 mW/m / 0.5 mm2 (AWG20)
Signal propagation delay £ 5 ns/m

26 l EDSMF2178IB EN 3.0
 Installation 5
Electrical installation
Bus cable length

5.2.5 Bus cable length

) Note!
ƒ It is absolutely necessary to comply with the permissible cable lengths.
ƒ If the total cable lengths of the CAN nodes differ for the same baud rate, the
smaller value must be used to determine the max. cable length.
ƒ Observe the reduction of the total cable length due to the signal delay of the
repeater.

5.2.5.1 Total cable length

The baud rate determines the total cable length.
Baud rate [kbps] Max. bus length [m]
10 7450
20 3950
50 1550
125 630
250 290
500 120
1000 25
Tab. 5−1 Total cable length

EDSMF2178IB EN 3.0 l 27
5 Installation
Electrical installation
Bus cable length

5.2.5.2 Segment cable length

The segment cable length is determined by the cable cross−section used and by the number
of nodes. Repeaters divide the total cable length into segments. If no repeaters are used,
the segment cable length is identical to the total cable length.
Max. number of Cable cross−section
nodes per segment (can be interpolated)
0.25 mm2 0.5 mm2 0.75 mm2 1.0 mm2
(AWG24) (AWG21) (AWG19) (AWG18)
2 240 m 430 m 650 m 940 m
5 230 m 420 m 640 m 920 m
10 230 m 410 m 620 m 900 m
20 210 m 390 m 580 m 850 m
32 200 m 360 m 550 m 800 m
63 170 m 310 m 470 m 690 m
100 150 m 270 m 410 m 600 m
Tab. 5−2 Segment cable length

Example: Selection help

Given
Total cable length to be implemented 200 m
Number of nodes 63

Results
Max. possible baud rate 250 kbps
(derived from Tab. 5−1 Total cable length)
Required cable cross−section (interpolated) 0.30 mm2 (AWG23)
(derived from Tab. 5−2 Segment cable length)
Cable cross−section of standard CAN cable 0.34 mm2 (AWG22)
(see specification of the transmission cable ^ 26)

28 l EDSMF2178IB EN 3.0
 Installation 5
Electrical installation
Bus cable length

5.2.5.3 Checking the use of repeaters

Compare the values derived from Tab. 5−1 Total cable length (¶ 27) and Tab. 5−2 Segment
cable length (¶ 28).
ƒ If the sum of the segment cable lengths is smaller than the total cable length to be
implemented, either repeaters must be used or the cable cross−section must be
increased.
ƒ If the use of repeaters reduces the max. possible total cable length so much that it is
smaller than the total cable length to be implemented, then the cable cross−section
must be increased or less repeaters must be used or the baud rate must be
decreased.
ƒ The use of a further repeater is recommended as ...
– service interface
Advantage: Trouble−free connection during bus operation is possible.
– calibration interface
Advantage: The calibration/programming unit remains electrically isolated.

Example
Given
Total cable length to be implemented 450 m
Number of nodes 32
Cable cross−section 0.50 mm2 (AWG 20)
Baud rate 125 kbps
Repeater used Lenze repeater EMF2176IB
Reduction of the max. total cable length per 30 m
repeater (EMF2176IB)

Results
Max. total cable length 630 m
(see Tab. 5−1 Total cable length (^ 27))
Max. segment cable length 360 m
(see Tab. 5−2 Segment cable length (^ 28))
Comparison The max. segment cable length is smaller than the total cable
length to be implemented.
Conclusion A repeater must be installed at the determined max. segment
cable length of 360 m.

Results with 1 repeater

Max. total cable length 600 m
(Reduction of the total cable length (^ 27) by 30 m)
Max. segment cable length 720 m
Comparison Both the possible total cable length and the segment cable lengths
are larger than the total cable length to be implemented.
Conclusion 1 repeater is sufficient to implement the total cable length of 450
m.

EDSMF2178IB EN 3.0 l 29
5 Installation
Electrical installation
Voltage supply

5.2.6 Voltage supply

Internal voltage supply

) Note!
Internal voltage supply has been selected in the case of standard devices with
an extended AIF interface opening (e.g. front of 8200 vector). The area shown
on a grey background in the graphic marks the jumper position.
ƒ By default, this is not supplied internally in the standard device.
ƒ For internal voltage supply place the jumper on the position indicated
below.
In the case of all other device series (9300, ECS), voltage is always supplied
from the standard device.

Lenze setting Internal voltage supply

(Only external voltage supply possible.)

External voltage supply

) Note!
In the case of an external voltage supply and for greater distances between
the control cabinets, always use a separate power supply unit (SELV/PELV) that
is safely separated in accordance with EN 61800−5−1 in each control cabinet.
The external voltage supply of the communication module ...
ƒ is required if communication via the fieldbus is to be continued in case the supply of
the standard device fails.
ƒ is carried out via the 2−pole plug connector with screw connection (24 V DC):
Terminal Description
V+ External voltage supply
V = 24VDC±10%
I = 100 mA
GND Reference potential for external voltage supply

ƒ The parameters of a basic device disconnected from the mains cannot be accessed.

30 l EDSMF2178IB EN 3.0
 Installation 5
Electrical installation
Voltage supply

Terminal data
Area Values
Electrical connection Plug connector with screw connection
Possible connections rigid:
1.5 mm2 (AWG 16)
flexible:
without wire end ferrule
1.5 mm2 (AWG 16)
with wire end ferrule, without plastic sleeve
1.5 mm2 (AWG 16)
with wire end ferrule, with plastic sleeve
1.5 mm2 (AWG 16)
Tightening torque 0.5 ... 0.6 Nm (4.4 ... 5.3 lb−in)
Stripping length 6 mm

EDSMF2178IB EN 3.0 l 31
6 Commissioning
Before switching on

6 Commissioning

During commissioning, system−dependent data as e.g. motor parameters, operating

parameters, responses and parameters for fieldbus communication are selected for the
controller.
In Lenze devices, this is done via codes. The codes are stored in numerically ascending order
in the Lenze controllers and in the plugged−in communication/function modules.
In addition to these configuration codes, there are codes for diagnosing and monitoring
the bus devices.

6.1 Before switching on

( Stop!
Before you switch on the standard device with the communication module for
the first time, check
ƒ the entire wiring with regard to completeness, short circuit, and earth fault.
ƒ whether the bus system is terminated by a bus terminating resistor at the
physically first and last node.

6.2 Installing EDS files

The EDS files serve to implement the Lenze communication modules for the AIF and FIF
interfaces into the CANopen configuration software.
The single EDS files describe the implemented CANopen functions of the respective
communication module and the "on board" Lenze system bus (CAN).

I Tip!
The current EDS file required for configuring the EMF2178IB (CANopen)
communication module can be found in the download area on:
www.Lenze.com

32 l EDSMF2178IB EN 3.0
 Commissioning 6
Setting node address and baud rate

6.3 Setting node address and baud rate

The node address and the baud rate can be set via codes or via the DIP switches arranged
at the front:
ƒ Node address: Switches 1 ... 7 / code C1850/C2350
ƒ Baud rate: Switches 8 ... 10 / code C1851/C2351
The Lenze setting of all DIP switches is OFF.

) Note!
Settings via codes
ƒ In the Lenze setting ˘ Address switches 1 ... 7 = OFF ˘, the values are
accepted from the codes C1850/C2350 (node address) and C1851/C2351
(baud rate).
– Node addresses > 99 can only be set via DIP switch.
– The baud rates 10 kbps and 20 kbps can only be selected via DIP switch.
ƒ Writing the codes (e.g. with GDC via CAN) has a direct effect on the standard
device codes C0009 and C0126.
ƒ Acceptance of code changes by:
– Switching off and then on again the voltage supply;
– "Reset node" with C0358 = 1;
– Network management command "Reset Communication";
– Set C2120 (AIF control byte) = 1.
ƒ The codes are inactive if at least one address switch (1 ... 7) has been set to
ON position before a renewed mains connection.

EDSMF2178IB EN 3.0 l 33
6 Commissioning
Setting node address and baud rate

Node address setting

Address Bd
OFF
OPEN
ON
1 2 3 4 5 6 7 8 910

Fig. 6−1 Address assignment via DIP switch

ƒ If several devices are connected to the CAN network, the node addresses must differ
from each other.
ƒ The desired node address results from the sum of the values of switches (1 ... 7) in
ON position.
Example
Switch Value Switch position Node address
1 64 OFF
2 32 OFF
3 16 ON
4 8 OFF 16 + 4 + 2 + 1 = 23
5 4 ON
6 2 ON
7 1 ON

) Note!
Switch off the voltage supply of the communication module, and then switch
it on again to activate the changed settings.

34 l EDSMF2178IB EN 3.0
 Commissioning 6
Setting node address and baud rate

Baud rate setting

Address Bd
OFF
OPEN
ON
1 2 3 4 5 6 7 8 910

Fig. 6−2 Baud rate setting

ƒ The baud rate must be the same for all CAN nodes.
ƒ The following baud rates can be set:
Baud rate [kbps] Switch
8 9 10
10 ON ON OFF
20 ON OFF ON
50 OFF ON ON
125 OFF ON OFF
250 OFF OFF ON
500 OFF OFF OFF
1000 ON OFF OFF

) Note!
Switch off the voltage supply of the communication module, and then switch
it on again to activate the changed settings.

EDSMF2178IB EN 3.0 l 35
6 Commissioning
Initial switch−on

6.4 Initial switch−on

) Note!
Do not change the setting sequence.
1. Switch on the standard device and, if necessary, the external voltage supply of the
communication module.
– The green LED 0 on the front of the communication module is lit.
– The status LED of the standard device (Drive LED) 2 must be lit or blinking. The
meaning of the signalling can be found in the standard device documentation.
2. You can now communicate with the drive, i. e.
– all parameters (SDO) can be read;
– all writable parameters (SDO) can be overwritten.
3. After a state change ("Operational") process data can be exchanged with the drive.

2172CAN000D

Fig. 6−3 LEDs of the communication module

36 l EDSMF2178IB EN 3.0
 Commissioning 6
Enable drive via the communication module

6.5 Enable drive via the communication module

) Note!
ƒ During operation, the plugging of the communication module onto a
different controller may cause undefined operating states.
ƒ Observe the information on the CAN configuration and controller enable in
the documentation of the corresponding controller.

Enable the 8200 vector via the communication module

Step Procedure Comments
1. Set C0001 from The Lenze parameter C0001 (operating mode) can be set with the GDC,
"0" to "3" keypad XT or directly via CANopen.
Example for direct setting via CANopen:
Write (C0001 = 3)
l Index = 0x5FFE (resulting from: 0x5FFF − (C0001)hex;)
l Subindex: 0
l Value: 30000 (resulting from: C0001 = 3 x 10000)
2. Assign 28 to HIGH level The terminal 28 (controller enable) is always active and must be assigned to
HIGH level during CANopen operation. Otherwise the controller cannot be
enabled via CANopen.
3. Assign input terminal The quick stop function (QSP) is always active. If QSP is configured to an
for QSP to HIGH level input terminal (Lenze setting: Not assigned), it must be assigned to HIGH
level during CANopen operation.
4. The controller now accepts parameter data and process data.

Enable 93XX via the communication module

Step Procedure Comments
1. Set C0005 to th value The value "xxx3" of the Lenze parameter C0005 (control of the controller via
"xxx3" CANopen) can be set with the GDC, keypad XT or directly via CANopen.
Example for the first commissioning with the signal configuration "1013":
Write (C0005 = 1013)
l Index = 0x5FFA (resulting from: 0x5FFF − (C0005)hex)
l Subindex: 0
l Value: 10130000 (resulting from: C0005 = 1013 x 10000)
2. Set C0142 = 0 See "Protection against uncontrolled restart" (^ 38).
3. Assign 28 to HIGH level The terminal 28 (controller enable) is always active and must be assigned to
HIGH level during CANopen operation. Otherwise the controller cannot be
enabled via CANopen.
4. Assign terminal E1 to If the signal configuration C0005 = 1013, the quick stop function (QSP) is
HIGH level assigned to the digital input terminals E1 and E2 in connection with the
right/left change−over and thus always active.
5. Connect terminal X5/A1 Only affects the signal configuration C0005 = xx13
to With this signal configuration the terminal A1 is switched as voltage
l X5/28 and output.
l X5/E1
6. The controller now accepts parameter data and process data.

EDSMF2178IB EN 3.0 l 37
6 Commissioning
Enable drive via the communication module

Enable ECSXX via the communication module

Step Procedure Comments
1. Select control interface See documentation of the corresponding ECS controller.
"AIF" via code.
2. Set C0142 = 0 See "Protection against uncontrolled restart" (^ 38).
3. Assign terminals X6/SI1 The terminals X6/SI1 (controller enable/inhibit) and X6/SI2 (pulse
and X6/SI2 to HIGH enable/inhibit) are always active and must be assigned to HIGH level during
level CANopen operation. Otherwise, the controller cannot be enabled via
CANopen.
4. The controller now accepts parameter data and process data.

Protection against uncontrolled restart

) Note!
Establishing communication
If communication is to be established via an externally supplied
communication module, initially the standard device must also be switched
on.
After communication has been established, the externally supplied module is
independent of the power on/off state of the standard device.
Protection against uncontrolled restart
After a fault (e.g. short−term mains failure), a restart of the drive is not always
wanted and − in some cases − even not allowed.
The restart behaviour of the controller can be set in C0142:
ƒ C0142 = 0 (Lenze setting)
– The controller remains inhibited (even if the fault is no longer active).
– The drive starts up in a controlled manner by explicit controller enable:
93XX: Set terminal 28 to HIGH level.
ECSXX: Set terminals X6/SI1 and X6/SI2 to HIGH level.
ƒ C0142 = 1
– An uncontrolled restart of the drive is possible.

38 l EDSMF2178IB EN 3.0
 Replacing the EMF2172IB communication module (CAN) 7

7 Replacing the EMF2172IB communication module (CAN)

Observe the following information when replacing the EMF2172IB (CAN) communication
module by EMF2178IB (CANopen):
ƒ The communication modules feature different plug connectors for connecting the
voltage supply and the system bus (CAN).
ƒ The DIP switches of the communication modules feature different assignments for
setting the CAN node address and the baud rate (¶ 40). Furthermore there are
different adjustable CAN address ranges:
Communication module CAN address range DIP switch
EMF2172IB (CAN) 1 ... 63 S4 ... S9
EMF2178IB (CANopen) 1 ... 127 S1 ... S7

ƒ Depending on the standard device used, the 2. SDO channel is activated via code
C1865/1 or C2365/1 (¶ 41).

Changing the wiring

The following illustration shows how you must carry out the previous wiring for the
EMF2178IB communication module now.

Address Bd

L
1-3 4-9 CAN L
baud address
CANopen
GND

High

24 V DC
Low

+ -
C
C

SH
G

AN
AN
N

V+
LD
D

_H
_L

2172 2178

1 2 3 4 5 6 2 4 5 3 6 1

2178CAN010

EDSMF2178IB EN 3.0 l 39
7 Replacing the EMF2172IB communication module (CAN)

DIP switch settings

) Note!
On the EMF2178IB communication module, the switch S1 = OFF(Lenze setting)
must remain set. (An address setting > 63 was not possible for EMF2172IB.)

Address Bd

L
OFF

1-3 4-9 CAN

ON 1 7 8 10
L
baud address
CANopen
ON

OFF

Address
- - W S1 = OFF
S9 W S2

S4 W S7
Baudrate
S3 W S8

S1 W S10
2178CAN011

Switch Value Example

EMF2172IB EMF2178IB Switch position CAN node address
− S1 64 OFF
S9 S2 32 OFF
S8 S3 16 ON
S7 S4 8 OFF 16 + 4 + 2 + 1 = 23
S6 S5 4 ON
S5 S6 2 ON
S4 S7 1 ON

40 l EDSMF2178IB EN 3.0
 Replacing the EMF2172IB communication module (CAN) 7

Activate the 2. SDO channel

Depending on the standard device used, set code C1865/1 or C2365/1 to activate the
2. SDO channel.
Settings via the GDC/XT keypad for these standard devices:
EVS 93xx−ES EVS 93xx−EI
EVS 93xx−EP EVS 93xx−ET
EVS 93xx−EK EPL−10200
EVS 93xx−ER ECSxS/P/M/A
EVF 93xx−EV
E82EVxxx
1. Plug the EMF2178IB communication module onto Use the GDC or XT keypad to set standard device code
the standard device. C2365/1 = 1 and save it with mains failure protection.
2. Use the GDC to set code C1865/1 = 1. After mains connection of one of the standard devices
The setting is saved with mains failure protection specified above, or after plugging on the EMF2178IB
communication module, the contents of C2365 are
directly in the communication module.
written to the communication module.
When using the standard devices specified above,
the setting can also be carried out beforehand.

EDSMF2178IB EN 3.0 l 41
8 Data transfer
Structure of the CAN telegram

8 Data transfer

Master and controller communicate with each other by exchanging data telegrams via the
CAN bus.
The user data area of the CAN telegram either contains network management data, process
dataor parameter data (^ 44).
Different communication channels are assigned to parameter and process data in the
controller:
ƒ Process data are transferred via the process data channel.
ƒ Parameter data are transferred via the parameter data channel.

8.1 Structure of the CAN telegram

Control field CRC delimit. ACK delimit.

Start RTR bit CRC sequence ACK slot End

Identifier User data (0 ... 8 bytes)

l Network management
l Process data
1 bit 11 bits 1 bit 6 bits l Parameter data 15 bits 1 bit 1 bit 1 bit 7 bits

Fig. 8−1 Basic structure of the CAN telegram

I Tip!
The identifier and the user data will be explained in more detail in this
documentation.
The other signals refer to the transfer characteristics of the CAN telegram
which are not described in this documentation.
For more information please refer to the homepage of the CAN user
organisation CiA (CAN in Automation):
http://www.can−cia.org

42 l EDSMF2178IB EN 3.0
 Data transfer 8
Structure of the CAN telegram

Identifier (COB−ID)
The principle of the CAN communication is based on a message−oriented data exchange
between a transmitter and various receivers. Here, all nodes can quasi simultaneously
transmit and receive messages. In case of CANopen, a node orientation is achieved by
having only one transmitter for each message.
The control which node is to receive a transmitted message is executed via the identifierin
the CAN telegram, also called COB−ID(Communication Object Identifier). In addition to the
addressing, the identifier contains information on the priority of the message and the type
of user data.
With the exception of the network management and the sync telegram, the identifier
consists of a basic identifier and the node address of the node to be addressed:
Identifier (COB−ID) = basic identifier + adjustable node address (Node−ID)
The identifier assignment is defined in the CANopen protocol.

Basic identifier
The basic identifier is preset as default with the following values according to the CANopen
specification:
Direction Basic identifier
Object
from the drive to the drive dec hex
NMT 0 0x000
Sync 128 0x080
Emergency X 128 0x080
PDO1 TPDO1 X 384 0x180
(Process data channel 1) RPDO1 X 512 0x200
PDO2 TPDO2 X 640 0x280
(Process data channel 2) RPDO2 X 768 0x300
PDO3 TPDO3 X 896 0x380
(process data channel 3) RPDO3 X 1024 0x400
SDO1 X 1408 0x580
(Parameter data channel 1) X 1536 0x600
SDO2 X 1472 0x5C0
(parameter data channel 2)
Lenze setting: not active. X 1600 0x640
Node guarding / heartbeat X 1792 0x700

Node address (node ID)

Each node of the CAN network must be assigned with a node address (also called node ID)
within the valid address range for unambiguous identification.
ƒ A node address must not be assigned more than once within a network.
ƒ The node address of the controller is configured under code C1850/C2350 or via DIP
switch(^ 33).

EDSMF2178IB EN 3.0 l 43
8 Data transfer
Structure of the CAN telegram

User data
The user data area of the CAN telegram either contains network management data, process
dataor parameter data:
ƒ Network management data (NMT data)
Network management data contain information on the establishment of
communication via the CAN network (^ 45).
ƒ Process data (PDO, Process Data Objects)
– Process data are transferred via the process data channel (see also chapter "Process
data transfer", ^ 48).
– Process data serve to control the controller (slave).
– Process data are transferred between the host and the controllers to ensure a
continuous exchange of current input and output data.
– The host has direct access to process data. In the PLC, the data are, for instance,
directly assigned to the I/O area. An exchange between host and controller is
required as fast as possible. Small amounts of data can be transferred cyclically.
– Process data are not saved in the controller.
– Process data are, for instance, control words, status words, setpoints and actual
values.
ƒ Parameter data (SDO, Service Data Objects)
– Parameter data are transmitted as SDOs via the parameter data channel and
acknowledged by the receiver, i.e.the sender gets a feedback about the
transmission being successful or not (see also chapter "parameter data transfer",
^ 69).
– The parameter data channel enables access to all Lenze codes and CANopen
indices.
– The parameters for instance are set for the initial system set−up during
commissioning or when material is changed on the production machine.
– In general, the parameter data transfer is not time−critical.
– Parameter changes are automatically stored in the controller.
– Parameter data for example are operating parameters, diagnostics information,
and motor data.

44 l EDSMF2178IB EN 3.0
 Data transfer 8
CAN communication phases / network management (NMT)

8.2 CAN communication phases / network management (NMT)

Regarding communication, the controller knows the following statuses:

Status Description
"Initialisation" After the controller is switched on, the initialisation phase is run through.
During this phase, the controller is not involved in the data exchange on the
bus.
A part of the initialisation or the complete initialisation can be run through
again in every NMT status by transmitting different telegrams (see "state
transition"). Here, all parameters are written with their set values.
After completing the initialisation, the controller automatically adopts the
"Pre−Operational" status.
"Pre−Operational" The controller can receive parameter data.
The process data are ignored.
"Operational" The controller can receive parameter data and process data.

"Stopped" Only network management telegrams can be received.

EDSMF2178IB EN 3.0 l 45
8 Data transfer
CAN communication phases / network management (NMT)

Network management (NMT)

The telegram structure used for the network management contains the identifier and the
command included in the user data which consists of the command byte and the node
address.
Telegrams with the identifier "0" and 2 byte user data are used to change between the
different communication phases.

Identifier User data

Value = 0 Only contains command

11 bits 2bytes

Fig. 8−2 Telegram for switching over the communication phases

A bus node, the network master, carries out the changes between the communication
phases for the whole network.
With code C1852 / C2352 (¶ 125) you can set up the communication module for master
or slave operation.
After an adjustable boot−up time in C1856/1 / C2356/1 in master operation, (¶ 130) the
NMT command Start_Remote_Node is transmitted, which puts all nodes into the
"Operational" status.

