Lenze EtherCAT Controller-based Automation User Manual

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1 About this documentation1.3 Terminology used10Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _

7 Commissioning of the system7.3 Detailed description of the commissioning steps100Lenze · Controller-based Automation · EtherCAT® Communication Manua

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1017 Commissioning of the system7.3 Detailed descri

7 Commissioning of the system7.3 Detailed description of the commissioning steps102Lenze · Controller-based Automation · EtherCAT® Communication Manua

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1037 Commissioning of the system7.3 Detailed descri

7 Commissioning of the system7.3 Detailed description of the commissioning steps104Lenze · Controller-based Automation · EtherCAT® Communication Manua

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1057 Commissioning of the system7.4 State diagram f

8 Mixed operation - EtherCAT with other bus systems106 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · T

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1078 Mixed operation - EtherCAT with other bus syst

8 Mixed operation - EtherCAT with other bus systems8.2 PROFIBUS as the logic bus and EtherCAT as a logic bus or motion bus108Lenze · Controller-based

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1098 Mixed operation - EtherCAT with other bus syst

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 111 About this documentation1.3 Terminology used _

9 Function library L_IODrvEtherCAT.lib110 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1119 Function library L_IODrvEtherCAT.lib _ _ _ _ _

9 Function library L_IODrvEtherCAT.lib112 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1139 Function library L_IODrvEtherCAT.lib _ _ _ _ _

9 Function library L_IODrvEtherCAT.lib9.1 Overview of functions and function blocks114Lenze · Controller-based Automation · EtherCAT® Communication Ma

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1159 Function library L_IODrvEtherCAT.lib9.2 CoE In

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface116Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1179 Function library L_IODrvEtherCAT.lib9.2 CoE In

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface118Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1199 Function library L_IODrvEtherCAT.lib9.2 CoE In

1 About this documentation1.4 Definition of the notes used12Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/201

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface120Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1219 Function library L_IODrvEtherCAT.lib9.2 CoE In

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface122Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1239 Function library L_IODrvEtherCAT.lib9.2 CoE In

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface124Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1259 Function library L_IODrvEtherCAT.lib9.2 CoE In

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface126Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1279 Function library L_IODrvEtherCAT.lib9.2 CoE In

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface128Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1299 Function library L_IODrvEtherCAT.lib9.2 CoE In

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 132 Safety instructions _ _ _ _ _ _ _ _ _ _ _ _ _ _

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface130Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1319 Function library L_IODrvEtherCAT.lib9.2 CoE In

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface132Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1339 Function library L_IODrvEtherCAT.lib9.2 CoE In

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface134Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1359 Function library L_IODrvEtherCAT.lib9.2 CoE In

9 Function library L_IODrvEtherCAT.lib9.2 CoE Interface136Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1379 Function library L_IODrvEtherCAT.lib9.3 Device

9 Function library L_IODrvEtherCAT.lib9.3 Device Interface138Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/20

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1399 Function library L_IODrvEtherCAT.lib9.3 Device

3 Controller-based Automation: Central motion control14 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 ·

9 Function library L_IODrvEtherCAT.lib9.3 Device Interface140Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/20

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1419 Function library L_IODrvEtherCAT.lib9.4 Diagno

9 Function library L_IODrvEtherCAT.lib9.4 Diagnostic Interface142Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 0

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1439 Function library L_IODrvEtherCAT.lib9.4 Diagno

9 Function library L_IODrvEtherCAT.lib9.4 Diagnostic Interface144Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 0

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1459 Function library L_IODrvEtherCAT.lib9.4 Diagno

9 Function library L_IODrvEtherCAT.lib9.4 Diagnostic Interface146Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 0

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1479 Function library L_IODrvEtherCAT.lib9.5 FoE in

9 Function library L_IODrvEtherCAT.lib9.5 FoE interface148Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1499 Function library L_IODrvEtherCAT.lib9.5 FoE in

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 153 Controller-based Automation: Central motion con

