5 EtherCAT
EtherCAT quick start (Lenze Controller)
24 Lenze · Inverter i550 - Cabinet · Ethernet Manual · 0.1 EN · 12/2015
5.6 EtherCAT quick start (Lenze Controller)
1. For network control the following setup needs to be done:
- Select CiA velocity mode for operation, 0x6060:0 = Velocity mode (VL) [2]
Save the parameter with 0x2022:3 (P700:3).
2. To use the i550 device over EtherCAT the ESI-file needs to be installed.
3. Add the EtherCAT master and the slave (i550) must be added to the Project.
4. The automatic configuration of the identifier of the slave can be used. (Alternatively an individual identifier
can be set with Rotary Switch / Parameter)
5. The default configuration in 0x1C12:1 and 0x1C13:1 selects velocity mode with mapping objects 0x1603 and
0x1A03.The fixed setup for velocity mode (CiA402) is:
PLC Inverter
RPDO A: Object1 0x6040:0 CiA402 Controlword
RPDO A: Object2 0x6042:0 CiA402 Target velocity
Inverter PLC
TPDO A: Object1 0x6041:0 CiA402 Statusword
TPDO A: Object2 0x6044:0 CiA402 Velocity actual value
TPDO A: Object3 0x603F:0 Error Code
6. Download configuration and start the communication
See chapter 7.1 CIA402 on page 48 for details about control/status word
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