) Note!
Only a change to "Operational" status enables communication via the process
data!
Example:
If all nodes connected to the bus are to be switched from the
"Pre−Operational" communication status to the "Operational" communication
status via the CAN master, the identifier and the user data must have the
following values in the transmission telegram:
ƒ Identifier: 0x00 (broadcast telegram)
ƒ User data: 0x0100

46 l EDSMF2178IB EN 3.0
 Data transfer 8
CAN communication phases / network management (NMT)

State transitions
(1)

Initialisation

(2)
(14) (11)

Pre-Operational
(7)
(10)
(13) (4) (5)

Stopped
(3) (6)

(12) (8) (9)

Operational

E82ZAFU004

Fig. 8−3 State transitions in CAN network (NMT)

Status Command Network status after Effects on process and parameter data after the status
transition (hex) change change
Initialisation starts automatically when the mains is
switched on.
During initialisation, the drive does not take part in the
data transfer.
(1) − Initialisation
After initialisation has been completed, the node sends a
boot−up message with an individual identifier on the
CAN bus and changes automatically to the status
"Pre−operational".
In this phase, the master determines the way in which
(2) − Pre−operational
the controller takes part in the communication.
From that moment on, the master changes the states for the whole network. A target address, which is part of
the command, specifies the receiver(s).
Network management telegrams, sync, emergency,
process data (PDOs) and parameter data (SDOs) active
(like "Start remote node")
(3), (6) 0x01yy Operational
Optional:
When the status is changed, event and time−controlled
process data (PDOs) will be sent once.
Network management telegrams, sync, emergency and
(4), (7) 0x80yy Pre−operational parameter data (SDOs) active (like "Enter pre−operational
state")
(5), (8) 0x02yy Stopped Only network management telegrams can be received.
(9)
(10) Initialises all parameters in the communication module
0x81yy
with the stored values (corresponds to "Reset node")
(11) Initialisation
(12) Initialises communication−relevant parameters (CIA DS
(13) 0x82yy 301) in the communication module with the stored
(14) values (corresponds to "Reset communication")

yy = 00 In case of this assignment, the telegram addresses all devices connected. The
state of all devices can be changed at the same time.
yy = node ID If a node address is given, only the state of the device with the corresponding
address will be changed.

EDSMF2178IB EN 3.0 l 47
9 Process data transfer
Available process data objects

9 Process data transfer

Agreements
ƒ Process data telegrams between host (master) and controller (slave) are
distinguished as follows with regard to their direction:
– Process data telegrams to the controller
– Process data telegrams from the controller
ƒ In CANopen, the process data objects are named from the node’s view:
– RPDOx: A process data object received by a node
– TPDOx: A process data object transmitted by a node

9.1 Available process data objects

Depending on the basic device used, up to 3 RPDOs and TPDOs can be available.

I Tip!
From the masters’s view, the following terms are used for process data
transfer with the standard device and the plugged communication module:
ƒ The master sends the process data output words (POWs) as process output
data to the standard device
ƒ The master receives the process data input words (PIWs) as process input
data from the standard device.

48 l EDSMF2178IB EN 3.0
 Process data transfer 9
Available process data objects

Process data telegram to the controller (RPDO)

The identifier of the process data telegram includes the node address of the controller. The
telegram has a maximum user data length of 8 bytes. This chapter describes which user
data will be evaluated for the controllers.
The CAN bus is connected to the automation interface X1 via the communication module.
X1 is connected to the function block AIF−IN. Here, the user data is transformed into
corresponding signal types in order to use them for further function blocks. The control
word is especially important for the controller. It contains the drive setpoint in user data
bytes 1 and 2.

Byte 1, 2 =Control word

AIF−IN

Byte 3, 4
Identifier User data X1

8 bytes

AIF

X1

X1 = AIF interface, e.g. 8200 vector

Fig. 9−1 Example: Process data telegram to controller

Process data telegram from the controller (TPDO)

For the cyclic process data telegrams from the controller, the function block to be used is
called AIF−OUT. The status word (bytes 1 and 2) included in the process data telegram is
transmitted on the CAN bus to the master via this function block.

EDSMF2178IB EN 3.0 l 49
9 Process data transfer
Configuring process data channel

9.2 Configuring process data channel

Selection of the setpoint source

Drive controller 8200 vector

The selection of the setpoint source for these controllers is determined with code C0001
(index: 0x5FFE). For process data evaluation the code C0001 must be set to 3 when
operating the controller with the communication module.
The setpoint source is the process channel which overwrites the frequency setpoint
(C0046) and the control word (C0135) (see documentation for 8200 vector).

) Note!
Please observe that the setpoint source selection (C0001) must be set equally
in all parameter sets.

Drive controller 93XX

The 9300 controllers do not offer a setpoint source selection which can be set by one code
only. For this purpose, you only need to connect preconfigured function blocks in order to
adapt the controller to the drive task without being an expert in programming.
The user himself is able to carry out the interconnection. However, it is recommended to
use the preconfigurations provided by Lenze, which are saved in the read−only memory of
the controller. The Lenze preconfigurations (code C0005) define which source (terminal,
keyboard, communication module) overwrites the frequency setpoint and the control
word.
For operation via CAN bus, the value to be set under code C0005 must be set to "xxx3" (x =
wildcard for selected preconfiguration).

, 9300 system manual

Here, you can find more detailed information.

PLC devices: 9300 Servo PLC / Drive PLC / ECSxA

For communicating via a communication module (e.g. EMF2178IB), it is necessary that the
system blocks AIF−IN/OUT1 ... 3 and, if required, the AIF management are integrated into
the control configuration of the IEC61131 project.

Axis modules of the ECS series

, Operating instructions for the axis modules of the ECS series

Here you can find detailed information on the process data configuration.

50 l EDSMF2178IB EN 3.0
 Process data transfer 9
Cyclic process data objects

9.3 Cyclic process data objects

Synchronisation of cyclic process data

The "sync telegram" is used to ensure that the process data can be cyclically read by the
controller and will be accepted by the controller.
The sync telegram is the trigger point for accepting data in the controller and activates the
sending process from the controller. For cyclic process data processing, the sync telegram
must be generated accordingly.
Sync telegram Sync telegram

Process data from Process data to

Controller Controller

Cycle time

Fig. 9−2 Sync telegram

After the sync telegram has been received, the controllers send the cyclic process data to
the master. The master reads them as process input data.
When the sending process has been completed, the controllers receive the process output
data (from the master).
All other telegrams (e. g. parameters or event−controlled process data) are acyclically
accepted by the controllers after transmission has been completed.
Acyclic data have not been taken into account for the above figure. When selecting the
cycle time, they must be considered.

EDSMF2178IB EN 3.0 l 51
9 Process data transfer
Cyclic process data objects
Process data signals of Lenze controllers

9.3.1 Process data signals of Lenze controllers

9.3.1.1 Process data signals for 8200 vector frequency inverters

A change of code C0001 to 3 preconfigures the process data words in the controller.

) Note!
Frequency and speed values are normalised with "240005"480Hz.

Process data telegram to drive

User data (up to 8 bytes)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Control Control
AIF−IN.W1 AIF−IN.W1 AIF−IN.W2 AIF−IN.W2
word word xx xx
Low byte High byte Low byte High byte
Low byte High byte

Byte description:
Byte Content Description
1 C0135 Bits 0 ... 7 of the control word under C0135 (^ 145) are entered here.
Control word, low byte
2 C0135 Bits 8 ... 15 of the control word under C0135 (^ 145) are entered
Control word, high byte here.
3 AIF−IN.W1, low byte
4 AIF−IN.W1, high byte
AIF−IN.Wx is parameterised under code C0412.
5 AIF−IN.W2, low byte
6 AIF−IN.W2, high byte
7/8 xx No evaluation of these data, any content possible

Process data telegram from drive

User data (up to 8 bytes)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Status word Status word AIF−OUT.W1 AIF−OUT.W1 AIF−OUT.W2 AIF−OUT.W2
xx xx
Low byte High byte Low byte High byte Low byte High byte

Byte description:
Byte Content Explanation
1 C0150 Bits 0 ... 7 of the status word are entered here under C0150 (^ 145).
Status word, low byte
2 C0150 Bits 8 ... 15 of the status word are entered here under C0150 (^ 145).
Status word, high byte
3 AIF−OUT−W1
Low byte
4 AIF−OUT.W1
High byte
AIF−OUT.Wx is parameterised under code C0421.
5 AIF−OUT−W2
Low byte
6 AIF−OUT.W2
High byte
7/8 xx No evaluation of these data, any content possible

52 l EDSMF2178IB EN 3.0
 Process data transfer 9
Cyclic process data objects
Process data signals of Lenze controllers

Device control word AIF−CTRL for 8200 vector (C0135, index 0x5F78)
Bit Assignment (Lenze setting) Set under
C0410/...
C0001 = 3 with C0007 £ 51 C0001 = 3 with C0007 > 51
0/1 JOG values Freely configurable 1
Bit 1 0 2
0 0 00 = C0046 active
0 1 01 = NSET1−JOG1 (C0037) active
1 0 10 = NSET1−JOG2 (C0038) active
1 1 11 = NSET1−JOG3 (C0039) active
2 Current direction of rotation (DCTRL1−CW/CCW) Freely configurable 3
0 Not active
1 Active
3 Quick stop (QSP) (AIF−CTRL−QSP) Quick stop (QSP) (AIF−CTRL−QSP) 4
0 Not active 0 Not active
1 Active 1 Active
4 Stop ramp function generator (NSET1−RFG1−STOP) Freely configurable 5

0 Not active
1 Active
5 Ramp function generator input = 0 Freely configurable 6
(NSET1−RFG1−0)
0 Not active
1 Active
6 UP function motor potentiometer (MPOT1−UP) Freely configurable 7

0 Not active
1 Active
7 DOWN function motor potentiometer Freely configurable 8
(MPOT1−DOWN)
8 Freely configurable Freely configurable 9
9 Controller inhibit (AIF−CTRL−CINH) Controller inhibit (AIF−CTRL−CINH) 10
0 Not active 0 Not active
1 Active 1 Active
10 External fault (AIF−CTRL−TRIP−SET) External fault (AIF−CTRL−TRIP−SET) 11
0 Not active 0 Not active
1 Active 1 Active
11 Reset fault Reset fault 12
(AIF−CTRL−TRIP−RESET) (AIF−CTRL−TRIP−RESET)
0 −> 1 Edge from 0 to 1 0 −> 1 Edge from 0 to 1
12 Change over parameter set (DCTRL1−PAR2/4) Freely configurable 13
0 Not active
1 Active
13 Change over parameter set (DCTRL1−PAR3/4) Freely configurable 14
0 Not active
1 Active
14 DC injection brake (MCTRL1−DCB) Freely configurable 15
0 Not active
1 Active
15 Freely configurable Freely configurable 16

EDSMF2178IB EN 3.0 l 53
9 Process data transfer
Cyclic process data objects
Process data signals of Lenze controllers

AIF-IN
.B0 C0410/x = 10
.B1 C0410/x = 11
.B2 C0410/x = 12
DCTRL
.B3 QSP

.B4 ...
...
... ...
... ...
.B8
AIF-CTRL DCTRL
16 Bit .B9 CINH

.B10 TRIP-SET

.B11 TRIP-RESET
AIF
.B12... C0410/x = 22
... ...
... ...
...
.B15
C0410/x = 25
AIF-IN.W1
16 Bit C0412/x = 10

AIF-IN.W2
16 Bit C0412/x = 11

2141LON011

Fig. 9−3 System block AIF−IN in 8200 vector (freely configurable assignment)

54 l EDSMF2178IB EN 3.0
 Process data transfer 9
Cyclic process data objects
Process data signals of Lenze controllers

Device status word AIF−STAT for 8200 vector (C0150, index 0x5F69)
Bit Assignment (Lenze setting) Set under C0417/...
0 Current parameter set (DCTRL−PAR−B0) 1
1 Pulse inhibit (DCTRL1−IMP) 2
2 Imax limit (MCTRL1−IMAX) 3
3 Output frequency = frequency setpoint (MCTRL1−RFG1=NOUT) 4
4 Ramp function generator input = ramp function generator output 1 5
(NSET1−RFG1−I=0)
5 Qmin threshold (PCTRL1−QMIN) 6
6 Output frequency = 0 (DCTRL1−NOUT=0) 7
7 Controller inhibit (DCTRL1−CINH) 8
8 ... 11 Device status (DCTRL1−Stat*1 ... STAT*8) Reserved
Bit 11 10 9 8
0 0 0 0 Device initialisation
0 0 1 0 Switch−on inhibit
0 0 1 1 Operation inhibited
0 1 0 0 Flying restart circuit active
0 1 0 1 DC injection brake active
0 1 1 0 Operation enabled
0 1 1 1 Message active
1 0 0 0 Fault active
1 1 1 1 Communication with basic device not possible
12 Overtemperature warning (DCTRL1−OH−WARN) 13
13 DC−bus overvoltage (DCTRL1−OV) 14
14 Direction of rotation (DCTRL1−CCW) 15
15 Ready for operation (DCTRL1−RDY) 16

STAT1 AIF-OUT
.B0
C0417/1 .B0
.B1
DCTRL1-IMP .B1
.B2
C0417/3 .B2
.B3
C0417/4 .B3
.B4
C0417/5 .B4
.B5
C0417/6 .B5
.B6
DCTRL1-NOUT=0 .B6
.B7
DCTRL1-CINH .B7
.B8
DCTRL1-STAT*1 .B8 AIF-STAT
.B9 16 Bit
DCTRL1-STAT*2 .B9
.B10
DCTRL1-STAT*4 .B10
DCTRL1-STAT*8 .B11 .B11
.B12
DCTRL1-OH-WARN .B12
.B13 AIF
DCTRL1-OV .B13
.B14
C0417/15 .B14
.B15
C0417/16 .B15

AIF-OUT.W1
C0421/1 16 Bit

AIF-OUT.W2
C0421/2 16 Bit

2141LON013

Fig. 9−4 System block AIF−OUT in 8200 vector (freely programmable assignment)

EDSMF2178IB EN 3.0 l 55
9 Process data transfer
Cyclic process data objects
Process data signals of Lenze controllers

9.3.1.2 Process data signals for 9300 servo inverter

The assignment of the process data for the 93XX controller can be changed by
reconfiguring the function blocks AIF−IN and AIF−OUT.

, 9300 system manuals

Here you can find detailed information on the function blocks and signal
configurations.

Function block AIF−IN

The function block AIF−IN determines the input data of the controller as data interface for
the EMF2178IB communication module.

Process data telegram to drive

User data (up to 8 bytes )
Byte 1 2nd byte 3rd byte Byte 4 Byte 5 Byte 6 7th byte Byte 8
Control Control AIF−IN.W1 AIF−IN.W1 AIF−IN.W2 AIF−IN.W2 AIF−IN.W3 AIF−IN.W3
word word Low byte High byte Low byte High byte Low byte High byte
Low byte High byte
^ 57

AIF−IN.W1 to AIF−IN.W3 depend on the signal configuration selected under code C0005.
Under code C0005 you can preconfigure the signals of the control word and the status
word.
In the controller, other signals can be assigned to AIF−IN.W1 to AIF−IN.W3. For this, the
function block configuration described in the 93XX System Manual is used.
Signal configuration AIF−IN.W1 AIF−IN.W2 AIF−IN.W3 AIF−IN.D1
(C0005)
Speed control 1003 / 1013 / 1113 NSET−N
Speed setpoint
100 % = 16383
Torque control 4003 / 4013 / 4113 MCTRL−MADD
Torque setpoint Not assigned
100 % = 16383
LF master 5003 / 5013 / 5113 NSET−N
Speed setpoint
100 % = 16383
LF slave rail 6003 / 6013 / 6113 DFSET−A−TRIM DFSET−N−TRIM
Phase trimming Speed trimming
LF slave cascade 7003 / 7013 / 7113 DFSET−VP−DIV DFSET−A−TRIM Not assigned Not assigned
LF factor Phase trimming
cam profiler 1xxx3 YSET1−FACT
Positioning 2xxx3 Not assigned
vector control 1xx3 / 2xx3 / 3xx3 / NLIM−IN1 Not assigned
5xx3 / 100x3
vector control 4xx3 NCTRL−MADD
vector control 6xx3 DFSET−A−TRIM DFSET−N−TRIM
vector control 7xx3 / 8xx3 / 9xx3 DFSET−VP−DIV DFSET−A−TRIM
vector control 100x3 NLIM−IN1
Not assigned
vector control 110x3 Not assigned

56 l EDSMF2178IB EN 3.0
 Process data transfer 9
Cyclic process data objects
Process data signals of Lenze controllers

Control word for 93XX

9300 9300 servo inverter 9300 9300 9300 vector
position cam profiler
controller
C0005 1xx3 4xx3 5xx3 6xx3, 7xx3 2xx3 xxx3 1xxx, 2xxx, 4xx3 6xx3, 7xx3
3xxx, 5xxx,
10xxx,
11xxx
0 NSET−JOG*1 Not assigned NSET−JOG*1 Not assigned Not assigned CSEL1−CAM*1 NSET−JOG*1 Not assigned Not assigned
1 NSET−JOG*2 Not assigned NSET−JOG*2 Not assigned Not assigned CSEL1−CAM*2 NSET−JOG*2 Not assigned Not assigned
2 NSET−N−INV NSET−N−INV NSET−N−INV NSET−N−INV Not assigned CSEL1−CAM*4 NSET−N−INV Not assigned Not assigned
3 AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP
4 NSET−RFG−STO NSET−RFG−STO NSET−RFG−STO NSET−RFG−STO POS−PRG−START CSEL1−EVENT NSET−RFG−STO NSET−RFG−STO Not assigned
P P P P P P
5 NSET−RFG−0 NSET−RFG−0 NSET−RFG−0 NSET−RFG−0 POS−PRG−STOP CDATA−CYCLE NSET−RFG−0 NSET−RFG−0 Not assigned
6 Not assigned Not assigned Not assigned Not assigned Not assigned CSEL1−LOAD Not assigned Not assigned Not assigned
7 Not assigned Not assigned Not assigned Not assigned POS−PRG−RESET CSEL1−LOAD Not assigned Not assigned Not assigned
8 Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned
9 AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH
10 AIF−CTRL.TRIP− AIF−CTRL.TRIP− AIF−CTRL.TRIP− AIF−CTRL.TRIP− AIF−CTRL.TRIP−SET AIF−CTRL.TRIP−SET AIF−CTRL.TRIP− AIF−CTRL.TRIP− AIF−CTRL.TRIP−
SET SET SET SET SET SET SET
11 AIF−CTRL.TRIP− AIF−CTRL.TRIP− AIF−CTRL.TRIP− AIF−CTRL.TRIP− AIF−CTRL.TRIP−RES AIF−CTRL.TRIP−RES AIF−CTRL.TRIP− AIF−CTRL.TRIP− AIF−CTRL.TRIP−
RESET RESET RESET RESET ET ET RESET RESET RESET
12 DCTRL−PAR*1 DCTRL−PAR*1 DCTRL−PAR*1 DCTRL−PAR*1 POS−PS−CANCEL Not assigned DCTRL−PAR*1 DCTRL−PAR*1 DCTRL−PAR*1
13 DCTLR−PAR−LO DCTLR−PAR−LO DCTLR−PAR−LO DCTLR−PAR−LO POS−PARAM−RD Not assigned DCTLR−PAR−LO DCTLR−PAR−LO DCTLR−PAR−LO
AD AD AD AD AD AD AD
14 NSET−Ti*1 NSET−JOG*1 REF−ON REF−ON POS−LOOP−ONH Not assigned NSET−Ti*1 NSET−JOG*1 Not assigned
15 NSET−Ti*2 NSET−JOG*2 NSET−Ti*1 Not assigned POS−STBY−STP Not assigned NSET−Ti*2 NSET−JOG*2 Not assigned

) Note!
The individual bit−control commands of the control word depend on other bit
positions.

EDSMF2178IB EN 3.0 l 57
9 Process data transfer
Cyclic process data objects
Process data signals of Lenze controllers

A IF -IN * )

A IF -C T R L .B 3 Q S P D C T R L
A IF -C T R L .B 8 D IS A B L E
A IF -IN A IF -C T R L .B 9 C IN H
A IF -C T R L .B 1 0 T R IP -S E T
D C T R L A IF -C T R L .B 1 1 T R IP -R E S E T
A IF -C T R L .B 3 Q S P B it 0 A IF -C T R L .B 0
A IF -C T R L .B 8 D IS A B L E
A IF -C T R L .B 1
A IF -C T R L .B 9 C IN H A IF -C T R L .B 2
A IF -C T R L .B 1 0 T R IP -S E T A IF -C T R L .B 4

S te u e rw o rt
A IF -C T R L .B 1 1 T R IP -R E S E T A IF -C T R L .B 5
1 6 B it
A IF -C T R L .B 6
A IF -C T R L .B 0
A IF -C T R L .B 7
A IF -C T R L .B 1
B it 0 A IF -C T R L .B 1 2
A IF -C T R L .B 2 A IF -C T R L .B 1 3
A IF -C T R L .B 4 B it 1 5 A IF -C T R L .B 1 4
A IF -C T R L .B 5
S te u e rw o rt

A IF -C T R L .B 1 5
1 6 B it A IF -C T R L .B 6
A IF -C T R L .B 7 C 0 1 3 6 /3
A IF -C T R L .B 1 2
A IF -C T R L .B 1 3 A IF -IN .W 1

B y te 3 ,4
B it 1 5 1 6 B it
A IF -C T R L .B 1 4 C 0 8 5 6 /1
A IF -C T R L .B 1 5 1 6 B it
L o w W o rd A IF -IN .D 2
1 6 B it
A IF -IN .W 1 C 1 1 9 7
B y te 3 ,4

1 6 B it H ig h W o r d
C 0 8 5 6 /1
X 1 A IF -IN .W 2
1 6 B it
A IF -IN .W 2 C 0 8 5 6 /2
1 6 B it
1 6 B it A IF -IN .W 3
X 1 C 0 8 5 6 /2
A IF -IN .W 3 C 0 8 5 6 /3
1 6 B it A IF -IN .B 0
C 0 8 5 6 /3
A IF -IN .B 0 C 0 8 5 5 /1 A IF -IN .B 2
B y te 5 ,6

C 0 8 5 5 /1 A IF -IN .B 2 1 6 B in ä r -

...
B y te 5 ,6

1 6 B in ä r - s ig n a le
A IF -IN .B 1 4
...

s ig n a le
A IF -IN .B 1 4 A IF -IN .B 1 5
A IF -IN .B 1 5 A IF -IN .B 1 6
A IF -IN .B 1 6 C 0 8 5 5 /2 A IF -IN .B 1 7
C 0 8 5 5 /2 A IF -IN .B 1 7 1 6 B in ä r -

...
1 6 B in ä r - s ig n a le A IF -IN .B 3 0
...

s ig n a le A IF -IN .B 3 0 A IF -IN .B 3 1
B y te 7 ,8

A IF -IN .B 3 1
B y te 7 ,8

1 6 B it
L o w W o rd
1 6 B it A IF -IN .D 1
L o w W o rd
A IF -IN .D 1 1 6 B it C 0 8 5 7
H ig h W o r d
1 6 B it C 0 8 5 7
H ig h W o r d

2111IBU003

Fig. 9−5 Function blocks AIF−IN and AIF−IN*)

AIF−IN*) is available for the 9300 technology variants servo inverter, positioning controller and cam
profiler as of software version 2.0. AIF−IN.D2 is new.