9 Function library L_IODrvEtherCAT.lib9.5 FoE interface150Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1519 Function library L_IODrvEtherCAT.lib9.6 State

9 Function library L_IODrvEtherCAT.lib9.6 State Machine Interface152Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1539 Function library L_IODrvEtherCAT.lib9.6 State

9 Function library L_IODrvEtherCAT.lib9.6 State Machine Interface154Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1559 Function library L_IODrvEtherCAT.lib9.7 Data t

9 Function library L_IODrvEtherCAT.lib9.7 Data types156Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · T

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 1579 Function library L_IODrvEtherCAT.lib9.7 Data t

9 Function library L_IODrvEtherCAT.lib9.7 Data types158Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · T

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 15910 Restarting the EtherCAT fieldbus _ _ _ _ _ _

3 Controller-based Automation: Central motion control16 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 ·

11 Defining the cycle time of the PLC project11.1 Determining the task utilisation of the application160Lenze · Controller-based Automation · EtherCAT

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 16111 Defining the cycle time of the PLC project11.

11 Defining the cycle time of the PLC project11.2 Optimising the system162Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 16312 Diagnostics12.1 Diagnostics with the »PLC Des

12 Diagnostics12.1 Diagnostics with the »PLC Designer«164Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 ·

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 16512 Diagnostics12.1 Diagnostics with the »PLC Des

12 Diagnostics12.1 Diagnostics with the »PLC Designer«166Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 ·

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 16712 Diagnostics12.1 Diagnostics with the »PLC Des

12 Diagnostics12.1 Diagnostics with the »PLC Designer«168Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 ·

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 16912 Diagnostics12.2 Diagnostic codes in the »WebC

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 174 The Lenze automation system with EtherCAT4.1 Br

12 Diagnostics12.3 Logbook of the Lenze Controller in the »WebConfig«170Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 17112 Diagnostics12.3 Logbook of the Lenze Controll

12 Diagnostics12.4 Error counters of the EtherCAT slaves172Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 17312 Diagnostics12.4 Error counters of the EtherCA

12 Diagnostics12.5 Error scenarios174Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 17512 Diagnostics12.5 Error scenarios _ _ _ _ _ _ _

12 Diagnostics12.5 Error scenarios176Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 17712 Diagnostics12.5 Error scenarios _ _ _ _ _ _ _

12 Diagnostics12.5 Error scenarios178Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 17912 Diagnostics12.5 Error scenarios _ _ _ _ _ _ _

4 The Lenze automation system with EtherCAT4.1 Brief description of EtherCAT18Lenze · Controller-based Automation · EtherCAT® Communication Manual · D

12 Diagnostics12.5 Error scenarios180Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 18112 Diagnostics12.5 Error scenarios _ _ _ _ _ _ _

12 Diagnostics12.5 Error scenarios182Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 18312 Diagnostics12.6 System error messages _ _ _ _

12 Diagnostics12.6 System error messages184Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 18512 Diagnostics12.6 System error messages _ _ _ _

12 Diagnostics12.6 System error messages186Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 18712 Diagnostics12.6 System error messages _ _ _ _

12 Diagnostics12.6 System error messages188Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 18912 Diagnostics12.6 System error messages _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 194 The Lenze automation system with EtherCAT4.1 Br

12 Diagnostics12.6 System error messages190Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 19112 Diagnostics12.6 System error messages _ _ _ _

12 Diagnostics12.6 System error messages192Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 19312 Diagnostics12.6 System error messages _ _ _ _

12 Diagnostics12.6 System error messages194Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 19512 Diagnostics12.6 System error messages _ _ _ _

13 Parameter reference196 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 19713 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _

13 Parameter reference198 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 19913 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _

2 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4 The Lenze automation system with EtherCAT4.1 Brief description of EtherCAT20Lenze · Controller-based Automation · EtherCAT® Communication Manual · D

13 Parameter reference200 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 201Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Index202 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 203Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

204Your opinion is important to usThese instructions were created to the best of our knowledge andbelief to give you the best possible support for han

LController-based Automation · EtherCAT® Communication Manual · KHBECATPCBAUTO · 13462095 · DMS 6.4 EN · 04/2014 · TD17Lenze Automation GmbHPostfach 1

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 214 The Lenze automation system with EtherCAT4.1 Br

4 The Lenze automation system with EtherCAT4.1 Brief description of EtherCAT22Lenze · Controller-based Automation · EtherCAT® Communication Manual · D

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 234 The Lenze automation system with EtherCAT4.1 Br

4 The Lenze automation system with EtherCAT4.2 Required hardware components24Lenze · Controller-based Automation · EtherCAT® Communication Manual · DM

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 254 The Lenze automation system with EtherCAT4.2 Re

4 The Lenze automation system with EtherCAT4.2 Required hardware components26Lenze · Controller-based Automation · EtherCAT® Communication Manual · DM

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 274 The Lenze automation system with EtherCAT4.2 Re

4 The Lenze automation system with EtherCAT4.2 Required hardware components28Lenze · Controller-based Automation · EtherCAT® Communication Manual · DM

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 294 The Lenze automation system with EtherCAT4.3 Le

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 3Contents _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4 The Lenze automation system with EtherCAT4.4 Interaction of the components30Lenze · Controller-based Automation · EtherCAT® Communication Manual · D

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 314 The Lenze automation system with EtherCAT4.4 In

4 The Lenze automation system with EtherCAT4.4 Interaction of the components32Lenze · Controller-based Automation · EtherCAT® Communication Manual · D

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 334 The Lenze automation system with EtherCAT4.4 In

5Technical data5.1 General data34Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 355Technical data5.3 Communication times and drive-

6 Synchronisation with "Distributed clocks" (DC)36 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/20

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 376 Synchronisation with "Distributed clocks&q

6 Synchronisation with "Distributed clocks" (DC)6.2 Test of DC synchronicity38Lenze · Controller-based Automation · EtherCAT® Communication

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 397 Commissioning of the system7.1 Sample projects

Contents4 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

7 Commissioning of the system7.2 Overview of the commissioning steps40Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 E

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 417 Commissioning of the system7.2 Overview of the

7 Commissioning of the system7.3 Detailed description of the commissioning steps42Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 437 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps44Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 457 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps46Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 477 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps48Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 497 Commissioning of the system7.3 Detailed descrip

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 5Contents _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

7 Commissioning of the system7.3 Detailed description of the commissioning steps50Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 517 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps52Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 537 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps54Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 557 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps56Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 577 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps58Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 597 Commissioning of the system7.3 Detailed descrip

1 About this documentation6 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _

7 Commissioning of the system7.3 Detailed description of the commissioning steps60Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 617 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps62Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 637 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps64Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 657 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps66Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 677 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps68Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 697 Commissioning of the system7.3 Detailed descrip

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 71 About this documentation _ _ _ _ _ _ _ _ _ _ _ _

7 Commissioning of the system7.3 Detailed description of the commissioning steps70Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 717 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps72Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 737 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps74Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 757 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps76Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 777 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps78Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 797 Commissioning of the system7.3 Detailed descrip

1 About this documentation1.1 Document history8Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 _ _

7 Commissioning of the system7.3 Detailed description of the commissioning steps80Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 817 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps82Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 837 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps84Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 857 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps86Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 877 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps88Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 897 Commissioning of the system7.3 Detailed descrip

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 91 About this documentation1.2 Conventions used _ _

7 Commissioning of the system7.3 Detailed description of the commissioning steps90Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 917 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps92Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 937 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps94Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 957 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps96Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 977 Commissioning of the system7.3 Detailed descrip

7 Commissioning of the system7.3 Detailed description of the commissioning steps98Lenze · Controller-based Automation · EtherCAT® Communication Manual

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 997 Commissioning of the system7.3 Detailed descrip