58 l EDSMF2178IB EN 3.0
 Process data transfer 9
Cyclic process data objects
Process data signals of Lenze controllers

Function block AIF−OUT

The function block AIF−OUT determines the output data of the controller as data interface
for the EMF2178IB communication module.

Process data telegram from drive

User data (up to 8 bytes )
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Status word Status word AIF−OUT.W1 AIF−OUT.W1 AIF−OUT.W2 AIF−OUT.W2 AIF−OUT.W3 AIF−OUT.W3
Low byte High byte Low byte High byte Low byte High byte Low byte High byte
^ 60

AIF−OUT.W1 to AIF−OUT.W3 depend on the signal configuration selected under code

C0005. Under code C0005 you can preconfigure the signals of the control word and the
status word.
In the controller, other signals can be assigned to AIF−OUT.W1 to AIF−OUT.W3. For this, the
function block configuration described in the 93XX System Manual is used.
Signal configuration (C0005) AIF−OUT.W1 AIF−OUT.W2 AIF−OUT.W3 AIF−OUT.D1
MCTRL−NACT MCTRL−MSET2 MCTRL−NSET2
Speed control 1003 / 1013 / 1113 Actual speed value Torque display Speed controller input
100 % = 16383 100 % = 16383 100 % = 16383
MCTRL−MSET2 MCTRL−NACT MCTRL−NSET2
Torque control 4003 / 4013 / 4113 Torque display Actual speed in % Speed controller input
100 % = 16383 100 % = 16383 100 % = 16383
MCTRL−NACT MCTRL−MSET2 MCTRL−NSET2
LF master 5003 / 5013 / 5113 Actual speed value Torque display Speed controller input
100 % = 16383 100 % = 16383 100 % = 16383
MCTRL−NACT MCTRL−MSET2
MCTRL−PHI−ACT
LF slave rail 6003 / 6013 / 6113 Actual speed value Torque setpoint in %
Angle actual value
100 % = 16383 100 % = 16383
MCTRL−NACT MCTRL−MSET2
MCTRL−PHI−ACT
LF slave cascade 7003 / 7013 / 7113 Actual speed value Torque setpoint in %
Angle actual value Not assigned
100 % = 16383 100 % = 16383
MCTRL−NACT
Cam profiler 1xxx3 Actual speed value Not assigned Not assigned
100 % = 16383
MCTRL−NACT
Positioning 2xxx3 Actual speed value Not assigned Not assigned
100 % = 16383
MCTRL−NACT MCTRL−NSET2
1xx3 / 4xx3 / 5xx3 /
vector control Actual speed value MCTRL−IACT Speed controller input
10xx3
100 % = 16383 100 % = 16383
MCTRL−NACT MCTRL−MSET2
6xx3 / 7xx3 / 8xx3 /
vector control Actual speed value MCTRL−PHI−ANA Torque setpoint in %
9xx3
100 % = 16383 100 % = 16383
vector control 110x3 Not assigned Not assigned Not assigned

EDSMF2178IB EN 3.0 l 59
9 Process data transfer
Cyclic process data objects
Process data signals of Lenze controllers

Status word for 93XX

9300 9300 servo inverter 9300 9300 9300 vector
position cam profiler
controller
C0005 1xx3 4xx3 5xx3 6xx3, 7xx3 2xx3 1xx3 1xxx, 2xxx, 4xxx 6xxx, 7xxx,
3xxx, 5xxx, 8xxx, 9xxx
10xxx,
11xxx
0 DCTRL−PAR1−0 DCTRL−PAR1−0 DCTRL−PAR1−0 DCTRL−PAR1−0 Not assigned CERR1−ERR DCTRL−PAR1−0 DCTRL−PAR1−0 DCTRL−PAR1−0
1 DCTRL−IMP DCTRL−IMP DCTRL−IMP DCTRL−IMP DCTRL−IMP DCTRL−IMP DCTRL−IMP DCTRL−IMP DCTRL−IMP
2 MCTRL−IMAX MCTRL−IMAX REF−OK REF−OK POS−REF−OK MCTRL−IMAX MCTRL−IMAX MCTRL−IMAX MCTRL−IMAX
3 MCTRL−MMAX Not assigned MCTRL−MMAX Not assigned Not assigned MCTRL−MMAX MCTRL−MMAX MCTRL−IMAX MCTRL−MMAX
negated
4 NSET−RFG−I=0 MCTRL−IMAX NSET−RFG−I=0 MCTRL−IMAX MCTRL−MMAX DCTRL−TRIP NSET−RFG−I=0 NSET−RFG−I=0 NSET−QSP−OUT
negated negated negated
5 QMIN QMIN REF−BUSY REF−BUSY POS−IN−TARGET CDATA−X0 QMIN QMIN QMIN
6 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0
7 DCTRL−CINH DCTRL−CINH DCTRL−CINH DCTRL−CINH DCTRL−CINH DCTRL−CINH DCTRL−CINH DCTRL−CINH DCTRL−CINH
8 ... 11 Device status:
0b0000 = 0 Device initialisation
0b0010 = 2 Switch−on inhibit
0b0011 = 3 Operation inhibited
0b0100 = 4 Flying restart circuit active
0b0101 = 5 DC injection brake active
0b0110 = 6 Operation enabled
0b0111 = 7 Message active
0b1000 = 8 Fault active
0b1010 = 10 Fail−QSP (only 9300 servo position controller)
12 DCTRL−WARN DCTRL−WARN DCTRL−WARN DCTRL−WARN DCTRL−WARN DCTRL−WARN DCTRL−WARN DCTRL−WARN DCTRL−WARN
13 DCTRL−MESS DCTRL−MESS DCTRL−MESS DCTRL−MESS DCTRL−MESS DCTRL−MESS DCTRL−MESS DCTRL−MESS DCTRL−MESS
14 DCTRL−CW/CC DCTRL−CW/CC DCTRL−CW/CC Not assigned DCTRL−AIFL−QS DCTRL−CW/CC DCTRL−CW/CC DCTRL−CW/CC DCTRL−CW/CC
W W W P W W W W
15 DCTRL−RDY DCTRL−RDY DCTRL−RDY DCTRL−RDY DCTRL−RDY DCTRL−RDY DCTRL−RDY DCTRL−RDY DCTRL−RDY

A IF -O U T A IF -O U T * )

S T A T S T A T
B it 0 B it 0
S T A T .B 0 S T A T .B 0
C 0 1 5 6 /1 C 0 1 5 6 /1
D C T R L -IM P D C T R L -IM P
S ta tu s w o rd
S ta tu s w o rd

...

1 6 B it 1 6 B it
...

S T A T .B 1 4 S T A T .B 1 4
C 0 1 5 6 /6 C 0 1 5 6 /6
S T A T .B 1 5 S T A T .B 1 5
C 0 1 5 6 /7 C 0 1 5 6 /7
B it 1 5 1 6 B it B it 1 5
B it 0 A IF -O U T .D 2 L o w W o rd C 0 8 5 4 B it 0
C 1 1 9 5
1 6 B it
C 1 1 9 6 H ig h W o r d 0
A IF -O U T .W 1
B y te 3 ,4

A IF -O U T .W 1
B y te 3 ,4

C 0 8 5 0 /1 C 0 8 5 0 /1
3
C 0 8 5 8 /1 C 0 8 5 8 /1
A IF -O U T .W 2 A IF -O U T .W 2
C 0 8 5 0 /2 C 0 8 5 0 /2
C 0 8 5 8 /2 B it 1 5 C 0 8 5 8 /2 B it 1 5
C 0 8 5 0 /3
A IF -O U T .W 3
B it 0
:  C 0 8 5 0 /3
A IF -O U T .W 3
B it 0
X 1
C 0 8 5 2 C 0 8 5 2
C 0 8 5 8 /3 C 0 8 5 8 /3
0 0
F D O F D O
F D O -0 F D O -0
B y te 5 ,6

C 0 1 1 6 /1 1
B y te 5 ,6

C 0 1 1 6 /1 1
1 6 B it 1 6 B it
...

2
...

2 F D O -1 5
F D O -1 5 L o w W o rd C 0 1 1 6 /1 6 L o w W o rd
C 0 1 1 6 /1 6 3
F D O -1 6 F D O -1 6
C 0 1 1 6 /1 7 C 0 1 1 6 /1 7 1 6 B it
1 6 B it
...
...

H ig h W o r d F D O -3 1 H ig h W o r d
F D O -3 1 C 0 1 1 6 /3 2
C 0 1 1 6 /3 2 C 0 8 5 3
C 0 8 5 3
1 6 B it 1 6 B it
0 L o w W o rd 0
L o w W o rd A IF -O U T .D 1
A IF -O U T .D 1 C 0 8 5 1
B y te 7 ,8

C 0 8 5 1 1
B y te 7 ,8

1
1 6 B it 1 6 B it 2
C 0 8 5 9 2 C 0 8 5 9
H ig h W o r d H ig h W o r d

B it 3 1 B it 3 1

2111IBU002

Fig. 9−6 Function blocks AIF−OUT and AIF−OUT*)

AIF−OUT*) is available for the 9300 technology variants servo inverter, positioning controller and
cam profiler as of software version 2.0. AIF−OUT.D2 is new.

60 l EDSMF2178IB EN 3.0
 Process data transfer 9
Cyclic process data objects
Process data signals of Lenze controllers

9.3.1.3 Process data signals for 9300 Servo PLC, Drive PLC, ECSxA

, For more information ...

please see the chapter "System blocks, AIF1_IO_AutomationInterface" in the
Manuals and Operating Instructions for the 9300ServoPLC, Drive PLC and
ECSxA axis module.

) Note!
Only 9300 Servo PLC & ECSxA:
Perform the following linkings in the PLC program of the drive controller:
ƒ AIF1_wDctrlCtrl WDCTRL_wAIF1Ctrl
ƒ DCTRL_wStat W AIF1_wDctrlStat

EDSMF2178IB EN 3.0 l 61
9 Process data transfer
Cyclic process data objects
Process data signals of Lenze controllers

Process data telegram to drive

Inputs_AIF1 AIF1_wDctrlCtrl Inputs_AIF2

16 Bit
AIF1_bCtrlB0_b AIF2_nInW1_a
16 Bit
AIF1_bCtrlB1_b Byte
1
AIF1_bCtrlB2_b AIF2_bInB0_b
16 binary
AIF1_bCtrlQuickstop_b

...
signals
Byte AIF2_bInB15_b
AIF1_bCtrlB4_b 2
AIF1_bCtrlB5_b
AIF1_bCtrlB6_b AIF2_nInW2_a
16 Bit
Byte
AIF1_bCtrlB7_b 3
AIF1_bCtrlDisable_b AIF2_bInB16_b
16 binary 16 binary

...
signals AIF1_bCtrlCInhibit_b signals
Byte AIF2_bInB31_b
AIF1_bCtrlTripSet_b 4

AIF1_bCtrlTripReset_b Automation
Byte
Interface
Controlword

1
AIF1_bCtrlB12_b 16 Bit
Byte LowWord
AIF1_bCtrlB13_b 5 AIF2_dnInD1_p

Byte AIF1_bCtrlB14_b 16 Bit

2 HighWord
AIF1_bCtrlB15_b Byte
6

Byte AIF2_nInW3_a
3 16 Bit
AIF1_nInW1_a Byte
16 Bit 7
C0856/1 AIF2_nInW4_a
Byte 16 Bit
4
Automation Byte
Interface AIF1_nInW2_a 8
16 Bit
Byte
5 C0856/2
AIF1_bInB0_b
C0855/1
Inputs_AIF3
…

Byte 16 binary AIF1_bInB15_b

signals AIF3_nInW1_a
6 16 Bit
Byte
1
AIF1_nInW3_a
16 Bit AIF3_bInB0_b
Byte 16 binary

...
7 C0856/3 signals
AIF1_bIn16_b Byte AIF3_bInB15_b
C0855/2 2
…

Byte 16 binary AIF1_bIn31_b

signals AIF3_nInW2_a
8 16 Bit
Byte
3
16 Bit AIF3_bInB16_b
LowWord 16 binary

...
AIF1_dnInD1_p signals
Byte AIF3_bInB31_b
16 Bit 4
HighWord C0857 Automation
Interface
16 Bit
Byte LowWord
5 AIF3_dnInD1_p

16 Bit
HighWord
Byte
6

AIF3_nInW3_a
16 Bit
Byte
7
AIF3_nInW4_a
16 Bit

Byte
8

Fig. 9−7 Function blocks AIF1−IN, AIF2−IN and AIF3−IN

62 l EDSMF2178IB EN 3.0
 Process data transfer 9
Cyclic process data objects
Process data signals of Lenze controllers

Process data telegram from drive

The following data can be assigned to the PIW data (TPDOs):
Designation / variable name Explanation
Device status word (AIF1_DctrlStat) AIF word 1
AIF_nOutW1_a AIF word 2
AIF_nOutW2_a AIF word 3
AIF_nOutW3_a AIF word 4
AIF2_nOutW1_a AIF word 5
AIF2_nOutW2_a AIF word 6
AIF2_nOutW3_a AIF word 7
AIF2_nOutW4_a AIF word 8
AIF3_nOutW1_a AIF word 9
AIF3_nOutW2_a AIF word 10
AIF3_nOutW3_a AIF word 11
AIF3_nOutW4_a AIF word 12
AIF1_dnOutD1_p AIF double word 1

EDSMF2178IB EN 3.0 l 63
9 Process data transfer
Cyclic process data objects
Process data signals of Lenze controllers

Outputs_AIF1 Outputs_AIF2
AIF2_nOutW1_a
16 Bit
Byte Byte
1 1
AIF1_wDctrlStat AIF2_bFDO0_b
16 Bit 16 binary

...
signals
Byte AIF2_bFDO15_b Byte
2 2

AIF2_nOutW2_a
16 Bit
Byte Byte
3 3
AIF1_nOutW1_a AIF2_bFDO16_b
16 Bit 16 binary

...
signals
C0858/1 Byte AIF2_bFDO31_b Byte
4 4
Automation Automation
AIF1_nOutW2__a Interface Interface
16 Bit 16 Bit
Byte LowWord Byte
5 AIF2_dnOutD1_p 5
AIF1_bFDO0_b C0858/2
C0151/4 16 Bit
…

HighWord
AIF1_bFDO15_b 16 binary Byte
Byte
signals 6 6

AIF2_nOutW3_a
AIF1_nOutW3_a 16 Bit
16 Bit
Byte Byte
AIF1_bFDO16_b C0858/3 7 7
AIF2_nOutW4_a
C0151/4 16 Bit
…

AIF1_bFDO31_b 16 binary Byte Byte

signals 8 8

16 Bit
LowWord
AIF1_dnOutD1_p

16 Bit
C0859 HighWord Outputs_AIF3
AIF3_nOutW1_a
16 Bit
Byte
1
AIF3_bFDO0_b
16 binary
...

signals
AIF3_bFDO15_b Byte
2

AIF3_nOutW2_a
16 Bit
Byte
3
AIF3_bFDO16_b
16 binary
...

signals
AIF3_bFDO31_b Byte
4
Automation
Interface
16 Bit
LowWord Byte
AIF3_dnOutD1_p 5

16 Bit
HighWord
Byte
6

AIF3_nOutW3_a
16 Bit
Byte
7
AIF3_nOutW4_a
16 Bit

Byte
8

Fig. 9−8 Function blocks AIF1−OUT, AIF2−OUT and AIF3−OUT

Axis modules of the ECS series

, Operating instructions for the axis modules of the ECS series

Here you can find detailed information on the process data configuration.

64 l EDSMF2178IB EN 3.0
 Process data transfer 9
Cyclic process data objects
Mapping in CANopen objects (I−160x, I−1A0x)

9.3.2 Mapping in CANopen objects (I−160x, I−1A0x)

General

) Note!
Mapping is not possible in communication modules used together with old
devices of the 8200 series.
The CANopen objects I−160x and I−1A0x are used to assign the CANopen process data to the
internal data. In the EMF2178IB communication module an assignment to the process
data of the internal AIF interface is possible. The process data volume and type depends on
the standard device.
The process data length depends on the AIF mode (^ 68):
Basic device AIF mode
8200 vector Mode 3: 3 process data words with variable assignment
93XX Mode 4: 4 process data words with variable assignment
9300 servo PLC Mode 5: 12 process data words with variable assignment
ECSXX depends on the variant (mode 4 or 5)

For mapping in the module, the master enters indices and data lengths.

Mapping structure
MSB LSB
31 ... 16 15 ... 8 7 ... 0
Index Subindex Object length
DWord 0 = 0x20
Word = 0x10

The EDS file for the EMF2178IB communication module supports the mapping.

I Tip!
The current EDS file required for configuring the EMF2178IB (CANopen)
communication module can be found in the download area on:
www.Lenze.com

EDSMF2178IB EN 3.0 l 65
9 Process data transfer
Cyclic process data objects
Mapping in CANopen objects (I−160x, I−1A0x)

AIF data image in codes

The AIF process data images are mapped to the following codes:
AIF process data Code Index
[hex]
Process input data AIF−IN as 16−bit values C1822/1 ... 12 0x58E1
Process output data AIF−OUT as 16−bit values C1823/1 ... 12 0x58E0
Process input data AIF−IN as 32−bit values C1824/1 ... 11 0x58DF
Process output data AIF−OUT as 32−bit values C1825/1 ... 11 0x58DE

The codes represent the values at the AIF interface. Converted into indices, mapping refers
to these codes.
Process data AIF−IN Represented as
16−bit values 32−bit values 1)
Byte 1 AIF1−IN
(bytes 1 ... 8) C1822/1
2nd byte
[C1824/1]
3rd byte
C1822/2
Byte 4
C1824/2
Byte 5
C1822/3
Byte 6
C1824/3
7th byte
C1822/4
Byte 8
[C1824/4]
Byte 9 AIF2−IN
(bytes 1 ... 8) C1822/5
Byte 10
C1824/5
Byte 11
C1822/6
Byte 12
[C1824/6]
Byte 13
C1822/7
Byte 14
[C1824/7]
Byte 15
C1822/8
Byte 16
[C1824/8]
Byte 17 AIF3−IN
(bytes 1 ... 8) C1822/9
Byte 18
C1824/9
Byte 19
C1822/10
Byte 20
[C1824/10]
Byte 21
C1822/11
Byte 22
[C1824/11]
Byte 23
C1822/12
Byte 24
1) [Cxxx/y] = Codes not relevant for the AIF modes (¶ 68)

66 l EDSMF2178IB EN 3.0
 Process data transfer 9
Cyclic process data objects
Mapping in CANopen objects (I−160x, I−1A0x)

Process data AIF−OUT Represented as

16−bit values 32−bit values 1)
Byte 1 AIF1−OUT
(bytes 1 ... 8) C1823/1
2nd byte
[C1825/1]
3rd byte
C1823/2
Byte 4
C1825/2
Byte 5
C1823/3
Byte 6
C1825/3
7th byte
C1823/4
Byte 8
[C1825/4]
Byte 9 AIF2−OUT
(bytes 1 ... 8) C1823/5
Byte 10
C1825/5
Byte 11
C1823/6
Byte 12
[C1825/6]
Byte 13
C1823/7
Byte 14
[C1825/7]
Byte 15
C1823/8
Byte 16
[C1825/8]
Byte 17 AIF3−OUT
(bytes 1 ... 8) C1823/9
Byte 18
C1825/9
Byte 19
C1823/10
Byte 20
[C1825/10]
Byte 21
C1823/11
Byte 22
[C1825/11]
Byte 23
C1823/12
Byte 24
1) [Cxxx/y] = Codes not relevant for the AIF modes (¶ 68)

CANopen indices for mapping

According to the CANopen specifications, the indices I−160x and I−1A0x are available for
mapping the CAN PDOs. During mapping, the process output data of the master are
mapped via the indices I−160x to the AIF input data of the basic device. The indices I−160x
refer to codes C1822 and C1824. The entry contains the index of the corresponding code
and the corresponding subindex for the assignment of a word or double word. The object
length must be indicated accordingly.
Under the indices I−1A0x, the indices of code C1823 must be entered for words or the
indices of code C1825 for double words.

Device−internal mechanisms
The user must know the AIF interface assignment to configure the mapping accordingly in
the communication module. All data of the AIF interface can be placed on any position of
the CAN PDOs. The maximum scope of the AIF interface is shown in the codes. The available
values depend on the basic device and on the application in the basic device.

EDSMF2178IB EN 3.0 l 67
9 Process data transfer
Cyclic process data objects
Mapping in CANopen objects (I−160x, I−1A0x)

AIF interface assignment / AIF modes

Process data Mode 3 Mode 4 Mode 5
Byte 1 AIF1−IN/OUT Control word / AIF−CTRL / AIF_wDctrlCtrl /
(bytes 1 ... 8) status word AIF−STAT AIF_wDctrlStat
2nd byte
3rd byte AIF−IN.W1 / AIF−IN.W1 / AIF1_nInW1_a /
Byte 4 AIF−OUT.W1 AIF−OUT.W1 AIF1_nOutW1_a
AIF−IN.D2 /
Byte 5 AIF−OUT.D2
AIF−IN.W2 / AIF−IN.W2 / AIF1_nInW2_a /
Byte 6 AIF−OUT.W2 AIF−OUT.W2 AIF1_nOutW2_a
AIF−IN.D1 / AIF1_dnInD1_p /
7th byte AIF−OUT.D1 AIF1_dnOutD1_p
AIF−IN.W3 / AIF1_nInW3_a /
Byte 8 AIF−OUT.W3 AIF1_nOutW3_a
Byte 9 AIF2−IN/OUT AIF2_nInW1_a /
(bytes 1 ... 8) AIF2_nOutW1_a
Byte 10 AIF2_dnInD1_p /
Byte 11 AIF2_dnOutD1_p
AIF2_nInW2_a /
Byte 12 AIF2_nOutW2_a
Byte 13 AIF2_nInW3_a /
Byte 14 AIF2_nOutW3_a
Byte 15 AIF2_nInW4_a /
Byte 16 AIF2_nOutW4_a
Byte 17 AIF3−IN/OUT AIF3_nInW1_a /
(bytes 1 ... 8) AIF3_nOutW1_a
Byte 18 AIF3_dnInD1_p /
Byte 19 AIF3_dnOutD1_p
AIF3_nInW2_a /
Byte 20 AIF3_nOutW2_a
Byte 21 AIF3_nInW3_a /
Byte 22 AIF3_nOutW3_a
Byte 23 AIF3_nInW4_a /
Byte 24 AIF3_nOutW4_a

ƒ For mode 3 (e.g. for the 8200 vector), an assignment of the first three words is
useful. For the mapping, the index of code C1822 should accordingly be used with
the subindices 1 to 3.
ƒ For mode 4 (e.g. for the 93XX), an assignment of the first four words or the double
words 2 and 3 is possible. Here, the representation of the double words differs from
the text description in the basic device.
ƒ For mode 5 (e.g. for the 9300 Servo PLC), all 12 words are possible and the use of
double words 3, 5 and 9.
ƒ The user is responsible for the corresponding assignment. The mapping is not
checked once again during the entry.
ƒ For a more detailed description of the entries, see indices I−160x (¶ 111) and
I−1A0x (¶ 114).

68 l EDSMF2178IB EN 3.0
 Parameter data transfer 10

10 Parameter data transfer

Controller

Parameter data channel 1 Parameter data channel 2

(activation with C1865/1 / C2365/1)
Read Read

Write Write

Parameter (code) Parameter (code)

Keypad

PC

Fig. 10−1 Connection of devices for parameter setting via two parameter data channels

Parameters ...
ƒ are values which are stored under codes in Lenze controllers.
ƒ are, for instance, used for one−off plant settings or a change of material in a
machine.
ƒ are transferred with low priority.
Parameter data are transmitted via the system bus as SDOs (Service Data Objects) and
acknowledged by the receiver. The SDOs enable read and write access to the object
directory.
In the Lenze setting, one parameter data channel is available for parameter setting.
A second parameter data channel can be activated via code C1865/1 / C2365/1 or the
implemented CANopen object I−1201 in order to enable the simultaneous connection of
various devices. The parameter data channel 2 is deactivated as default.

) Note!
When the second parameter data channel is activated the possible number of
bus nodes is reduced.

EDSMF2178IB EN 3.0 l 69
10 Parameter data transfer
Access to the codes of the controller

10.1 Access to the codes of the controller

When using Lenze communication modules, you can change the features and response
characteristics of any controller connected to the network using a higher−level host
system(PLC, master).
In Lenze controllers, parameters to be changed are listed under codes.
Controller codes are addressed via the index when accessing the code through the
communication module.
The index for Lenze code numbers is between 16576 (0x40C0) and 24575 (0x5FFF).

, Documentation for the controller

Here you can find a detailed description of the codes.

Indexing of Lenze codes

Conversion formula
Index (dec) Index (hex)
24575 − Lenze code 0x5FFF − (Lenze code)hex

Example for C0001 (operating mode)

Index (dec) Index (hex)
24575 − 1 = 24574 0x5FFF − 1 = 0x5FFE

The parameter value is part of the telegram user data (see examples, ^ 77).

70 l EDSMF2178IB EN 3.0
 Parameter data transfer 10
Lenze parameter sets
Parameter sets for 8200 vector controller

10.2 Lenze parameter sets

Parameter sets are used for separately storing codes based on the need for different
configurations of application processes.

( Stop!
8200 vector with EMF2178IBcommunication module
ƒ The cyclic writing of parameter data to the EEPROM is not permissible.
ƒ If you still want to change parameter data, code C0003 must be set to"0"
after every mains switching. The parameter data are not stored in the
EEPROM but as volatile data.

10.2.1 Parameter sets for 8200 vector controller

The 8200 vector controller has four parameter sets the parameters of which can be directly
addressed via the INTERBUS.

Addressing
Addressing is carried out with a code offset:
ƒ Offset "0" addresses the parameter set 1 with the codes C0000 ... C1999.
ƒ Offset "2000" addresses the parameter set 2 with the codes C2000 ... C3999.
ƒ Offset "4000" addresses the parameter set 3 with the codes C4000 ... C5999.
ƒ Offset "6000" addresses the parameter set 4 with the codes C6000 ... C7999.
If a parameter is only available once (see documentation of the controller), use the code
offset "0".

Example
Addressing of the code C0011 (maximum field frequency) in different parameter sets:
ƒ C0011 in parameter set 1: Code no. = 11
ƒ C0011 in parameter set 2: Code no. = 2011
ƒ C0011 in parameter set 3: Code no. = 4011
ƒ C0011 in parameter set 4: Code no. = 6011

) Note!
Automatic saving of the changed parameter data is activated (Lenze basic
setting, can be switched off via C0003).

EDSMF2178IB EN 3.0 l 71
10 Parameter data transfer
Lenze parameter sets
Parameter sets for controller 93XX

10.2.2 Parameter sets for controller 93XX

The drive controllers 93XX feature up to four parameter sets for storage in the EEPROM for
each technology variant. An additional parameter set is located in the main memory of the
drive controller. This parameter set is referred to as "current" parameter set.

Addressing
ƒ Only the current parameter set can be directly addressed via the bus.
ƒ After power−on, parameter set 1 is automatically loaded into the current parameter
set.
ƒ Before changing the parameters of parameter sets 2 ... 4, the parameter sets must
be activated.

) Note!
Changes in the current parameter set are lost after switching off the drive
controller.
Code C0003 is used to store the current parameter set (see documentation of
the controller).

72 l EDSMF2178IB EN 3.0
 Parameter data transfer 10
Structure of the parameter data telegram

10.3 Structure of the parameter data telegram

User data (up to 8 bytes)

Byte 1 2nd byte 3rd byte Byte 4 Byte 5 Byte 6 7th byte Byte 8
Data 1 Data 2 Data 3 Data 4
Index Index Low word High word
Command Subindex
Low byte High byte Low byte High byte Low byte High byte
Error code

) Note!
User data are displayed in the left−justified INTEL format.
(Calculation examples: ^ 77)

Command
The command contains the services for writing and reading parameters and information
about the user data length.
Structure of a command:
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
MSB LSB
Command Command Specifier (cs) 0 Length e s Note
Write request 0 0 1 0 x x 1 1 User data length coding
Write response 0 1 1 0 x x 0 0 in bits 2 and 3:
l 0b00 = 4 bytes
Read request 0 1 0 0 x x 0 0 l 0b01 = 3 bytes
Read response 0 1 0 0 x x 1 1 l 0b10 = 2 bytes
l 0b11 = 1 byte
Error response 1 0 0 0 0 0 0 0

The following information is contained/must be entered in the command.

4−byte data 2−byte data 1−byte data Block
(bytes 5 ... 8) (bytes 5 and 6) (byte 5)
Command hex dec hex dec hex dec hex dec
Write request 0x23 35 0x2B 43 0x2F 47
(Send parameters to drive)
Writing not
Write response 0x60 96 0x60 96 0x60 96 possible
(Controller response to write
request (acknowledgement))
Read request 0x40 64 0x40 64 0x40 64 0x40 64
(Request to read a parameter
from the controller)
Read response 0x43 67 0x4B 75 0x4F 79 0x41 65
(Response to the read
request with an actual value)
Error response 0x80 128 0x80 128 0x80 128 0x80 128
(Controller indicates a
communication error)

EDSMF2178IB EN 3.0 l 73
10 Parameter data transfer
Structure of the parameter data telegram

Index low byte / Index high byte

Parameters and Lenze codes are selected with these two bytes according to the following
formula:
Index = 24575 − (Lenze code number + 2000 (parameter set − 1))
Example Calculation Low/high byteindex entries
Code C0012 (acceleration time) in 24575 − 12 − 0 = 24563 = 0x5FF3 Index low byte = 0xF3
parameter set 1 is to be addressed. Index high byte = 0x5F
Code C0012 (acceleration time) in An offset of "2000" is to be added Index low byte = 0x23
parameter set 2 is to be addressed. because of parameter set 2: Index high byte = 0x58
24575 − 12 − 2000 = 22563 = 0x5823

Subindex
Depending on the corresponding Lenze code, further subcodes may exist.
For all array codes, the value of the highest subindex can be read out via subindex 0.

Data (Data1...4)
Parameter value length depending on the data format
(Data format: See "table of attributes" in the documentation of the controller)
Parameter value
0x00 0x00 0x00
(length: 1 byte)
Parameter value (length: 2 bytes)
0x00 0x00
Low byte High byte
Parameter value (length: 4 bytes)
Low word High word
Low byte High byte Low byte High byte

) Note!
ƒ Lenze parameters are mainly represented as data type FIX32 (32−bit value
with sign and four decimal positions). In order to obtain integer values, the
desired parameter value must be multiplied by 10000. (See "Attribute table"
in the documentation of the controller.)
ƒ The parameters C0135 and C0150 are transferred as bit code and without
factor.

, Documentation of the controllers

Here you can find the descriptions of the codes (see there: "Code table")

74 l EDSMF2178IB EN 3.0
 Parameter data transfer 10
Structure of the parameter data telegram

Error messages
User data (up to 8 bytes)
Byte 1 2nd byte 3rd byte Byte 4 Byte 5 Byte 6 7th byte Byte 8
Index Index
Command Subindex Error code
Low byte High byte

ƒ Byte 1:
Code 128 or 0x80 in the command byte indicates that an error has occurred.
ƒ Bytes 2 ... 4:
These bytes contain the index (bytes 2 and 3) and the subindex (byte 4) of the code
in which the error has occurred.
ƒ Bytes 5 ... 8:
The data bytes 5 ... 8 contain the error code. The error code is described in reversed
direction compared to the read direction.
Example: Representation of the error code 0x06040041 in bytes 5 ... 8

Read direction of error code

0x41 0x00 0x04 0x06

Byte 5 Byte 6 7th byte Byte 8
Low word High word
Low byte High byte Low byte High byte

EDSMF2178IB EN 3.0 l 75
10 Parameter data transfer
Error codes

10.4 Error codes

Error code Description

[hex]
0x05030000 Toggle bit not changed
0x05040000 SDO protocol expired
0x05040001 Invalid or unknown client/server command specifier
0x05040002 Invalid block size (only block mode)
0x05040003 Invalid processing number (only block mode)
0x05040004 CRC error (only block mode)
0x05040005 Not enough memory
0x06010000 Object access not supported
0x06010001 Try to read writable object
0x06010002 Try to write readable object
0x06020000 Object not listed in object directory
0x06040041 Object not mapped to PDO
0x06040042 Number and length of objects to be transferred longer than PDO.
0x06040043 General parameter incompatibility
0x06040047 General internal controller incompatibility
0x06060000 Access denied because of hardware error
0x06070010 Inappropriate data type, service parameter length
0x06070012 Inappropriate data type, service parameter length exceeded
0x06070013 Inappropriate data type, service parameters not long enough
0x06090011 Subindex does not exist
0x06090030 Parameter value range exceeded
0x06090031 Parameter values too high
0x06090032 Parameter values too low
0x06090036 Maximum value falls below minimum value
0x08000000 General error
0x08000020 Data cannot be transferred or stored for the application.
0x08000021 Because of local control, data cannot be transferred or stored for the application.
0x08000022 Because of current controller status, data cannot be transferred or stored for the
application.
0x08000023 Dynamic generation of object directory not successful or no object directory available
(e.g. object directory generated from file, generation not possible because of a file
error).

76 l EDSMF2178IB EN 3.0
 Parameter data transfer 10
Examples of parameter data telegram

10.5 Examples of parameter data telegram

Reading parameters
The heatsink temperature C0061 ( 43 °C) is to be read from the controller with node
address 5 via the parameter data channel 1.
ƒ Identifier calculation
Identifier from SDO1 to controller Calculation
1536 + node address 1536 + 5 = 1541

ƒ Command "Read Request" (request to read a parameter from the controller)

Command Value [hex]
Read request 0x40

ƒ Index calculation
Index Calculation
24575 − code number 24575 − 61 = 24514 = 0x5FC2

ƒ Subindex: 0
ƒ Telegram to controller
User data
Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Identifier LOW byte HIGH byte
1541 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00

ƒ Telegram from controller

User data
Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Identifier LOW byte HIGH byte
1413 0x43 0xC2 0x5F 0x00 0xB0 0x8F 0x06 0x00

– Command:
"Read Response" (response to the read request) = 0x43
– Identifier:
SDO1 from controller (1408) + node address (5) = 1413
– Index of the read request:
0x5FC2
– Subindex:
0
– Data 1 ... 4:
0x00068FB0 = 430000 W 430000 : 10000 = 43 °C

EDSMF2178IB EN 3.0 l 77
10 Parameter data transfer
Examples of parameter data telegram

Writing parameters
The acceleration time C0012 (parameter set 1) of the controller with the node address 1 is
to be changed to 20 seconds via the SDO1 (parameter data channel 1).
ƒ Identifier calculation
Identifier from SDO1 to controller Calculation
1536 + node address 1536 + 1 = 1537

ƒ Command "Write Request" (transmit parameter to drive)

Command Value [hex]
Write request 0x23

ƒ Index calculation
Index Calculation
24575 − code number 24575 − 12 = 24563 = 0x5FF3

ƒ Subindex: 0
ƒ Calculation of the acceleration time
Data 1 ... 4 Calculation
Value for acceleration time 20 s ú 10000 = 200000
= 0x00030D40

ƒ Telegram to controller
User data
Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Identifier LOW byte HIGH byte
1537 0x23 0xF3 0x5F 0x00 0x40 0x0D 0x03 0x00

ƒ Telegram from controller if executed faultlessly

User data
Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Identifier LOW byte HIGH byte
1409 0x60 0xF3 0x5F 0x00 0x00 0x00 0x00 0x00

– Command:
"Write Response" (response of the controller (acknowledgement)) = 0x60
– Identifier:
SDO1 from controller (= 1408) + node address (= 1) = 1409

78 l EDSMF2178IB EN 3.0
 Parameter data transfer 10
Examples of parameter data telegram

Read block parameters

The software product code (code C0200) of the Lenze 8200 vector is to be read from
parameter set 1. The product code has 14 alphanumerical characters. They are transferred
as block parameters. The transfer of block parameters uses the entire data width (2nd to
8th byte).
During user data transfer, the command byte (1. Byte) contains the entry 0x40 or 0x41 to ...
– be able to signalise the end of the block transfer;
– request the next block.
ƒ C0200 − request
Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x40 0x37 0x5F 0x00 0x00 0x00 0x00 0x00
Byte 1: 0x40, "Read request" (requirement to read a parameter from the controller)
Byte 2/3: Index low/high byte: 24575 − 200 − 0 = 24375 (0x5F37)

ƒ Response including the block length (14 characters)

Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x41 0x37 0x5F 0x00 0x0E 0x00 0x00 0x00
Byte 1: 0x41, "read response". The entry 0x41 implies that it is a block diagram.
Byte 2/3: Index low/high byte: 24575 − 200 − 0 = 24375 (0x5F37)
Byte 5: 0x0E = data length of 14 characters (ASCII format)

ƒ First data block − request

) Note!
The single blocks are toggled*, i.e. at first it is requested with command 0x60
(0b01100000), then with command 0x70 (0b01110000), after his again with
0x6 etc.
The response is sent accordingly. It is alternating because of a toggle bit. The
process is completed by command 0x11 (bit 0 is set, see below).
*Toggle−Bit = bit 4 (starting with "0")

Command Index Index Subindex Data 1 Data 2 Data 3 Data 4

Low byte High byte
0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Byte 1: 0x60, "Write response" (acknowledgement) with access to bytes 2 ... 8.

ƒ Response
Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x00 0x38 0x32 0x53 0x38 0x32 0x31 0x32
Bytes 2 ... 8, ASCII format: 8 2 S 8 2 1 2

EDSMF2178IB EN 3.0 l 79
10 Parameter data transfer
Examples of parameter data telegram

ƒ Second data block − request

Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Byte 1: 0x70 (Toggle), "Write response" (acknowledgement) with access to all 4 data bytes

ƒ Second data block − response with over−detection

Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x11 0x56 0x5F 0x31 0x34 0x30 0x30 0x30
Byte 1: 0x11, last data block transfer
Bytes 2 ... 8, ASCII format: V _ 1 4 0 0 0

Result of data block transfer: 82S8212V_14000

80 l EDSMF2178IB EN 3.0
 Parameter data transfer 10
Special features for parameter setting of the drive controller
8200 vector controller

10.6 Special features for parameter setting of the drive controller

10.6.1 8200 vector controller

The digital and analog input and output signals are freely configurable (see System
Manual 8200 vector; code C0410, C0412, C0417 and C0421).

10.6.2 9300 Servo PLC / Drive PLC / ECS

AIF control byte (C2120)/AIF status byte (C2121)

The controller and the EMF2178IB communication module are able to exchange control
and status information. For this purpose, a control byte and a status byte are made
available in the AIF protocol.

C2120:
AIF control byte
Code Subcode Index Possible settings Data type
Lenze Selection
C2120 − 22455 = 0 See table below FIX32
0x57B7

Possible settings
Selection Description
0 No command
1 Update codes 23XX and CAN reinitialisation º reset node
2 Update codes C23XX
10 Reread C2356/1...4
11 Reread C2357
12 Reread C2375
13 Reread C2376 ... C2378
14 Reread C2382
16 1) Update C7999 and C7998 including CAN reinitialisation
17 1) Update C7999, mapping table of profile indices
18 1) Update C7998, error list of emergency messages
32 1) Reset error source, activate emergency messages
33 ... 62 1) Error source 1 ... 30, activate emergency messages
1) Value range is only valid for profile applications in a PLC

With the AIF control byte it is possible to read the codes C23XX saved in the 9300 Servo PLC,
Drive PLC and ECS into the communication module.

Execute command
How to accept the values in the communication module:
ƒ Write the table value of the required command into the AIF control byte.
ƒ Change the status of the MSB of the AIF control byte. The command is executed.

EDSMF2178IB EN 3.0 l 81
10 Parameter data transfer
Special features for parameter setting of the drive controller
9300 Servo PLC / Drive PLC / ECS

Example
By writing the value"2" into the AIF control byte all codes C23XX are re−read when the MSB
changes its status.
For some codes it is necessary to carry out a CAN reinitialisation so that new values and the
functions derived from them will become effective.

C2121:
AIF status byte
Code Subcode Index Possible settings Data type
Lenze Selection
C2121 − 22454 = 0 0 [1] 255 U8
0x57B6

The AIF status byte provides the 9300 Servo PLC, Drive PLC and ECS with information of the
communication module. With this information, the 9300 Servo PLC, Drive PLC and ECS can
monitor the status of the communication module. Depending on the communication
module states, it is possible for you to take corresponding countermeasures.
AIF status byte Description
Bit 0 CE11 error, CAN−IN1 monitoring time exceeded
Bit 1 CE12 error, CAN−IN2 monitoring time exceeded
Bit 2 CE13 error, CAN−IN3 monitoring time exceeded
Bit 3 CE14−error, communication module in BUS−OFF status
Bit 4 Operational status
Bit 5 Pre−operational state
Bit 6 Warning status
Bit 7 Internally assigned

82 l EDSMF2178IB EN 3.0
 Monitoring 11
Heartbeat Protocol

11 Monitoring

11.1 Heartbeat Protocol

) Note!
ƒ Only one monitoring function can be active:
– Heartbeat or node guarding.
ƒ Heartbeat has priority over node guarding:
– If both functions are configured, the heartbeat settings will be active.

NMT-Master 8 .... 1 NMT-Slave

t s
Request Indication
t=0 Indication

Heartbeat Indication
Producer
Time
Heartbeat
Consumer
Time

8 .... 1

t s
Request Indication
t=0 Indication
Indication

EMERGENCY Heartbeat
Event

E82ZAFU009

CANopen objects for configuration

CANopen Lenze
Index Subindex Designation Code Subcode Description
I−1016 1 Consumer heartbeat time and COB−ID C1869 Consumer heartbeat COB−ID
C2369
C1870 1 Consumer heartbeat time
C2370
I−1017 0 Producer heartbeat time C1870 2 Producer heartbeat time
C2370

The "heartbeat producer" cyclically sends a heartbeat message to one or several

"heartbeat consumers".

EDSMF2178IB EN 3.0 l 83
11 Monitoring
Heartbeat Protocol

Heartbeat transmission
The heartbeat transmission is activated by entering a time under in the CANopen object
I−1017. The monitoring is activated by setting a time and a node ID in the object I−1016/1.

Telegram structure
NMT identifier plus node ID and a data byte with status information:
Data value (s) Status
4 Stopped
5 Operational
127 Pre−operational

Identifier
Identifier = Basisadresse (1792) + configurable address (1 ... 127)

Heartbeatmonitoring
The consumer monitors whether the message is received within the "heartbeat consumer
time". If this is not the case, an emergency telegram with a "heartbeat event" is sent.
The controller response to a "heartbeat event" is set under subcode C1882/5 / C2382/5.
If the "heartbeat event" occurs, the node changes from the "Operational" state to the
"Pre−operational" state (default setting). By means of the object I−1029 a different
response can be set.
The heartbeat monitoring only starts when the first heartbeat telegram of a node
monitored has been successfully received and the "Pre−operational" NMT state has been
reached.

I Tip!
Detailed information on the objects I−1016, I−1017 and I−1029 can be found in
the chapter entitled "Implemented CANopen objects" (^ 91).

84 l EDSMF2178IB EN 3.0
 Monitoring 11
Node Guarding Protocol

11.2 Node Guarding Protocol

) Note!
ƒ Only one monitoring function can be active:
– Heartbeat or node guarding.
ƒ Heartbeat has priority over node guarding:
– If both functions are configured, the heartbeat settings will be active.

The "Node Guarding Protocol" serves to monitor the connection between the NMT master
and the NMT slave(s) within a CAN network.

) Note!
An NMT master can be a PLC with a CAN interface or a PC card.
The NMT slave function of the "Node Guarding Protocols" (DS301, version
4.01) is supported by the EMF2178IB communication module.

2175COB001

Fig. 11−1 Telegram transfer between NMT master and NMT slave

EDSMF2178IB EN 3.0 l 85
11 Monitoring
Node Guarding Protocol

CANopen objects for configuration

CANopen Lenze
Index Subindex Designation Code Subcode Description
I−100C 0 Guard time C1827 − Change of "guard time"
C2327
I−100D 0 Life time factor C1828 − Change of "life time factor"
C2328

RTR telegram
The NMT master cyclically ("node guard time", monitoring time) sends a data telegram
called "Remote Transmit Request" (RTR) to the NMT slave.
The RTR prompts the NMT slave to send its current data.

Response telegram
The NMT slave sends a response telegram with a user data width of 1 byte. The most
significant bit of the response telegram is a toggle bit (t).
The data value (s) of the other seven bits indicates the status of the NMT slave:
Data value (s) Status
4 Stopped
5 Operational
127 Pre−operational

Identifier
Identifier = basic address (1792) + configurable address (1 ... 127)

Node life time

The "node life time" is the product of "node guard time" (object I−100C) and "life time
factor" (object I−100D).

Life guarding event

If the NMT slave does not receive an RTR telegram from the NMT master in the "node life
time", the "life guarding event" triggers a fault signal in the NMT slave. An emergency
telegram with a "life guarding event" is sent.
The controller response to a "life guarding event" is set under subcode C1882/5 / C2382/5.
If the "life guarding event" occurs, the node changes from the "Operational" state to the
"Pre−operational" state (default setting). By means of the object I−1029 a different
response can be set.

Node guarding event

The "node guarding event" should occur in the NMT master if despite the request by the
NMT master no response from the NMT slave is received in the "node life time" or the
toggle bit has not changed in the "node life time".

86 l EDSMF2178IB EN 3.0
 Monitoring 11
Emergency telegram

11.3 Emergency telegram

An emergency telegram is sent once to the master if the error status of the communication
module changes, i.e.
ƒ if an internal communication module error occurs.
ƒ if an internal communication module error is eliminated.
The emergency telegram sent via the CAN bus is structured as follows:
ƒ Byte 1 + 2: Emergency error code
ƒ Byte 3: Error register object I−1001
ƒ Bytes 4 ... 8: Field for manufacturer−specific error messages
Contents:
– Emergency error code 0x1000: Lenze error number
– All other emergency error codes have the value "0".
Emergency error Cause Error register entry
codes (I−1001)
[hex]
0x0000 One of several errors eliminated xx
Single error eliminated 00
(no more errors)
0x1000 Basic device in TRIP, message, warning, FAIL, QSP or persistent fault 01
0x3100 Supply voltage of basic device faulty or failed 01
0x6280 Fault in mapping table with operation with a profile implemented in 01
the PLC
0x8100 Communication error (warning) 11
0x8130 "Life guard error" or "heartbeat error" 11
0x8210 PDO length shorter than expected 11
0x8220 PDO length longer than expected 11
0x8700 Sync telegram monitoring 11

EDSMF2178IB EN 3.0 l 87
12 Diagnostics
Measures in case of troubled communication

12 Diagnostics

12.1 Measures in case of troubled communication

The following table shows error causes and remedy measures if there is no
communication with the controller.
Possible Diagnostics Remedy
cause of error
Is the controller switched One of the operating Supply controller with voltage (see Operating
on? status LEDs of the basic Instructions/Manual for the basic device)
device (2) must be on.
Is the communication The green LED 0 l In case of supply from the controller check the
module supplied with (connection status with connection. With external supply check the 24 V
voltage? controller) is on (remedy 1) voltage at terminals 39 and 59.
or blinking (remedy 2). A voltage of 24V +10% must be applied.
l The communication module has not been initialised
with the controller yet.
l Remedy 1: Controller not switched on (see fault
possibility 1).
l Remedy 2: Check the connection to the controller.
Does the controller receive The green LED 1 Check whether the connection corresponds to the
telegrams? (connection status with instructions given in the chapter "Electrical
bus) must be blinking installation".
when communicating with Check whether host sends telegrams and uses the
the host. appropriate interface.
Is the existing node address already assigned?

88 l EDSMF2178IB EN 3.0
 Diagnostics 12
LED status displays

12.2 LED status displays

The LEDs on the front are provided to the communication module for the purpose of fault
diagnostics.

2172CAN000D

Fig. 12−1 LEDs of the communication module

Pos. Status display (LED) Description

0 Connection status to standard device, two−colour LED (green/red)
OFF l The communication module is not supplied with voltage.
l The external voltage supply is switched off.
GREEN Blinking The communication module is supplied with voltage, but has no
connection to the standard device.
Cause:
The standard device is ...
l switched off;
l in the initialisation phase;
l not available.
Constantly ON The communication module is supplied with voltage and is
connected to the standard device.
RED Constantly ON CANopen operation impossible.
Blinking
Permanently: l Parameters are reset to Lenze setting.
l CANopen operation possible.
1 x blinking: l An error occurred while saving a value.
2 x blinking: l CANopen operation possible.
l The node address/baud rate from C1850/C2350 or C1851/C2351
could not be accepted .

EDSMF2178IB EN 3.0 l 89
12 Diagnostics
LED status displays

Pos. Status display (LED) Description

1 Connection status to fieldbus, two−colour LED (green/red)
OFF No connection to the master
GREEN CANopen status ("Z")
RED CANopen error ("F")
RED constantly on Z: Bus off

Blinking GREEN every 0.2 seconds Z: Pre−operational, F: None

GREEN every 0.2 seconds Z: Pre−operational, F: Warning limit reached

1 x blinking RED, 1 s OFF

Blinking GREEN every 0.2 seconds Z: Pre−operational, F: Node guard event

2 x blinking RED, 1 s OFF

GREEN constantly on Z: Operational, F: None

GREEN constantly on Z: Operational, F: Warning limit reached

1 x blinking RED, 1 s OFF

GREEN constantly on Z: Operational, F: Node guard event

2 x blinking RED, 1 s OFF

GREEN constantly on Z: Operational, F: Sync message error

3 x blinking RED, 1 s OFF

Blinking GREEN every second Z: Stopped, F: None

Blinking GREEN every second Z: Stopped, F: Warning limit reached

1 x blinking RED, 1 s OFF

Blinking GREEN every second Z: Stopped, F: Node guard event

2 x blinking RED, 1 s OFF

Pos. Status display (LED) Description

2 Green and red Drive LED Operating status of standard device
(see standard device documentation)

90 l EDSMF2178IB EN 3.0
 Implemented CANopen objects 13
Reference between CANopen object and Lenze code

13 Implemented CANopen objects

Lenze controllers can be parameterised with Lenze codes and manufacturer−independent

"CANopen objects". A completely CANopen−conform communication can only be achieved
by using CANopen objects for parameter setting.
All CANopen objects described in these instructions are defined according to the "CiA Draft
Standard 301/version 4.02".

) Note!
Some of the terms used here derive from the CANopen protocol.

13.1 Reference between CANopen object and Lenze code

CANopen objects and Lenze codes do not have the same functionalities.
Some CANopen objects have a direct influence on the corresponding codes:
ƒ If a new value is written within an object, the value is also adopted in the
corresponding code C18xx or C23xx.
ƒ When reading an object, the values stored under the corresponding code are
displayed.

Example
The CANopen object I−1017 (producer heartbeat time) is mapped on the codes C1870/2
and C2370/2:
ƒ Reading the object I−1017:
– Response: Value under code C1870/C2370, subcode 2.
ƒ Writing a new value into the object I−1017:
– The new producer heartbeat time is also entered under C1870/2 and C2370/2.

EDSMF2178IB EN 3.0 l 91
13 Implemented CANopen objects
Overview

13.2 Overview

CANopen objects Lenze codes

Index Subindex Designation Code Subcode Description
I−1000 0 Device Type − − −
I−1001 0 Error register − − −
I−1003 0 ... 10 Error history − − −
(depending on the
error messages)
I−1005 0 COB−ID SYNC message C1867 − Change of COB−ID Rx
C2367
C1868 − Change of COB−ID Tx
C2368
C1856 5 The time entered depends on bit 30
C2356 (sync sending).
C1857 6
C2357
I−1006 0 Communication cycle period C1856 5 Enter the value corresponding to bit 30
C2356 of I−1005hex.
C1857 6
C2357
I−1008 0 Manufacturer’s device name − − −
I−100A 0 Manufacturer’s software version − − −
I−100C 0 Guard time C1827 − Change of "guard time"
C2327
I−100D 0 Life time factor C1828 − Change of "life time factor"
C2328
I−1010 0 Store parameters (U8) − − −
1...3 Store parameters (U32)
I−1011 0 ... 7 Restore default parameters − − −
I−1014 0 COB−ID emergency object C1871 − Change of "COB−ID emergency"
C2371 (setting bit 31 to deactivate the
emergency is not directly depend.)
I−1015 0 Emergency inhibit time C1872 Change of delay time
C2372
I−1016 0, 1 Consumer heartbeat time and COB−ID C1869 Change of consumer heartbeat COB−ID
C2369
C1870 1 Change of consumer heartbeat
C2370 monitoring time
I−1017 0 Producer heartbeat time C1870 2 Change of cycle time for the producer
C2370 heartbeat telegram
I−1018 0 ... 4 Module device description − − −
I−1029 0, 1 Error behaviour − − −
I−1200 0 Server SDO1 parameters − − −
1 Identifier client ®server (rx)
2 Identifier server ®client (tx)
I−1201 0 Server SDO2 parameters C1865 1 Change of validity of SDO 2
1 Identifier client ®server (rx) C2365
2 Identifier server ®client (tx)

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CANopen objects Lenze codes

Index Subindex Designation Code Subcode Description
I−1400 0 Number of entries − − −
1 RPDO1 COB−ID C1853 1 Change of COB−ID:
C2353 Set code to CANopen addressing.
C1855 1 Enter the new ID under the code.
C2355
C1865 2 Change of validity of the PDOs
C2365
2 RPDO1 transmission type C1873 1 Change of transmission type
C2373
5 RPDO1 event timer C1857 1 Change of monitoring time
C2357
I−1401 0 Number of entries − − −
1 RPDO2 COB−ID C1853 2 Change of COB−ID:
C2353 Set code to CANopen addressing.
C1855 3 Enter the new ID under the code.
C2355
C1865 3 Change of validity of the PDOs
C2365
2 RPDO2 transmission type C1873 2 Change of transmission type
C2373
5 RPDO2 event timer C1857 2 Change of monitoring time
C2357
I−1402 0 Number of entries − − −
1 RPDO3 COB−ID C1853 3 Change of COB−ID:
C2353 Set code to CANopen addressing.
C1855 5 Enter the new ID under the code.
C2355
C1865 4 Change of validity of the PDOs
C2365
2 RPDO3 transmission type C1873 3 Change of transmission type
C2373
5 RPDO3 event timer C1857 3 Change of monitoring time
C2357
I−1600 0 Number of mapped objects in RPDOs − − −
1 RPDO mapping 1
2 RPDO mapping 2
3 RPDO mapping 3
4 RPDO mapping 4
I−1601 0 Number of mapped objects in RPDOs − − −
1 RPDO mapping 1
2 RPDO mapping 2
3 RPDO mapping 3
4 RPDO mapping 4
I−1602 0 Number of mapped objects in PDOs − − −
1 RPDO mapping 1
2 RPDO mapping 2
3 RPDO mapping 3
4 RPDO mapping 4

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CANopen objects Lenze codes

Index Subindex Designation Code Subcode Description
I−1800 0 Number of entries − − −
1 TPDO1 COB−ID C1853 1 Change of COB−ID:
C2353 Set code to CANopen addressing.
C1855 2 Enter the new ID under the code.
C2355
C1865 2 Change of validity of the PDOs
C2365
2 TPDO1 transmission type C1874 1 Change of transmission type
C2374
C1875 1 Change of mode
C2375
3 Inhibit time − − −
5 TPDO1 event timer C1856 2 Change of cycle time
C2356
I−1801 0 Number of entries − − −
1 TPDO2 COB−ID C1853 2 Change of COB−ID:
C2353 Set code to CANopen addressing.
C1855 4 Enter the new ID under the code.
C2355
C1865 3 Change of validity of the PDOs
C2365
2 TPDO2 transmission type C1874 2 Change of transmission type
C2374
C1875 2 Change of mode
C2375
3 Inhibit time − − −
5 TPDO2 event timer C1856 3 Change of cycle time
C2356
I−1802 0 Number of entries − − −
1 TPDO3 COB−ID C1855 6 Enter the new ID under the code.
C2355
C1865 4 Change of validity of the PDOs
C2365
2 TPDO3 transmission type C1874 3 Change of transmission type
C2374
C1875 3 Change of mode
C2375
3 Inhibit time − − −
5 TPDO3 event timer C1856 4 Change of cycle time
C2356
I−1A00 0 Number of mapped objects in TPDOs − − −
1 TPDO mapping 1
2 TPDO mapping 2
3 TPDO mapping 3
4 TPDO mapping 4
I−1A01 0 Number of mapped objects in TPDOs − − −
1 TPDO mapping 1
2 TPDO mapping 2
3 TPDO mapping 3
4 TPDO mapping 4

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CANopen objects Lenze codes

Index Subindex Designation Code Subcode Description
I−1A02 0 Number of mapped objects in TPDOs − − −
1 TPDO mapping 1
2 TPDO mapping 2
3 TPDO mapping 3
4 TPDO mapping 4

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I−1000: Device type

13.2.1 I−1000: Device type

Index (hex) Name

0x1000 Device Type
Subindex Default Value range Access Data type
setting
0 − 0 ... 232 − 1 ro U32

The object I−1000 indicates the device profile for this device. It is also possible to include
additional information here that is defined in the device profile itself. If a specific device
profile is not used, the content is "0x0000".

Data telegram assignment

Byte 8 7th byte Byte 6 Byte 5
U32
Device profile number Additional information

13.2.2 I−1001: Error register

Reading of the error register

Index (hex) Name
0x1001 Error register
Subindex Default Value range Access Data type
setting
0 − 0 ... 255 ro U8

Bit assignment in the data byte (U8) for the individual error states
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Error status
0 0 0 0 0 0 0 0 No fault
0 0 0 0 0 0 0 1 Device error message
0 0 0 1 0 0 0 1 Communication error

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I−1003: Error history

13.2.3 I−1003: Error history

Error history
Index (hex) Name
0x1003 Error history
Subindex Default Value range Access Data type
setting
0 Number of recorded − 0 ... 255 rw U8
errors
1 Standard error field − 0 ... 232 − 1 ro U32
...
10

This object shows that errors have occurred in the communication module and in the basic
device:
ƒ Subindex 0: Number of saved error messages.
ƒ Subindex 1 ... 10: Error list.
The error messages consist of a 16−bit error code and a 16−bit manufacturer−specific
information field.

) Note!
The values in the "standard error field" under subindex 1 ... 10 will be
completely deleted if subindex 0 "number of recorded errors" is overwritten
with "0".

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I−1005: COB−ID SYNC message

13.2.4 I−1005: COB−ID SYNC message

Index (hex) Name

0x1005 COB−ID SYNC message
Subindex Default Value range Access Data type
setting
0 0x80 or 0 ... 232 − 1 rw U32
0x80000080

This object ensures that sync telegrams can be created for the communication module and
that the identifier value can be written.

Creating sync telegrams

Sync telegrams are created when bit 30 (see below) is set to "1".
The time between the syn telegrams can be set using the object I−1006.

Writing identifiers
The default setting for receiving PDOs is "0x80" in the 11−bit identifier (also according to
the CANopen specification). This means that all communication modules are default set
to the same sync telegram.
If sync telegrams are only to be received by certain communication modules, their
identifiers can be entered with values up to "0xFF". The identifiers can only be changed
when the communication module does not send sync telegrams (bit 30 = 0).

Data telegram assignment

Byte 8 7th byte Byte 6 Byte 5
MSB U32 LSB
31 30 29 28 ... 11 10 ... 0
0/1 0/1 0 Bit value: 0 11−bit identifier

Bits Value Description

0 ... 10 X 11−bit identifier
11 ... 29 0 The extended identifier is not supported. Any of these bits must be "0".
30 0 Device does not create sync telegrams.
1 Device creates sync telegrams.
31 X optional

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I−1006: Communication cycle period

13.2.5 I−1006: Communication cycle period

Index (hex) Name

0x1006 Communication cycle period
Subindex Default Value range Access Data type
setting
0 0 0 ... 232 − 1 rw U32

This object is used to set a sync telegram cycle time when sync sending is activated (bit 30
in object I−1005).
If sync sending is deactivated and a cycle time is selected, the selected time is used for
monitoring the sync telegrams received.
With the default setting of "0", sync telegrams are not created or monitored.
Cycle times can be entered as "1000" or an integer multiple of "1000". The unit of the
entered time is ms. The maximum value is 65535000 ms.

13.2.6 I−1008: Manufacturer’s device name

Index (hex) Name

0x1008 Manufacturer’s device name
Subindex Default Value range Access Data type
setting
0 − Module−specific const VS
(9
characters)

Display of the manufacturer’s device designation of controller and communication

module.
The manufacturer’s device designation comprises a total of 9 characters:
ƒ 1st ... 4th character: The 4th to 7th character is read out of the software ID of the
standard device (C0200).
– e.g. "8212" from the ID of the 8200 vector frequency inverter
ƒ 5th character: Use of an underscore ("_")
ƒ 6th ... 9th character: The 4th to 7th character is read out of the software ID of the
standard device (C1500).
– e.g. "AFU0" from the total "82ZAFU0B_20000" ID of the E82ZAFUC
communication module (CANopen)

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I−100A: Manufacturer software version

13.2.7 I−100A: Manufacturer software version

Index (hex) Name

0x100A Manufacturer’s software version
Subindex Default Value range Access Data type
setting
0 − Module−specific const VS
(11
characters)

Display of the manufacturer’s software version of controller and communication module.

The manufacturer’s software version consists of a total of 11 characters:
ƒ 1st ... 5th character: The 10th to 14th character is read out of the software ID of the
standard device (C0200).
– 10th character: Major software version
– 11. character: Minor software version
– 12th ... 14th character: Power class of the standard device (see documentation of
the standard device)
ƒ 6th character: Use of an underscore ("_")
ƒ 7th ... 11th character: The 10th to 14th character is read out of the software ID of
the standard device (C1500).
– e.g. "20000" from the total "82ZAFU0B_20000" ID of the E82ZAFUC
communication module (CANopen)

13.2.8 I−100C: Guard time

Index (hex) Name

0x100C Guard time
Subindex Default Value range Access Data type
setting
0 0 0 ... 65535 rw U16

The guard time is indicated in milliseconds.

With the default setting of "0", "node guarding" is not supported.
"Node guarding" in the slave is activated if a value > "0" is selected for the "guard time" and
the "life time factor". The "guard time" indicates the time within which the RTRs from the
master are awaited.

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I−100D: Life time factor

13.2.9 I−100D: Life time factor

Index (hex) Name

0x100D Life time factor
Subindex Default Value range Access Data type
setting
0 0 0 ... 255 rw U8

With the default setting of "0", "node guarding" is not supported.

The product of "guard time" and "life time factor" is important for the monitoring process.

13.2.10 I−1010: Store parameters

Parameter storage in the EEPROM

Index (hex) Name
0x1010 Store parameters
Subindex Default Value range Access Data type
setting
0 Store parameters − 0 ... 232 − 1 ro U8
1 U32
...
3

Subindices
Subindex Authorisati Description
on
Write Read
0 ro While writing, the 0x06010002 error Supported subindex: 3
message occurs.
1 While writing, the 0x08000020 error Reading of memory functions of all
message occurs. parameters
2 Reading of memory functions of object
communication parameters
3 Reading of memory functions of
manufacturer−specific parameters
(Index 0x6000 ... 0x9FFF)

Bit assignment (reading)

U32
31 ... 2 1 0
0 ... 0 0/1 0/1

The following functions are controller−dependent. They are indicated by reading the bit
states 0 and 1.
Bits Value Meaning of the bit assignment
0 0 No automatic saving of parameters
1 Automatic saving of parameters
1 0 No saving of parameters on command
1 Saving of parameters on command
2 ... 31 0

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I−1011: Restore default parameters

13.2.11 I−1011: Restore default parameters

Loading of Lenze settings

) Note!
For this function, the subindices to be used depend on the controller type.

Index (hex) Name

0x1011 Restore default parameters
Subindex Default Value range Access Data type
setting
0 Restore default − 0 ... 232 − 1 ro U32
1 parameters rw U32
...
7

Subindices
Subindex Authorisati Description
on
Write Read
0 ro While writing, the 0x06010002 error Max. available subindex (depending on
message occurs. standard device):
l 93xx : 3
l ECSXX: 3
l 82vector : 7
l 82xx: 5
1 rw All parameters can be loaded
2 This function is not supported. Only object communication parameters
While writing, the 0x08000020 error can be loaded
3 message occurs. Only manufacturer−specific parameters
can be loaded
(Index 0x6000 ... 0x9FFF)
4 Parameter set 1 can be loaded
5 Parameter set 2 can be loaded
6 Parameter set 3 can be loaded
7 Parameter set 4 can be loaded

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I−1011: Restore default parameters

Bit assignment (reading)

MSB U32 LSB
31 30 .... 1 0
0 0 0 0 0/1

Bit states
Bits Value Meaning of the bit assignment
0 0 Parameters cannot be loaded
1 Parameters can be loaded
1 ... 31 0

Bit assignment (writing)

The telegram data must include the signature "load" to start the parameter download.
Signature MSB LSB
ISO 8859 (ASCII) d a o l
Value (hex) 0x64 0x61 0x6F 0x6C

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I−1014: COB−ID emergency object

13.2.12 I−1014: COB−ID emergency object

Index (hex) Name

0x1014 COB−ID emergency object
Subindex Default Value range Access Data type
setting
0 0x80 + 0 ... 232 − 1 rw U32
Node ID

When communication errors occur, are reset or when internal errors occur in the
communication module or controller (e.g. TRIP), the CAN bus sends an error message. The
telegram is sent once for every fault. This function can be activated and deactivated with
bit 31.
Data telegram assignment
Byte 8 7th byte Byte 6 Byte 5
MSB U32 LSB
31 30 29 28 ... 11 10 0
0/1 0 0 Bit value: 0 11−bit identifier

Bits Value Description

0 ... 10 0/1 11−bit identifier
11 ... 29 0 The extended identifier is not supported. Any of these bits must be "0".
30 0 Reserved
31 0 Emergency object is valid
1 Emergency object is invalid

) Note!
The COB−ID can only be changed in the "Emergency object invalid" status
(bit 31 = 1).
The emergency telegram sent via the CAN bus is structured as follows:
ƒ Byte 1 + 2: Emergency error code
ƒ Byte 3: Error register object I−1001
ƒ Bytes 4 ... 8: Field for manufacturer−specific error messages
Contents:
– Emergency error code 0x1000: Lenze error number
– All other emergency error codes have the value "0".

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I−1015: Emergency inhibit time

13.2.13 I−1015: Emergency inhibit time

Index (hex) Name

0x1015 Emergency inhibit time
Subindex Default Value range Access Data type
setting
0 0 0 ... 65535 rw U16

This object determines the time between two emergency telegrams.

The value entered is multiplied by 0.1, the result is the delay time inmilliseconds.

13.2.14 I−1016: Consumer heartbeat time

Index (hex) Name

0x1016 Consumer heartbeat time
Subindex Default Value range Access Data type
setting
0 Consumer heartbeat time 0 0 ... 65535 ro U32
1 rw U32

Subindices
Subindex Explanation
0 Highest subindex
1 Node ID and "heartbeat time" of node

Bit assignment, subindex 1

U32
31 ... 24 23 ... 16 15 ... 0
Reserved, value 0 Node ID Heartbeat time [ms]

The "consumer heartbeat time" is used to monitor a node.

The "consumer heartbeat time" must be longer than the "producer heartbeat time" of the
node to be monitored.
If the selected time is exceeded, the communication module will send an emergency
telegram including the "heartbeat error" 0x8130.
Under code C1882/subcode 5, you can set the response of the basic device.

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I−1017: Producer heartbeat time

13.2.15 I−1017: Producer heartbeat time

Index (hex) Name

0x1017 Producer heartbeat time
Subindex Default Value range Access Data type
setting
0 0 0 ... 65535 rw U32

The heartbeat telegram will be sent automatically if a value > "0" is entered in I−1017. The
cycle time corresponds to the entered value in milliseconds.
"Node guarding" is deactivated when the "heartbeat time" is active.

13.2.16 I−1018: Module device description

Entry of vendor ID
Index (hex) Name
0x1018 Module device description
Subindex Default Value range Access Data type
setting
0 Module device description − Module−specific ro Identity
...
4

Subindices
Subindex Meaning
0 Highest subindex
1 Vendor ID = ID assigned to Lenze by the organisation "CIA"
2 Product code
3 Revision number
4 Serial number

13.2.17 I−1029: Error behaviour

Index (hex) Name

0x1029 Error characteristics
Subindex Default Value range Access Data type
setting
0 No. of error classes − 0 ... 255 ro U8
1 Communication error − 0 ... 2 rw U8

Subindex 1
Value of Meaning
subindex 1
0 Status change to "Pre−operational"
1 No status change
2 Status change to "Stopped"

Here, the response to communication errors (node guarding, heartbeat) can be set under
subindex 1.

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I−1200/I−1201: Server SDO parameters

13.2.18 I−1200/I−1201: Server SDO parameters

Server SDOs can be parameterised with two objects:

ƒ I−1200 for the parameter data channel 1 (SDO1)
ƒ I−1201 for the parameter data channel 2 (SDO2)
With I−1201 the identifier can be written in sending and receiving direction, I−1200 has only
got reading access. The server SDO parameters are only valid, if bit 31 = "0" in both
transmission directions (subindex 1 and 2).
Index Subindex Name Data type Value range Authorisatio
n
I−1200 0 Server SDO1 parameters U8 0 ... 255 ro
1 Identifier U32 0 ... (232 − 1) ro
Client ® server (rx)
2 Identifier U32 0 ... (232 − 1) ro
Server ® client (tx)
I−1201 0 Server SDO2 parameters U8 0 ... 255 ro
1 Identifier U32 0 ... (232 − 1) rw
Client ® server (rx)
2 Identifier U32 0 ... (232 − 1) rw
Server ® client (tx)

Subindices
Subindex Description
0 Max. supported subindex = 3
1 Specification of the receive identifier
2 Specification of the transmit identifier

Data telegram assignment for subindex 1 and 2

Byte 8 7th byte Byte 6 Byte 5
MSB U32 LSB
31 30 29 28 ... 11 10 ... 0
0/1 0 0 Bit value: 0 11−bit identifier

Bits Value Description

0 ... 10 X 11−bit identifier
11 ... 29 0 The extended identifier is not supported. Any of these bits must be "0".
30 0 Reserved
31 0 SDO valid
1 SDO invalid

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I−1200/I−1201: Server SDO parameters

Example:
Parameter data channel 2 (SDO2) of the controller with node address"4" is to be
deactivated. The master must send this command to the communication module via
parameter data channel 1 (SDO1).
In sending direction, the basic identifier for SDO2 has the value "1600" (basic identifier for
response: "1472").
Identifier = basic identifier + node address = 1604 (0x0644)
For deactivating the parameter data channel (= invalid), set bit 31 in I−1201, subindices 1
and 2 to "1". After this, enter the following values under subindices 1 and 2:
I−1201/1: 0x80000000 + 0x644 = 0x80000644
I−1201/2: 0x80000000 + 0x5C4 = 0x800005C4
ƒ User data assignment for I−1201/1:
User data
Byte 1 2nd byte 3rd byte Byte 4 Byte 5 Byte 6 7th byte Byte 8
Index Index
Command Subindex U32
Low byte High byte
0x23 0x01 0x12 0x01 0x44 0x06 0x00 0x80
(write request) Client ® server (rx)

ƒ User data assignment for I−1201/2:

User data
Byte 1 2nd byte 3rd byte Byte 4 Byte 5 Byte 6 7th byte Byte 8
Index Index
Command Subindex U32
Low byte High byte
0x23 0x01 0x12 0x02 0xC4 0x05 0x00 0x80
(write request) Server ® client (tx)

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I−1400 ... I−1402: Receive PDO communication parameters

13.2.19 I−1400 ... I−1402: Receive PDO communication parameters

Receipt of PDO communication parameters

) Note!
The objects I−1401 and I−1402 are not available for 8200 vector and 93XX
controllers.

Index Subindex Name Data type Value range Authorisatio

n
I−1400 0 Number of entries U8 0 ... 255 ro
1 RPDO1 COB−ID U32 0 ... (232 − 1) rw
2 RPDO1 transmission type U8 0 ... 240, 254 rw
5 RPDO1 event timer U32 1 ... 65535 rw
I−1401 0 Number of entries U8 0 ... 255 ro
1 RPDO2 COB−ID U32 0 ... (232 − 1) rw
2 RPDO2 transmission type U8 0 ... 255 rw
5 RPDO2 event timer U32 1 ... 65535 rw
I−1402 0 Number of entries U8 0 ... 255 ro
1 RPDO3 COB−ID U32 0 ... (232 − 1) rw
2 RPDO3 transmission type U8 0 ... 255 rw
5 RPDO3 event timer U32 1 ... 65535 rw

Subindices
Subindex Description
0 Max. supported subindices = 5
1 Identifier setting:
l RPDO1: 200hex + node ID
l RPDO2: 300hex + node ID
l RPDO3: 400hex + node ID
2 Transmission type setting (see table above)
5 Monitoring time setting (see table above)

Description of subindex 1
Data telegram assignment
Byte 8 7th byte Byte 6 Byte 5
MSB U32 LSB
31 30 29 28 ... 11 10 ... 0
0/1 0/1 0 Bit value: 0 11−bit identifier

Bits Value Description

0 ... 10 X 11−bit identifier
11 ... 29 0 The extended identifier is not supported. Any of these bits must be "0".
30 0 RTR to RPDO possible (Lenze)
1 RTR to RPDO not possible (cannot be set)
31 0 RPDO active
1 RPDO not active

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I−1400 ... I−1402: Receive PDO communication parameters

Description of subindex 2
PDO transmission Transmission type Description
cyclic synchronous event−control
led
X X n = 1 ... 240 By entering value n, this RPDO will be
accepted by every n−th sync.
X n = 254 Manufacturer−specific,
see code C1875/ C2375

Description of subindex 5
The "monitoring time" describes the period of time in which new process input data must
arrive with the CAN−IN1 ... 3 identifiers. If the time entered is exceeded, it is possible to set
a corresponding reaction under code C1882.

) Note!
ƒ The monitoring time starts with the arrival of the first telegram.
ƒ Subindex 5 = 0: Monitoring deactivated.

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I−1600 ... I−1602: Receive PDO mapping parameters

13.2.20 I−1600 ... I−1602: Receive PDO mapping parameters

With these objects, parameter data can be received as PDOs.

) Note!
The objects I−1601 and I−1602 are not available for 8200 vector and 93XX
controllers.

Index Subindex Name Data type Value range Authorisatio

n
I−1600 0 Number of mapped objects U8 0 ... 255 rw
in RPDOs
1 RPDO mapping 1 U32 0 ... (232 − 1)
2 RPDO mapping 2
3 RPDO mapping 3
4 RPDO mapping 4
I−1601 0 Number of mapped objects U8 0 ... 255 rw
in RPDOs
1 RPDO mapping 1 U32 0 ... (232 − 1)
2 RPDO mapping 2
3 RPDO mapping 3
4 RPDO mapping 4
I−1602 0 Number of mapped objects U8 0 ... 255 rw
in RPDOs
1 RPDO mapping 1 U32 0 ... (232 − 1)
2 RPDO mapping 2
3 RPDO mapping 3
4 RPDO mapping 4

Subindices
Subindex Description
0 Number of mapped objects in RPDOs
1 ... 4 This value will be returned in case of a read request for the object.

For mapping in the module, the master enters indices and data lengths.

Mapping structure
MSB LSB
31 ... 16 15 ... 8 7 ... 0
Index Subindex Object length
DWord 0 = 0x20
Word = 0x10

The EDS file for the EMF2178IB communication module supports the mapping.

I Tip!
The current EDS file required for configuring the EMF2178IB (CANopen)
communication module can be found in the download area on:
www.Lenze.com

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I−1800 ... I−1802: Transmit PDO communication parameters

13.2.21 I−1800 ... I−1802: Transmit PDO communication parameters

Sending of PDO communication parameters

) Note!
The objects I−1801 and I−1802 are not available for 8200 vector and 93XX
controllers.

Index Subindex Name Data type Value range Authorisatio

n
I−1800 0 Number of entries U8 0 ... 255 ro
1 TPDO1 COB−ID U32 0 ... (232 − 1) rw
2 TPDO1 transmission type U8 0 ... 240, 252,254 rw
3 TPDO1 inhibit time U32 0 ... 65535 rw
5 TPDO1 event timer U32 0 ... 65535 rw
I−1801 0 Number of entries U8 0 ... 255 ro
1 TPDO2 COB−ID U32 0 ... (232 − 1) rw
2 TPDO2 transmission type U8 0 ... 240, 252, 254 rw
3 TPDO2 inhibit time U32 0 ... 65535 rw
5 TPDO2 event timer U32 0 ... 65535 rw
I−1802 0 Number of entries U8 0 ... 255 ro
1 TPDO3 COB−ID U32 0 ... (232 − 1) rw
2 TPDO3 transmission type U8 0 ... 240, 252, 254 rw
3 TPDO3 inhibit time U32 0 ... 65535 rw
5 TPDO3 event timer U32 0 ... 65535 rw

Subindices
Subindex Description
0 Max. supported subindices = 5
1 Identifier setting:
l TPDO1: 0x180 + node ID
l TPDO2: 0x280 + node ID
l TPDO3: 0x380 + node ID
2 Transmission type setting (see table)
3 Inhibit time setting
5 Cycle time setting

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 Implemented CANopen objects 13
Overview
I−1800 ... I−1802: Transmit PDO communication parameters

Description of subindex 1
Data telegram assignment
Byte 8 7th byte Byte 6 Byte 5
MSB U32 LSB
31 30 29 28 ... 11 10 ... 0
0/1 0/1 0 Bit value: 0 11−bit identifier

Bits Value Description

0 ... 10 X 11−bit identifier
11 ... 29 0 The extended identifier is not supported. Any of these bits must be "0".
30 0 RTR to TPDO possible (Lenze)
1 RTR to TPDO not possible (cannot be set)
31 0 TPDO active
1 TPDO not active

Description of subindex 2
PDO transmission Transmission type Description
cyclic synchronous event−control
led
X X n = 1 ... 240 By entering value n, this TPDO will be
accepted by every n−th sync.
X n = 252 By sync, TPDO will be filled with new
data, but only sent on RTR.
X n = 254 Manufacturer−specific,
see code C1875/ C2375

Description of subindex 3
Minimum time between two process data telegrams.

) Note!
Subindex 3 = 0: Inhibit time deactivated.

Description of subindex 5
With event−controlled/cyclic operation, you can set the cycle time for sending PDOs via the
CAN bus.

) Note!
Subindex 5 = 0: Cyclic PDO sending deactivated.

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13 Implemented CANopen objects
Overview
I−1A00 ... I−1A02: Transmit PDO mapping parameters

13.2.22 I−1A00 ... I−1A02: Transmit PDO mapping parameters

With these objects, parameter data can be sent as PDOs.

) Note!
The objects I−1A01 and I−1A02 are not available for 8200 vector and 93XX
controllers.

Index Subindex Name Data type Value range Authorisatio

n
I−1A00 0 Number of mapped objects U8 0 ... 255 rw
in TPDOs
1 TPDO mapping 1 U32 0 ... (232 − 1)
2 TPDO mapping 2
3 TPDO mapping 3
4 TPDO mapping 4
I−1A01 0 Number of mapped objects U8 0 ... 255 rw
in TPDOs
1 TPDO mapping 1 U32 0 ... (232 − 1)
2 TPDO mapping 2
3 TPDO mapping 3
4 TPDO mapping 4
I−1A02 0 Number of mapped objects U8 0 ... 255 rw
in TPDOs
1 TPDO mapping 1 U32 0 ... (232 − 1)
2 TPDO mapping 2
3 TPDO mapping 3
4 TPDO mapping 4

Detailed information on mapping: (¶ 65)

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 Codes 14
Overview

14 Codes

14.1 Overview

) Note!
ƒ Some CANopen objects have a direct influence on the corresponding codes.
If a new value is written within an index, the value is also adopted in the
corresponding code C18xx or C23xx.
ƒ With the 9300 Servo PLC, Drive PLC and ECS, a change of code C23xx will
only become effective after one of the following actions:
– Fresh power−on of communication module.
– Sending the NMT command "Reset Node" / "Reset Communication".
– Entering the value "1" under code C2120 (AIF control byte).
ƒ With all other controllers, changes will become effective immediately.
ƒ Since the codes C18xx are in the module, the corresponding values are
directly known. The codes C23xx are in the PLC and therefore must be read
by the module first.

Code Subcode Index Designation Info

(dec = hex)
C0001 − 24574 = Operating mode for 8200 vector ^ 144
0x5FFE
C0009 − 24566 = CAN node address ^ 144
0x5FF6
C0046 − 24529 = Display of frequency setpoint ^ 144
0x5FD1
C0125 − 24450 = Baud rate ^ 145
0x5F82
C0126 − 24449 = Behaviour with communication error ^ 145
0x5F81
C0135 − 24440 = Controller control word ^ 145
0x5F78
C0150 − 24425 = Controller status word ^ 145
0x5F69
C0161 − 24414 = Fault memory 8200 vector: Active fault ^ 146
0x5F5E
C0162 − 24413 = Fault memory 8200 vector: Last fault ^ 146
0x5F5D
C0163 − 24412 = Fault memory 8200 vector: Last but one fault ^ 146
0x5F5C
C0164 − 24411 = Fault memory 8200 vector: Last but two fault ^ 146
0x5F5B
C0168 − 24407 = Fault memory 9300 / ECSXX ^ 146
0x5F57
C1810 − 22765 = Software identification code as string ^ 120
0x58ED
C1811 − 22764 = Software creation date as string ^ 120
0x58EC
C1812 1 ... 4 22763 = Software identification code in subcodes ^ 120
0x58EB

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14 Codes
Overview

Code Subcode Index Designation Info

(dec = hex)
C1813 1 ... 4 22762 = Software creation date in subcodes ^ 120
0x58EA
C1822 1 ... 12 22753 = AIF input words ^ 121
0x58E1
C1823 1 ... 12 22752 = AIF output words ^ 121
0x58E0
C1824 1 ... 11 22751 = AIF input double words ^ 121
0x58DF
C1825 1 ... 11 22750 = AIF output double words ^ 121
0x58DE
C1827 − 22748 = Guard time ^ 122
0x58DC
C1828 − 22747 = Life time factor ^ 122
0x58DB
C1850 − 22725 = CAN node address ^ 123
0x58C5
C1851 − 22724 = Baud rate ^ 124
0x58C4
C1852 − 22723 = Master / slave operation ^ 125
0x58C3
C1853 1...3 22722 = Addressing CAN−INx/CAN−OUTx ^ 126
0x58C2
C1854 1 ... 6 22721 = Individual addressing CAN−INx / CAN−OUTx ^ 129
0x58C1
C1855 1 ... 6 22720 = Display of resulting identifiers CAN−IN / CAN−OUT ^ 129
0x58C0
C1856 1 ... 5 22719 = Boot up and cycle times ^ 130
0x58BF
C1857 1 ... 6 22718 = Monitoring times ^ 131
0x58BE
C1859 − 22716 = Display of the DIP switch position during initialisation ^ 132
0x58BC
C1860 − 22715 = Display of the current DIP switch position ^ 133
0x58BB
C1861 − 22714 = Display of the active CAN node address ^ 133
0x58BA
C1862 − 22713 = Display of the active baud rate ^ 133
0x58B9
C1864 − 22711 = PDO transmission with status change to "Operational" ^ 134
0x58B7
C1865 1 ... 4 22710 = Validity of SDO2 and PDOs ^ 134
0x58B6
C1867 − 22708 = Sync Rx identifier ^ 135
0x58B4
C1868 − 22707 = Sync Tx identifier ^ 135
0x58B3
C1869 − 22706 = Consumer heartbeat ID ^ 136
0x58B2
C1870 1 ... 2 22705 = Heartbeat time (consumer, producer) ^ 136
0x58B1
C1871 − 22704 = Emergency ID ^ 137
0x58B0
C1872 − 22703 = Emergency inhibit time ^ 137
0x58AF

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 Codes 14
Overview

Code Subcode Index Designation Info

(dec = hex)
C1873 1...3 22702 = Sync rate CAN−IN1 ... CAN IN3 ^ 138
0x58AE
C1874 1...3 22701 = Sync rate CAN−OUT1 ... CAN OUT3 ^ 139
0x58AD
C1875 1...3 22700 = Tx mode CAN−OUT1 ... CAN OUT3 ^ 140
0x58AC
C1876 1 ... 4 22699 = Masks CAN−OUT1 ^ 142
0x58AB
C1877 1 ... 4 22698 = Masks CAN−OUT2 ^ 143
0x58AA
C1878 1 ... 4 22697 = Masks CAN−OUT3 ^ 143
0x58A9
C1882 1 ... 6 22693 = Monitoring responses ^ 143
0x58A5
C2120 − 22455 = AIF control byte ^ 147
0x57B7
C2121 − 22454 = AIF status byte ^ 148
0x57B6
C2327 − 22248 = Guard time ^ 122
0x56E8
C2328 − 22247 = Life time factor ^ 122
0x56E7
C2350 − 22225 = CAN node address ^ 123
0x56D1
C2351 − 22224 = Baud rate ^ 124
0x56D0
C2352 − 22223 = Master / slave operation ^ 125
0x56CF
C2353 1...3 22222 = Addressing CAN−INx/CAN−OUTx ^ 126
0x56CE
C2354 1 ... 6 22221 = Individual addressing CAN−INx / CAN−OUTx ^ 129
0x56CD
C2355 1 ... 6 22220 = Display of resulting identifiers CAN−IN / CAN−OUT ^ 129
0x56CC
C2356 1 ... 5 22219 = Boot up and cycle times ^ 130
0x56CB
C2357 1 ... 6 22218 = Monitoring time ^ 131
0x56CA
C2359 − 22216 = Display of the DIP switch position during initialisation ^ 132
0x56C8
C2364 − 22211 = PDO transmission with status change to "Operational" ^ 134
0x56C3
C2365 1 ... 4 22210 = Validity of SDO2 and PDOs ^ 134
0x56C2
C2367 − 22208 = Sync Rx identifier ^ 135
0x56C0
C2368 − 22207 = Sync Tx identifier ^ 135
0x56BF
C2369 − 22206 = Consumer heartbeat ID ^ 136
0x56BE
C2370 1 ... 2 22205 = Heartbeat time (consumer, producer) ^ 136
0x56BD
C2371 − 22204 = Emergency ID ^ 137
0x56BC

EDSMF2178IB EN 3.0 l 117

14 Codes
Overview

Code Subcode Index Designation Info

(dec = hex)
C2372 − 22203 = Emergency inhibit time ^ 137
0x56BB
C2373 1...3 22202 = Sync rate CAN−IN1 ... CAN IN3 ^ 138
0x56BA
C2374 1...3 22201 = Sync rate CAN−OUT1 ... CAN OUT3 ^ 139
0x56B9
C2375 1...3 22200 = Tx mode CAN−OUT1 ... CAN OUT3 ^ 140
0x56B8
C2376 1 ... 4 22199 = Masks CAN−OUT1 ^ 142
0x56B7
C2377 1 ... 4 22198 = Masks CAN−OUT2 ^ 143
0x56B6
C2378 1 ... 4 22197 = Masks CAN−OUT3 ^ 143
0x56B5
C2382 1 ... 6 22193 = Monitoring response ^ 143
0x56B1

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 Codes 14
Communication−relevant Lenze codes

14.2 Communication−relevant Lenze codes

The configuration of the entire system where the individual controller often only
represents one of many components in general is defined or altered during the
commissioning phase or during service.
For configuring the Lenze controllers, parameters are provided which are stored as
so−called "codes" in a numerically ascending order in the memory of the controller.
All codes can be accessed via the CAN bus.
The following codes are available for communication via the CAN bus:
ƒ Codes C1810 ... C1825 and C1860 ... C1862:
– For all devices.
– These codes are stored in the EMF2178IB communication module.
ƒ Codes C1827 ... C1882
– For 8200 vector and 93XX controllers.
– These codes are stored in the EMF2178IB communication module.
ƒ Codes C2327 ... C2382:
– For 9300 Servo PLC, Drive PLC and ECS.
– These codes are stored in the controller.
Communication with the drive requires that the system identifies the drive as node. The
identification takes place in the initialisation phase of the communication module.

How to read the tables

Column Meaning
Code (Lenze) code
Subcode Subcode
Index Information on the addressing of the code
Lenze Lenze setting of code
g Display code
Configuration of this code is not possible.
Selection Minimum value [minimum increment/unit] maximum value
For a display code, the displayed values are specified.
Data type FIX32 32−bit value with sign; decimal with 4 decimal positions
S8 8−bit value, with sign
S16 16−bit value, with sign
S32 32−bit value, with sign
U8 8−bit value, without sign
U16 16−bit value, without sign
U32 32−bit value, without sign
VS Visible string, character string with defined length

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14 Codes
Communication−relevant Lenze codes

C1810:
Software ID
Code Subcode Index Possible settings Data type
Lenze Selection
C1810 − 22765 = g VS
0x58ED

Software identification code as string

Only important in the event of service.

C1811:
Software creation date
Code Subcode Index Possible settings Data type
Lenze Selection
C1811 − 22764 = g VS
0x58EC

Software creation date as string

Mainly important in the event of service.

C1812:
Software ID
Code Subcode Index Possible settings Data type
Lenze Selection
C1812 /1: 22763 = g U32
... 0x58EB
/4:

Software identification code in subcodes

C1813:
Software creation date
Code Subcode Index Possible settings Data type
Lenze Selection
C1813 /1: 22762 = g U32
... 0x58EA
/4:

Software creation date in subcodes

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 Codes 14
Communication−relevant Lenze codes

C1822:
AIF−IN all words
Code Subcode Index Possible settings Data type
Lenze Selection
C1822 /1: 22753 = g U16
... 0x58E1
/12:

All AIF−IN words as 16−bit values

C1823:
AIF−OUT all words
Code Subcode Index Possible settings Data type
Lenze Selection
C1823 /1: 22752 = g U16
... 0x58E0
/12:

All AIF−OUT words as 16−bit values

C1824:
AIF−IN all double words
Code Subcode Index Possible settings Data type
Lenze Selection
C1824 /1: 22751 = g U32
... 0x58DF
/11:

All AIF−IN double words as 32−bit values, with an offset of 16 bits each.
(¶ 66)

C1825:
AIF−OUT all double words
Code Subcode Index Possible settings Data type
Lenze Selection
C1825 /1: 22750 = g U32
... 0x58DE
/11:

All AIF−OUT double words as 32−bit values, with an offset of 16 bits each.
(¶ 66)

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14 Codes
Communication−relevant Lenze codes

C1827/C2327:
Guard Time
Code Subcode Index Possible settings Data type
Lenze Selection
C1827 − 22748d = 0 0 [1 ms] 65535 FIX32
0x58DC
C2327 − 22248d =
0x56E8

It is possible to select a different "node life time" for each NMT slave.
The "node life time" is the product of "guard time" (object I−100C) and the "life time factor"
(object I−100D). The NMT master must know the two values.

Relation to CANopen
The object I−100C (guard time) has a direct influence on code C1827/C2327. A newly
written value in the object is also transferred to code C1827/C2327.

C1828/C2328:
Life time factor
Code Subcode Index Possible settings Data type
Lenze Selection
C1828 − 22747 = 0 0 [1] 255 FIX32
0x58DB
C2328 − 22247 =
0x56E7

It is possible to select a different "node life time" for each NMT slave.
The "node life time" is the product of "guard time" (object I−100C) and the "life time factor"
(object I−100D). The NMT master must know the two values.

Relation to CANopen
The object I−100D (life time factor) has a direct influence on code C1828/C2328. A newly
written value in the object is also transferred to code C1828/C2328.

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 Codes 14
Communication−relevant Lenze codes

C1850/C2350:
CAN node address
Code Subcode Index Possible settings Data type
Lenze Selection
C1850 − 22725 = 1 1 [1] 99 FIX32
0x58C5
C2350 − 22225 =
0x56D1

This code serves to set the CAN node address of the communication module.

) Note!
ƒ If several CAN nodes are interconnected, their node addresses must differ
from each other.
ƒ Node addresses > 99 can only be set via DIP switch(¶ 33).
ƒ All DIP switches 1 ... 7 = OFF (Lenze setting):
– When the device is switched on, the settings under code C1850/C2350
(node address) and C1851/C2351 (baud rate) are active.
– Code C1850/C2350 is an image of code C0009 of the basic device. Setting
C1850/C2350 has a direct effect on C0009.

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14 Codes
Communication−relevant Lenze codes

C1851/C2351:
Baud rate
Code Subcode Index Possible settings Data type
Lenze Selection
C1851 − 22724 = 0 0 ... 4 0: 500 kbps FIX32
0x58C4 1: 250 kbps
2: 125 kbps
C2351 − 22224 = 3: 50 kbps
0x56D0 4: 1000 kbit/s

This code serves to set the baud rate of the communication module.
ƒ The baud rate must be the same for all CAN nodes.
ƒ The baud rates 10 kbps and 20 kbps can only be selected via DIP switch(¶ 33).
ƒ Setting the code (e.g. with GDC via CAN) has a direct effect on the standard device
code C0125.

) Note!
ƒ The baud rate must be the same for all CAN nodes.
ƒ The baud rates 10 kbps and 20 kbps can only be selected via DIP
switch(¶ 33).
ƒ All DIP switches 1 ... 7 = OFF (Lenze setting):
– When the device is switched on, the settings under code C1850/C2350
(node address) and C1851/C2351 (baud rate) are active.
– Code C1851/C2351 is an image of code C0125 of the basic drive. Setting
C1851/C2351 has a direct effect on C0125.

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 Codes 14
Communication−relevant Lenze codes

C1852/C2352:
Master/slave operation
Code Subcode Index Possible settings Data type
Lenze Selection
C1852 − 22723 = 0 0: Slave operation FIX32
0x58C3 1: Master operation
C2352 − 22223 =
0x56CF

After switch−on the communication module has the state "Pre−operational". In this state
only an exchange of parameter data (SDOs) is possible.
In slave operation, the communication module stays in this state until it is put by the NMT
command "Start remote node" into the state "Operational".
In the state "Operational" also process data (PDOs) are exchanged besides parameter data
(SDOs).
In master operation, the NMT command "Start remote node" is transmitted after an
adjustable boot−up time (C1856/1, C2356/1), which puts all CAN nodes into the state
"Operational".

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14 Codes
Communication−relevant Lenze codes

C1853/C2353:
Addressing CAN−IN/OUT
Code Subcode Index Possible settings Data type
Lenze Selection
C1853 /1: CAN−IN1/CAN−OUT1 22722 = 0 see table below FIX32
/2: CAN−IN2/CAN−OUT2 0x58C2
C2353 /3: CAN−IN3/CAN−OUT3 22222 =
0x56CE

Possible settings
Selection Description
0 Addressing to CANopen (default identifier)
1 Addressing to C1854/C2354 (selective addressing)
2 Addressing to Lenze system bus (CAN)
3 Addressing to CANopen objects I−140X/I−180X

Via this code, the source for the resulting addresses of the CAN−INx/OUTx process data
objects (PDOs) on the CAN bus is selected.

Relation to CANopen
The addressing of the corresponding PDP pair or subcode in code C1853/C2353 is switched
to the objects I−140X/I−180X (see above: Selection "3") if a new value is entered into the
objects I−1400 ... I−1402 or I−1800 ... I−1802.

Identifier for addressing to CANopen (default identifier)

This is the Lenze setting of the EMF2178IB communication module. The calculation
consists of the basic identifier and the node address. The basic identifier corresponds to the
preset value according to DS301 V4.02.
PDO Identifier
C1853/C2353 = 0: Addressing following CANopen (basic identifier)
CAN−IN1 512 + node address 0x200 + node address
CAN−IN2 768 + node address 0x300 + node address
CAN−IN3 1024+node address 0x400 + node address
CAN−OUT1 384 + node address 0x180 + node address
CAN−OUT2 640 + node address 0x280 + node address
CAN−OUT3 896 + node address 0x380 + node address

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 Codes 14
Communication−relevant Lenze codes

Identifier for selective addressing via C1854/C2354

In case of this addressing, the identifier is the sum of a fixed basic identifier384(0x180)+
the value of the corresponding subcode of C1854/C2354. Here, the node address has no
influence anymore.
This configuration has been created in accordance with 8200 vector controllers with
E82ZAFCCxxx function module (system bus (CAN)) and the integrated system bus
interface of the 93XX controllers (code C0353/C0354, selective addressing).
PDO Identifier for addressing via C1854/C2354
C1853/C2353 = 1 C1853/C2353 = 1
(with Lenze setting)
CAN−IN1 384 + C1854/1 or 384 + C2354/1 384 + 129 0x201
CAN−IN2 384 + C1854/3 or 384 + C2354/3 384 + 257 0x281
CAN−IN3 384 + C1854/5 or 384 + C2354/5 384 + 385 0x301
CAN−OUT1 384 + C1854/2 or 384 + C1854/2 384 + 1 0x181
CAN−OUT2 384 + C1854/4 or 384 + C1854/4 384 + 258 0x282
CAN−OUT3 384 + C1854/6 or 384 + C1854/6 384 + 386 0x302

Identifier for addressing to Lenze system bus

This setting corresponds to the preset calculation of the identifiers for 8200 vector
controllers in connection with an E82ZAFCCxxx function module (system bus (CAN)) and
the integrated system bus interface of 93XX controllers.
The identifier once again consists of a basic identifier and the node address.
PDO Identifier for addressing via Lenze system bus (CAN)
C1853/C2353 = 2
CAN−IN1 512 + node address 0x200 + node address (hex)
CAN−IN2 640 + node address 0x280 + node address (hex)
CAN−IN3 768 + node address 0x300 + node address (hex)
CAN−OUT1 384 + node address 0x180 + node address (hex)
CAN−OUT2 641 + node address 0x281 + node address (hex)
CAN−OUT3 769 + node address 0x301 + node address (hex)

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14 Codes
Communication−relevant Lenze codes

Identifier for addressing to CANopen projects I−140X/I−180X

If the subcode has the value "3", this indicates that the identifiers have been changed via
the objects I−140X/I−180X . Now, the identifier is developed directly from the objects.
A change of the codes C1854 / C2354 does not influence the current identifiers.
PDO Identifier for addressing to CANopen projects I−140X/I−180X
C1853/C2353 = 3
CAN−IN1 Object I−1400, subindex 1
CAN−IN2 Object I−1401, subindex 1
CAN−IN3 Object I−1402, subindex 1
CAN−OUT1 Object I−1800, subindex 1
CAN−OUT2 Object I−1801, subindex 1
CAN−OUT3 Object I−1802, subindex 1

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 Codes 14
Communication−relevant Lenze codes

C1854/C2354:
Individual addressing CAN−IN/OUT
Code Subcode Index Possible settings Data type
Lenze Selection
C1854 /1: CAN−IN1 22721 = /1: 129 0 [1] 1663 FIX32
/2: CAN−OUT1 0x58C1 /2: 1
/3*: CAN−IN2 /3: 257*
C2354 /4*: CAN−OUT2 22221 = /4: 258*
/5*: CAN−IN3 0x56CD /5: 385*
/6*: CAN−OUT3 /6: 386*
*) not effective when using 8200 vector or 93XXcontrollers
With this code it is possible to set the addresses of the input and output PDOs individually
via six subcodes.
The code becomes effective, if one of the subcodes of code C1853/C2353 contains the
value "1" (selective addressing).

C1855/C2355:
Display of resulting identifiers CAN−IN/OUT
Code Subcode Index Possible settings Data type
Lenze Selection
C1855 /1: CAN−IN1 22720 = g FIX32
/2: CAN−OUT1 0x58C0
/3*: CAN−IN2
C2355 /4*: CAN−OUT2 22220 =
/5*: CAN−IN3 0x56CC
/6*: CAN−OUT3
*) not effective when using 8200 vector or 93XXcontrollers
In the six subcodes of this code the resulting identifiers of the PDOs can be read out.

) Note!
In case of 9300 Servo PLC, Drive PLC and ECS, the value will be transferred to
the standard device when the communication module is initialised.

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14 Codes
Communication−relevant Lenze codes

C1856/C2356:
Boot−up− and cycle times
Code Subcode Index Possible settings Data type
Lenze Selection
C1856 /1: Boot−up time 22719 = 0 ms 0 [1 ms] 65535 FIX32
/2: Cycle time CAN−OUT1 0x58BF
/3: Cycle time CAN−OUT2
C2356 /4: Cycle time CAN−OUT3 22219 =
/5: Sync Tx cycle time 0x56CB

In the event−controlled/cyclic operation it is possible to define the cycle times with which
the single PDOs will be sent via the CAN bus (also see code C1875/C2375, "Tx mode" for
CAN−OUT1 ... 3).

) Note!
The value "0" deactivates the cyclic sending of the PDO.
"Sync Tx cycle time" (C1856/5, C2356/5) describes the interval time (in ms) that is required
for sending a sync telegram to the CAN bus.

Relation to CANopen
ƒ The object I−1006 (communication cycle period) has a direct influence on subcode
C1856/5 or C2356/5.
– As the data processing speed of the EMF2178IB communication module amounts
to 1000 ms, the entry via the object I−1006 is rounded to an integer multiple of
1000 ms and stored under C1856/5 or C2356/5 (depending on the standard device).
– When the object I−1006 is read, the content of the corresponding subcode (in ms) is
returned as a response.
– When a value is entered under subcode C1856/5 or C2356/5, bit30 of the object
I−1005 (COB−ID SYNC message) is set automatically and the communication
module sends a sync telegram.
ƒ The objects I−1800/5 ... I−1802/5 (TPDO Event Timer) have a direct influence on the
subcodes C1856/2 ... 4 or C2356/2 ... 4. Newly entered values in the objects
I−1800/5 ... I−1802/5 are also transferred to the subcodes C1856/2 ... 4 or
C2356/2 ... 4.

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 Codes 14
Communication−relevant Lenze codes

C1857/C2357:
Monitoring time
Code Subcode Index Possible settings Data type
Lenze Selection
C1857 /1: CAN−IN1 22718 = /1 ... /5: 0 [1 ms] 65535 FIX32
/2: CAN−IN2 0x58BE 3000 ms
/3: CAN−IN3
C2357 /4: BUS−OFF monitoring time 22218 = /6: 0 ms
/5: AIF monitoring time 0x56CA
/6: Sync Rx monitoring time

) Note!
ƒ The monitoring time starts with the arrival of the first telegram.
ƒ C1857/x = 0: Monitoring deactivated.
ƒ C2357/x = 0: Monitoring deactivated.

CAN−IN1 ... 3 (C1857/1 ... 3, C2357/1 ... 3)

The "monitoring time" describes the period of time in which new process input data must
arrive with the CAN−IN1 ... 3 identifiers. If the time entered is exceeded, it is possible to set
a corresponding reaction under code C1882/C2382.

BUS−OFF (C1857/4, C2357/4)

Even if the node changes to the state BUS−OFF, it is possible to set a time (in ms) in which
a reaction can take place. A monitoring response can be set under code C1882/C2382.

AIF monitoring time (C1857/5, C2357/5)

Time during boot−up for detecting a basic device. If no basic device is detected, an
emergency telegram (^ 87) will be sent on the CAN bus after this time.

Sync monitoring time (C1857/6, C2357/6)

Monitoring time for a received, cyclic sync telegram.

Relation to CANopen
ƒ The object I−1006 (Communication Cycle Period) has a direct influence on the
subcodes C1857/6 or C2357/6. A new value in the code deletes bit 30 of the object
I−1005 (COB−ID SYNC message).
ƒ The objects I−1400/5 ... I−1402/5 (TPDO Event Timer) have a direct influence on the
subcodes C1857/1 ... 3 or C2357/1 ... 3. Newly entered values in the objects
I−1400/5 ... I−1402/5 are also transferred to the subcodes C1857/1 ... 3 or
C2357/1 ... 3.

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14 Codes
Communication−relevant Lenze codes

C1859/C2359:
Display of DIP switch position
Code Subcode Index Possible settings Data type
Lenze Selection
C1859 − 22716 = g U16
0x58BC
C2359 − 22216d = U32
0x56C8

The DIP switch position is indicated as a hexadecimal number with the initialisation of the
communication module.

) Note!
In case of 9300 Servo PLC, Drive PLC and ECS, the value will be transferred to
the standard device when the communication module is initialised.

DIP switch valencies for hexadecimal calculation

Switch − 1 2 3 4 5 6 7 8 9 10
Value − 512 256 128 64 32 16 8 4 2 1
Bit 15 ... 10 9 8 7 6 5 4 3 2 1 0

Example for DIP switch position

ƒ Switches 3, 5, 6, 7 = ON (address 23)
ƒ Switches 8, 9, 10 = OFF (baud rate 500 kbit/s)
The sum of the corresponding valencies "0xB8" (184) is displayed when code
C1859/C2359 is read.

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 Codes 14
Communication−relevant Lenze codes

C1860:
Display of the current DIP switch position
Code Subcode Index Possible settings Data type
Lenze Selection
C1860 − 22715 = g U16
0x58BB

By displaying the current DIP switch position it is possible to find out if the switch position
for node address and baud rate has changed since the last initialisation.
DIP switch valencies
Switch − 1 2 3 4 5 6 7 8 9 10
Value − 512 256 128 64 32 16 8 4 2 1
Bit 15 ... 10 9 8 7 6 5 4 3 2 1 0

Example for DIP switch position

ƒ Switches 3, 5, 6, 7 = ON (address 23)
ƒ Switches 8, 9, 10 = OFF (baud rate 500 kbit/s)
The sum of the corresponding valencies "0xB8" (184) is displayed when code
C1859/C2359 is read.

C1861:
Display of the active CAN node address
Code Subcode Index Possible settings Data type
Lenze Selection
C1861 − 22714 = g FIX32
0x58BA

Display of the CAN node address active on the CAN bus.

C1862:
Display of the active baud rate
Code Subcode Index Possible settings Data type
Lenze Selection
C1862 − 22713 = g 0: 500 kbps FIX32
0x58B9 1: 250 kbps
2: 125 kbps
3: 50 kbps
4: 1000 kbps
5: 20 kbps
6: 10 kbit/s

Display of the baud rate active on the CAN bus.

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14 Codes
Communication−relevant Lenze codes

C1864/C2364:
PDP transmission with status change to "Operational"
Code Subcode Index Possible settings Data type
Lenze Selection
C1864 − 22711 = 0 0: Do not send PDOs FIX32
0x58B7
C2364 − 22211 = 1: Send PDOs
0x56C3

When the CAN status changes from "Pre−Operational" to "Operational", all PDOs are sent
once.

C1865/C2365:
Validity of SDO2 and PDOs
Code Subcode Index Possible settings Data type
Lenze Selection
C1865 /1: SDO2 22710 = /1: 0 0 [1] 3 FIX32
/2: CAN−IN/OUT1 0x58B6 /2: 1
/3*: CAN−IN/OUT2 /3: 1
/4*: CAN−IN/OUT3 /4: 1
C2365 /1: SDO2 22210 = /1: 0
/2: CAN−IN/OUT1 0x56C2 /2: 1
/3*: CAN−IN/OUT2 /3: 1
/4*: CAN−IN/OUT3 /4: 1

*) not effective when using 8200 vector or 93XXcontrollers

Validity of service data object 2 (SDO2) and of process data objects
Possible selections C1865/C2365
Value Description
0 SDO/PDO invalid
1 SDO/PDO valid
2 Receiving direction valid
3 Sending direction valid

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 Codes 14
Communication−relevant Lenze codes

C1867/C2367:
Sync Rx identifier
Code Subcode Index Possible settings Data type
Lenze Selection
C1867 − 22708 = 128 0 [1] 2047 FIX32
0x58B4
C2367 − 22208 =
0x56C0

This code contains the identifier with which the sync telegram is received.

Relation to CANopen
The object I−1005 (COB−ID SYNC message) has a direct influence on this code. Newly
written values in the object are also transferred to code C1867/C2367.

C1868/C2368:
Sync Tx identifier
Code Subcode Index Possible settings Data type
Lenze Selection
C1868 − 22707 = 128 0 [1] 2047 FIX32
0x58B3
C2368 − 22207 =
0x56BF

This code contains the identifier with which the sync telegram is sent.
Relation to CANopen
The object I−1005 (COB−ID SYNC message) has a direct influence on this code. Newly
written values in the object are also transferred to code C1868/C2368.

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14 Codes
Communication−relevant Lenze codes

C1869/C2369:
Consumer heartbeat ID
Code Subcode Index Possible settings Data type
Lenze Selection
C1869 − 22706 = 0 0 [1] 255 FIX32
0x58B2
C2369 − 22206 =
0x56BE

This code contains the identifier with which the heartbeat telegram for monitoring is
received.
Relation to CANopen
The object I−1016, subindex 1 (consumer heartbeat) has a direct influence on this code. A
value entered into subindex 1 of I−1016 is also transferred to code C1869/C2369.

C1870/C2370:
Heartbeat time (consumer, producer)
Code Subcode Index Possible settings Data type
Lenze Selection
C1870 /1: Consumer 22705 = 0 0 [1 ms] 65535 FIX32
/2: Producer 0x58B1 0
C2370 /1: Consumer 22205 = 0
/2: Producer 0x56BD 0

Consumer heartbeat time

Time intervals at which the heartbeat telegram to be monitored is awaited on the CAN bus.

Producer heartbeat time

Time intervals at which the module sends a heartbeat telegram including its status on the
CAN bus.
Relation to CANopen
ƒ The object I−1016, subindex 1 (consumer heartbeat time) has a direct influence on
this code. A value written into subindex 1 of I−1016 is also transferred to code
C1870/1 C23701 .
ƒ The object I−1017 (producer heartbeat time) has a direct influence on this code. A
value written into the object is also transferred to code C1870/2 / C2370/2.

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 Codes 14
Communication−relevant Lenze codes

C1871/C2371:
Emergency ID
Code Subcode Index Possible settings Data type
Lenze Selection
C1871 − 22704 = 128 0 [1] 2047 FIX32
0x58B0
C2371 − 22204 =
0x56BC

This code contains the identifier with which the emergency telegram is sent.
Relation to CANopen
The object I−1014 (COB−ID Emergency Object) has a direct influence on this code. A value
written into the object is also transferred to code C1871/C2371.

C1872/C2372:
Emergency inhibit time
Code Subcode Index Possible settings Data type
Lenze Selection
C1872 − 22703 = 0 0 [1 ms] 65535 FIX32
0x58AF
C2372 − 22203 =
0x56BB

This code contains the delay time for sending an emergency telegram.
Relation to CANopen
The object I−1015 (Inhibit Time EMCY) has a direct influence on this code. A value written
into the object is also transferred to code C1872/C2372.

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14 Codes
Communication−relevant Lenze codes

C1873/C2373:
Sync rate CAN−IN1 ... 3
Code Subcode Index Possible settings Data type
Lenze Selection
C1873 /1: CAN−IN1 22702 = 1 0 [1] 240 FIX32
/2*: CAN−IN2 0x58AE
C2373 /3*: CAN−IN3 22202 =
0x56BA
*) not effective when using 8200 vector or 93XXcontrollers
The process input data (CAN−INx) are only transferred to the controller after a certain
number of sync telegrams have been received.
The sync rate can be set individually for each input PDO.

) Note!
Only sync telegrams are counted that have been received with the identifier
set under code C1867/C2367 of the communication module.

Example:
ƒ Selection n=23:
Acceptance of input PDO (to CAN−IN1 ... 3) into the controller after arrival of the 23rd
sync telegram.

Relation to CANopen
The objects I−1400 ... I−1402 (Receive PDO Communication Parameters), subindex 2 each
(transmission type), are mapped on the corresponding subcodes of C1873/C2373 in the
value range 1 ... 240.
Exception: Object I−140X, subindex 2 = "254" is mapped manufacturer−specifically as
value "0" on the corresponding subcodes of C1873/C2373.
Object I−140X, subindex Mapping to code / subcode
I−140X, subindex 2 = 1 ... 240 C1873, subcode X = 1 ... 240
I−140X, subindex 2 = 254 C1873, subcode X = 0

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 Codes 14
Communication−relevant Lenze codes

C1874/C2374:
Sync rate CAN−OUT1...3
Code Subcode Index Possible settings Data type
Lenze Selection
C1874 /1: CAN−OUT1 22701 = 1 1 [1] 240 FIX32
/2*: CAN−OUT2 0x58AD
C2374 /3*: CAN−OUT3 22201 =
0x56B9
*) not effective when using 8200 vector or 93XXcontrollers
The process output data (CAN−OUTx) are only transferred after a certain number of sync
telegrams have been received.
The sync rate can be set individually for each process output data object.
Relation to CANopen
The objects I−1800 ... I−1802 (Transmit PDO Communication Parameters), subindex 2 each
(transmission type), are transferred to the corresponding subcodes of C1874/C2374 in the
value range 1 ... 240.

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14 Codes
Communication−relevant Lenze codes

C1875/C2375:
Tx mode CAN−OUT1...3
Code Subcode Index Possible settings Data type
Lenze Selection
C1875 /1: CAN−OUT1 22700 = /1: 0 0 [1] 3 FIX32
/2*: CAN−OUT2 0x58AC /2: 1
C2375 /3*: CAN−OUT3 22200 = /3: 1
0x56B8
*) not effective when using 8200 vector or 93XXcontrollers
This code contains a selection which indicates at which event the TPDOs CAN−OUT1 ... 3 are
to be sent. It is possible to make an individual selection for each TPDO by dividing the code
in subcodes.
ƒ Value = 0:
– The TPDOs are sent when a sync telegram has been received.
– Under code C1874/C2374 you can set that the TPDOs are only to be sent after the
n−th sync telegram (n = 1 ... 240).
ƒ Value = 1:
– TPDOs are not sent.
– With this selection the transmission of TPDOs is deactivated.
This is useful for 8200 vector and 9300 drives which are only able to exchange four
words as a maximum of control and status information via the AIF. For this
purpose, the use of one TPDO is sufficient, TPDOs 2 and 3 are deactivated (Lenze
setting). This avoids an unnecessary load of the CAN bus.
ƒ Value = 2:
– The corresponding TPDO is either transmitted event−controlled or cyclically.
– The TPDO is transmitted cyclically if a cycle time is defined for the TPDO under
code C1856/C2356. If the cycle time is zero, the TPDO is sent in case of an event,
i.e. bit change within the TPDO.
ƒ Value = 3:
– The TPDO is event−controlled and cyclically transmitted. This means that the
object is transmitted with the cycle time defined under code C1856/C2356.
– In addition, the object will be transmitted if one or several bits are changed within
the TPDO.

) Note!
If the transmission is event−controlled (also with cyclic superimpositions) some
bits can be hidden by masking the object using codes C1876 ... C1878 or with
the 9300 Servo PLC, Drive PLC and ECS C2376 ... C2378. This means that the
TPDO will not be sent when a bit is being changed.

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 Codes 14
Communication−relevant Lenze codes

ƒ C1875/C2375, subcodes 1 ... 3 = 0

The value of code C1874/C2374, subcode 1, 2 or 3 is displayed in the objects I−1800 ...
I−1802 (subindex 2 each).
ƒ C1875/C2375, subcodes 1 ... 3 = 1
The value "252" is displayed in the objects I−1800 ... I−1802hex.
ƒ C1875/C2375, subcodes 1 ... 3 = 2 or 3
The value "254" is displayed in the objects I−1800 ... I−1802hex.
When setting the objects I−1800 ... I−1802, the same relation prevails:
Code C1875/C2375, subcode 1, 2 or Object I−180X, subindex 2
3
0 Code C1874/C2374,
subcode 1, 2 or 3 (value=1 ... 240)
1 252
2 or 3 254

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14 Codes
Communication−relevant Lenze codes

C1876/C2376:
Masks CAN−OUT1
This mask is used to skip one or several bits of the output PDO CAN−OUT1.
Code Subcode Index Possible settings Data type
Lenze Selection
C1876 /1: CAN−OUT1.W1 22699 = 65535 0 [1] 65535 FIX32
/2: CAN−OUT1.W2 0x58AB
C2376 /3: CAN−OUT1.W3 22199 =
/4: CAN−OUT1.W4 0x56B7

The event−controlled transmission of the CAN−OUT object can be e.g. dependent on one bit
only. (See also code C1875/C2375, ^ 140.)
Example:
The mask in word 3 of the process data object CAN−OUT1 is set by code C1876/3 with the
value "0x20".
ƒ 1st cycle
Result after 1st cycle: The PDO is sent.
CAN−OUT1.W3
MASK 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0
Data 1 1 1 1 1 1 1 1 0 1 1 0 0 0 1 0
Result 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0

ƒ 2nd cycle
Result after 2nd cycle:
– New data have been written into CAN−OUT1.
– The PDO is sent due to the bit change.
CAN−OUT1.W3
MASK 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0
Data 1 1 1 1 1 1 1 1 0 1 0 0 0 0 1 0
Result 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

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 Codes 14
Communication−relevant Lenze codes

C1877/C2377:
Masks CAN−OUT2
This mask is used to skip one or several bits of the output PDO CAN−OUT2.
Code Subcode Index Possible settings Data type
Lenze Selection
C1877 /1: CAN−OUT2.W1 22698 = 65535 0 [1] 65535 FIX32
/2: CAN−OUT2.W2 0x58AA
C2377 /3: CAN−OUT2.W3 22198 =
/4: CAN−OUT2.W4 0x56B6

For more information, please see the description of code C1876/C2376 (^ 142).

C1878/C2378:
Masks CAN−OUT3
This mask is used to skip one or several bits of the output PDO CAN−OUT3.
Code Subcode Index Possible settings Data type
Lenze Selection
C1878 /1: CAN−OUT3.W1 22697 = 65535 0 [1] 65535 FIX32
/2: CAN−OUT3.W2 0x58A9
C2378 /3: CAN−OUT3.W3 22197 =
/4: CAN−OUT3.W4 0x56B5

For more information, please see the description of code C1876/C2376 (^ 142).

C1882/C2382:
Monitoring response
Code Subcode Index Possible settings Data type
Lenze Selection
C1882 /1: response CAN−IN1 22693 = /1:0 0 [1] 2 FIX32
/2: response CAN−IN2 0x58A5 /2:0
/3: response CAN−IN3 /3:0
/4: response BUS−OFF /4:0
C2382 /5: response 22193 = /5:0 0: no response
life guarding event / 0x56B1 /6: 0 1: Controller inhibit (CINH)
heartbeat event 2: Quick stop (QSP)
/6: response Rx sync
monitoring

Setting the response in the controller if the monitoring times have been exceeded (see
code C1857/C2357, ^ 131.).

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14 Codes
Important controller codes

14.3 Important controller codes

This section briefly describes the most important codes of the standard device for CAN
communication.

, Documentation for the basic drive

Here you can find detailed information on the codes of the standard device.

C0001:
Operating mode for 8200 vector
Code Subcode Index Possible settings Data type
Lenze Selection
C0001 − 24574 = 0 see System Manual for 8200 FIX32
0x5FFE vector

The operating mode defines which source may currently write to which parameters.
The operating unit and CAN are always authorised for parameter setting.

) Note!
Please observe that the operating mode C0001 is contained in all parameter
sets. Therefore C0001 must be set equally in all parameter sets.

C0009:
CAN node address
Code Subcode Index Possible settings Data type
Lenze Selection
C0009 − 24566 = 1 1 [1] 99 FIX32
0x5FF6

Node address for unambiguous addressing of the device in a CAN network.

C0046:
Display of frequency setpoint
Code Subcode Index Possible settings Data type
Lenze Selection
C0046 − 24529 = g see documentation of the FIX32
0x5FD1 standard device

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 Codes 14
Important controller codes

C0125:
Baud rate
Code Subcode Index Possible settings Data type
Lenze Selection
C0125 − 24450 = 0 see documentation of the FIX32
0x5F82 standard device

C0126:
Behaviour with communication error (extract)
Code Subcode Index Possible settings Data type
Lenze Selection
C0126 − 24449 = see documentation of the FIX32
0x5F81 standard device

Monitoring of the internal communication between communication module and

standard device (controller).

C0135:
Controller control word
Code Subcode Index Possible settings Data type
Lenze Selection
C0135 − 24440 = see documentation for the I16
0x5F78 basic device

C0150:
Controller status word
Code Subcode Index Possible settings Data type
Lenze Selection
C0150 − 24425 = see documentation of the I16
0x5F69 standard device

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14 Codes
Important controller codes

C0161 ... C0164:

Fault memory 8200 vector
Code Subcode Index Possible settings Data type
Lenze Selection
C0161 − 24414 = g active fault FIX32
0x5F5E
C0162 24413 = last fault
0x5F5D
C0163 24412 = last but one fault
0x5F5C
C0164 24411 = last but two fault
0x5F5B

, System Manual for 8200 vector

Here you can find detailed information on the fault messages.

C0168:
Fault memory 9300 / ECSXX
Code Subcode Index Possible settings Data type
Lenze Selection
C0168 0 ... 8 24407 = g see documentation of the FIX32
0x5F57 standard device

, 9300 system manual / ECSXX operating instructions

Here you can find detailed information on the fault messages.

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 Codes 14
Important controller codes

C2120:
AIF control byte
Code Subcode Index Possible settings Data type
Lenze Selection
C2120 − 22455 = 0 See table below FIX32
0x57B7

Possible settings
Selection Description
0 No command
1 Update codes 23XX and CAN reinitialisation º reset node
2 Update codes C23XX
10 Reread C2356/1...4
11 Reread C2357
12 Reread C2375
13 Reread C2376 ... C2378
14 Reread C2382
16 1) Update C7999 and C7998 including CAN reinitialisation
17 1) Update C7999, mapping table of profile indices
18 1) Update C7998, error list of emergency messages
32 1) Reset error source, activate emergency messages
33 ... 62 1) Error source 1 ... 30, activate emergency messages
1) Value range is only valid for profile applications in a PLC

With the AIF control byte it is possible to read the codes C23XX saved in the 9300 Servo PLC,
Drive PLC and ECS into the communication module.

Execute command
How to accept the values in the communication module:
ƒ Write the table value of the required command into the AIF control byte.
ƒ Change the status of the MSB of the AIF control byte. The command is executed.

Example
By writing the value"2" into the AIF control byte all codes C23XX are re−read when the MSB
changes its status.
For some codes it is necessary to carry out a CAN reinitialisation so that new values and the
functions derived from them will become effective.

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14 Codes
Important controller codes

C2121:
AIF status byte
Code Subcode Index Possible settings Data type
Lenze Selection
C2121 − 22454 = 0 0 [1] 255 U8
0x57B6

The AIF status byte provides the 9300 Servo PLC, Drive PLC and ECS with information of the
communication module. With this information, the 9300 Servo PLC, Drive PLC and ECS can
monitor the status of the communication module. Depending on the communication
module states, it is possible for you to take corresponding countermeasures.
AIF status byte Description
Bit 0 CE11 error, CAN−IN1 monitoring time exceeded
Bit 1 CE12 error, CAN−IN2 monitoring time exceeded
Bit 2 CE13 error, CAN−IN3 monitoring time exceeded
Bit 3 CE14−error, communication module in BUS−OFF status
Bit 4 Operational status
Bit 5 Pre−operational state
Bit 6 Warning status
Bit 7 Internally assigned

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 Index 15

15 Index

Zahlen C
8200 vector C0001: Operating mode for 8200 vector, 144
− control word, 53 C0009: CAN node address, 144
− status word, 55 C0046: Display of frequency setpoint, 144
C0125: Baud rate, 145
8200 vector fault memory, 146
C0126: Behaviour with communication error, 145
8200 vector operating mode (C0001), 144
C0135: Controller control word, 145
8200 vector special features, 81 C0150: Controller status word, 145
9300 C0161 ... C0164: Fault memory 8200 vector, 146
− control word, 57 C0168: Fault memory 9300 / ECSXX, 146
− status word, 60 C1810: Software ID, 120
9300 fault memory, 146 C1811: Software creation date, 120
C1812: Software ID, 120
9300 Servo PLC special features, 81
C1813: Software creation date, 120
C1822: AIF−IN all words, 121
A C1823: AIF−OUT all words, 121
Address setting, 34 C1824: AIF−IN all double words, 121
Addressing CAN−IN/OUT, 126 C1825: AIF−OUT all double words, 121
− individual, 129 C1827/C2327: Guard Time, 122
AIF control byte (C2120), 81 , 147 C1828/C2328: Life time factor, 122
AIF status byte (C2121), 82 , 148 C1850/C2350: CAN node address, 123
C1851/C2351: Baud rate, 124
AIF−IN, function block, 58
C1852/C2352: Master/slave operation, 125
AIF−IN all double words, 121 C1853/C2353: Addressing CAN−IN/OUT, 126
AIF−IN all words, 121 C1854/C2354: Individual addressing CAN−IN/OUT, 129
AIF−OUT, function block, 60 C1855/C2355: Display of resulting identifiers
CAN−IN/OUT, 129
AIF−OUT all double words, 121
C1856/C2356: Boot−Up and cycle times, 130
AIF−OUT all words, 121 C1857/C2357: Monitoring time, 131
Application as directed, 13 C1859/C2359: Display DIP switch position, 132
C1860: Display of the current DIP switch position, 133
B C1861: Display of the active CAN node address, 133
Basic identifier, 43 C1862: Display of the active baud rate, 133
C1864/C2364: PDO transmission with status change to
Basic insulation, 24 "Operational", 134
Baud rate, 17 , 124 C1865/C2365: Validity of SDO2 and PDOs, 134
− setting, 35 C1867/C2367: Sync Rx identifier, 135
− system bus (CAN). Siehe baud rate C1868/C2368: Sync Tx identifier, 135
Baud rate (C0125), 145 C1869/C2369: Consumer heartbeat ID, 136
Behaviour with communication error (C0126), 145 C1870/C2370: Heartbeat time (consumer, producer), 136

Boot−up time, 130

Bus cable length, 27

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15 Index

C1871/C2371: Emergency ID, 137 Communication phases, 45

C1872/C2372: Emergency inhibit time, 137 Communication profile, 17
C1873/C2373: Sync rate CAN−IN1 ... 3, 138 Communication time, 19
C1874/C2374: Sync rate CAN−OUT1...3, 139 Communication−relevant Lenze codes, 119
C1875/C2375: Tx mode CAN−OUT1...3, 140 Connections, 16
C1876/C2376: Masks CAN−OUT1, 142 Consumer heartbeat ID, 136
C1877/C2377: Masks CAN−OUT2, 143 Consumer heartbeat time (I−1016), 105
C1878/C2378: Masks CAN−OUT3, 143 Control word
C1882/C2382: Monitoring response, 143 − 8200 vector, 53
− 9300, 57
C2120: AIF control byte, 81 , 147
Control word of controller, 145
C2121: AIF status byte, 82 , 148
Controller, Process data signals, 52
Cable specification, 26
Controller codes, 144
CAN communication phases, 45
Controller control word, 145
CAN data telegram, 42
Controller status word, 145
CAN network, statuses, 45
Cycle times, 130
CAN network management (NMT), 45 , 46
Cyclic process data objects (PDO), 51
CAN node address, 123
CAN node address (C0009), 144 D
CAN state transitions, 47 Data telegram, 42
CANopen indices for mapping, 67 Data transfer, 42
CANopen objects, 91 Definition of notes used, 10
CE−typical drive system, 23 Definitions, 9
Checking the use of repeaters, 29 Device protection, 12 , 21
COB−ID, 43 Device type (I−1000), 96
COB−ID emergency object (I−1014), 104 Diagnostics, 88
COB−ID SYNC message (I−1005), 98 DIP switch position (current), display, 133
Code numbers / index, conversion, 70 DIP switch position (during initialisation), display, 132
Codes, 115 Display
Command, 73 − DIP switch position (current), 133
− DIP switch position (during initialisation), 132
Commissioning, 32
− enable drive, 37 Display of frequency setpoint (C0046), 144
− Initial switch−on, 36 Display of resulting identifiers CAN−IN/OUT, 129
Communication cycle period (I−1006), 99 Display of the active baud rate, 133
Communication media, 17 Display of the active CAN node address, 133
Communication Object Identifier, 43 Drive PLC special features, 81

150 l EDSMF2178IB EN 3.0

 Index 15

E I−1008: Manufacturer’s device name, 99

ECS fault memory, 146 I−100A: Manufacturer software version, 100

ECS special features, 81 I−100C: Guard time, 100

Electrical installation, 23 I−100D: Life time factor, 101

Electrical isolation, 24 I−1010: Store parameters, 101

Emergency error codes, 87 I−1011: Restore default parameters, 102

Emergency ID, 137 I−1014: COB−ID emergency object, 104

Emergency inhibit time, 137 I−1015: Emergency inhibit time, 105

Emergency inhibit time (I−1015), 105 I−1016: Consumer heartbeat time, 105

Emergency telegram, 87 I−1017: Producer heartbeat time, 106

Enable drive, 37 I−1018: Module device description, 106

Error behaviour (I−1029), 106 I−1029: Error behaviour, 106

Error codes, 76 I−1200: Server SDO parameters, 107

− Emergency, 87 I−1201: Server SDO parameters, 107
Error history (I−1003), 97 I−1400: Receive PDO communication parameters, 109
Error messages, 75 I−1401: Receive PDO communication parameters, 109
Error register (I−1001), 96 I−1402: Receive PDO communication parameters, 109
Examples I−1600: Receive PDO mapping parameters, 111
− Read block parameters, 79 I−1601: Receive PDO mapping parameters, 111
− reading parameters, 77
I−1602: Receive PDO mapping parameters, 111
− writing parameters, 78
I−1800: Transmit PDO communication parameters, 112
External voltage supply, 30
I−1801: Transmit PDO communication parameters, 112

F I−1802: Transmit PDO communication parameters, 112

Fault memory 8200 vector, 146 I−1A00: Transmit PDO mapping parameters, 114

Fault memory 9300 / ECSXX, 146 I−1A01: Transmit PDO mapping parameters, 114

Frequency setpoint display (C0046), 144 I−1A02: Transmit PDO mapping parameters, 114
Identification, 14
G Identifier (COB−ID), 43
Guard Time, 122 Identifiers, Display of the resulting identifier, 129
Guard time (I−100C), 100 Indexing of Lenze codes, 70
Individual addressing CAN−IN/OUT, 129
H Initial switch−on, 36
Hardware version, type code, 14 Installation, 21
Heartbeat Protocol, 83 − electrical, 23
Heartbeat time (consumer, producer), 136 − mechanical, 22
− system bus (CAN), 25

I Installing EDS files, 32

I−1000: Device type, 96 Interfaces, 16

I−1001: Error register, 96 Internal voltage supply, 30

I−1003: Error history, 97

I−1005: COB−ID SYNC message, 98
I−1006: Communication cycle period, 99

EDSMF2178IB EN 3.0 l 151

15 Index

L O
LED status displays, 89 Operating mode for 8200 vector (C0001), 144
Order designation, 17
LEDs, 36 , 89
Lenze codes, 115 P
Life time factor, 122 Parameter, C0142 (restart protection), 38
Parameter channel, 25
Life time factor (I−100D), 101
Parameter data telegram, 73
Parameter data transfer, 69
M parameter for 8200 vector, frequency setpoint (C0046),
Manufacturer software version (I−100A), 100 50
Manufacturer’s device name (I−1008), 99 Parameter sets
− 8200 vector, 71
Mapping in CANopen objects, 65 − 93XX, 72
− AIF data image in codes, 66 − Lenze, 71
− AIF interface assignment, 68 PDO transmission with "Operational", 134
− AIF modes, 68 Plug connector with double screw connection, 24
− CANopen indices for mapping, 67 Process data channel, 25
− Device−internal mechanisms, 67 − configuring, 50
Masks CAN−OUT1, 142 Process Data Objects (PDO), 44
Masks CAN−OUT2, 143 Process data objects (PDO)
− available, 48
Masks CAN−OUT3, 143 − cyclic, 51
Master/slave operation, 125 Process data signals, 52
Mechanical installation, 22 − 8200 vector, 52
− 9300 Servo PLC, 61
Module device description (I−1018), 106 − 93XX, 56
Monitoring, 83 − Drive PLC, 61
− ECSxA, 61
Monitoring response, 143
Process data telegram
Monitoring time, 131 − RPDO, 49
− TPDO, 49
N Process data transfer, 48
Processing time, 19
Nameplate, 14
− in the controller, 19
Network management (NMT), 45 , 46 Producer heartbeat time (I−1017), 106
Network topology, 17 Product description, 13
Node address, 43 , 123 − application as directed, 13
Product features, 15
Node address setting, 34
Protection against restart, 38
Node addresses, 17 Protection of persons, 12
Node Guarding Protocol, 85 Protective insulation, 18
Node ID, 43
Notes, definition, 10

152 l EDSMF2178IB EN 3.0

 Index 15

R Sync telegram, 51

Receive PDO communication parameters (I−1400 ... Sync Tx identifier, 135

I−1402), 109 Synchronisation of cyclic process data, 51
Receive PDO mapping parameters (I−1600 ... I−1602), 111 System bus (CAN), baud rate, 27
Replacing EMF2172IB (CAN), 39 system bus (CAN), wiring, 25
Replacing the EMF2172IB communication module (CAN),
39
T
Residual hazards, 12
Technical data, 17
Restart protection, 38
Telegram time, 19
Restore default parameters (I−1011), 102
Terminal data, 31
Total cable length, 27
S
Safety instructions, 11 Transmission cable
− application as directed, 13 − checking the use of repeaters, 29
− definition, 10 − segment cable length, 28
− device− and application−specific, 12 − specification, 26
− layout, 10 − total cable length, 27

Segment cable length, 28 Transmit PDO communication parameters (I−1800 ...

I−1802), 112
Server SDO parameters (I−1200/I−1201), 107
Transmit PDO mapping parameters (I−1A00 ... I−1A02),
Service Data Objects (SDO), 44 114
Setpoint source, selection, 50 Tx mode CAN−OUT1...3, 140
Setting baud rate, 33 Type code, 14
Setting node address, 33 − finding, 14
Software creation date, 120 Type of insulation, 18
Software ID, 120
Software version, type code, 14 U
Specification of the transmission cable, 26 User data, 44 , 52 , 73 , 75
− process data telegram from drive, 59
State transitions, 47
− process data telegram to the drive, 56
Status displays, 89
Status word, 9300, 60 V
status word, 8200 vector, 55
Validity of SDO2 and PDOs, 134
Status word of controller, 145
Validity of the documentation, 6
Statuses, CAN network, 45
Voltage supply, 17 , 30
Store parameters (I−1010), 101 − internal, 30
Structure of the parameter data telegram, 73 Voltage supply: external, 30
Switch on, initial, 36
Sync rate CAN−IN1...3, 138 W
Sync rate CAN−OUT1...3, 139 Wiring according to EMC, 23
Sync Rx identifier, 135 Wiring with a host (master), 24

EDSMF2178IB EN 3.0 l 153

 Q
© 06/2013
F Lenze Drives GmbH Service Lenze Service GmbH
Postfach 10 13 52 Breslauer Straße 3
D−31763 Hameln D−32699 Extertal
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( +49(0)5154/ 82−0 ( 008000/ 2446877 (24 h helpline)
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EDSMF2178IB § .Li| § EN § 3.0 § TD17

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