Lenze 2175 Fieldbus Module

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EDB2175EN
00423117
Operating Instructions
Fieldbus module type 2175

DeviceNet / CANopen
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com

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These Operating Instructions are valid for fieldbus modules with the following nameplates:
2175IB Vx. 0x
In connection with the unit series as from nameplate data:

820X E. 2x. 1x. (8201 - 8204)
820X E./C. 2x. 1x. Vxxx (8201 - 8204)
821X E. 2x. 2x. (8211 - 8218)
821X E./C. 2x. 2x. Vxxx (8211 - 8218)
822X E. 1x. 1x. (8221 - 8225)
822X E. 1x. 1x. Vxxx (8221 - 8227)
824X E. 1x. 1x. (8241 - 8246)
824X E./C. 1x. 1x. Vxxx (8241 - 8246)
82EVxxxxxBxxxXX Vx 1x 8200 vector
82CVxxxxxBxxxXX Vx 1x 8200 vector, cold plate
93XX E./C. 2x 1x (9321 - 9332)
93XX Ex 2x 1x (Servo PLC 9300)
Important:
These Operating Instructions are only valid together with the corresponding Instructions for
82XX, 82XX; 8200 vector, 93XX and 9300 Servo PLC controllers. C
What is new / what has been changed ?
Material no. Edition Important Contents

423117 2.0 07/01 TD02 1st edition
E 2001 Lenze GmbH & Co KG

No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze GmbH & Co KG.
All information given in this online documentation has been carefully selected and tested for compliance with the hardware and software described. Neverthe-
less, discrepancies cannot be ruled out. We do not accept any responsibility or liability for any damage that may occur. Required corrections will be included
in updates of this documentation.
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Contents
1 Preface and general information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.1 How to use these Operating Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1.1 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Items supplied . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2.1 Legal regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
2 Safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.1 Persons responsible for safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 General safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.3 Layout of the safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
L BA2175 EN 2.0 i
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3 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.3 General data and application conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.4 Rated data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.5 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.5.1 Communication times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.5.1.1 Processing times in the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.5.1.2 Telegram time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Components of the fieldbus module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.3 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3.1 Assignment of the plug/socket connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3.2 Voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.3.3 Wiring to a host . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.4 Structure of a CAN bus system (Example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.4.1 CAN bus wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1 Communication profile setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Controller address setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.3 Baud rate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.4 Initial switch-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.5 Drive enable via 2175 fieldbus module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.5.1 Protection against uncontrolled restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
ii BA2175 EN 2.0 L
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6 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

6.1 Structure of a CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.1 Identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.2 Network management (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.2.1 Node/life guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.2 Parameter data channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.2.1 Structure of a parameter data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.2.2 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.2.2.1 Parameter reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.2.3 Write parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.2.4 Read block parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.3 Process data channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.3.1 Setpoint source selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.3.2 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
6.3.3 Process-data assignments for 82XX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
6.3.4 Process-data assignment for 8200 vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
6.3.4.1 Control word for 82XX and 8200 vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
6.3.4.2 Status word for 82XX and 8200 vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
6.3.5 Process-data assignment for 93XX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22
6.3.5.1 Control word for 93XX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23
6.3.5.2 Status word for 93XX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26
6.4 Implemented CANopen objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
6.4.1 Description of implemented objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.4.1.1 1000hex: Device type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.4.1.2 1001hex: Error register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.4.1.3 1003hex: Pre-defined error field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.4.1.4 1005hex: Identifier sync message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6.4.1.5 1006hex: Communication cycle period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6.4.1.6 1008hex: Manufacturer’s device name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6.4.1.7 100Ahex: Manufacturer’s software version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6.4.1.8 100Chex: Guard time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6.4.1.9 100Dhex: Life time factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6.4.1.10 1010hex: Store parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6.4.1.11 1011hex: Restore default parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33
6.4.1.12 1014hex: COB-ID emergency object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35
6.4.1.13 1015hex: Inhibit time emergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35
6.4.1.14 1018hex: Identity object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35
6.4.1.15 1200hex / 1201hex: Server SDO parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
6.4.1.16 1400hex: Receive PDO1 communication parameter . . . . . . . . . . . . . . . . . . . . . . . 6-37
6.4.1.17 1401hex: Receive PDO2* communication parameter . . . . . . . . . . . . . . . . . . . . . . 6-37
6.4.1.18 1402hex: Receive PDO3* communication parameter . . . . . . . . . . . . . . . . . . . . . . 6-38
6.4.1.19 1600hex: Receive PDO1 mapping parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-39
6.4.1.20 1601hex: Receive PDO2* mapping parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-39
6.4.1.21 1602hex: Receive PDO3* mapping parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-40
6.4.1.22 1800hex: Transmit PDO1 parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-41
6.4.1.23 1801hex: Transmit PDO2* parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-41
6.4.1.24 1802hex: Transmit PDO3* parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-41
6.4.1.25 1A00hex: Transmit PDO1 mapping parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42
6.4.1.26 1A01hex: Transmit PDO2* mapping parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42
6.4.1.27 1A02hex: Transmit PDO3* mapping parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43
L BA2175 EN 2.0 iii

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6.5 Communication-relevant Lenze codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44

6.5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44
6.5.2 Description of communication-relevant Lenze codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-47
6.5.2.1 L-C1810: Software product code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-47
6.5.2.2 L-C1811: Software date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-47
6.5.2.3 L-C1850/L-C2350: Node address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-47
6.5.2.4 L-C1851/L-C2351: Baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-48
6.5.2.5 L-C1852/L-C2352: Master/slave operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-48
6.5.2.6 L-C1853/L-C2353: CAN-INx/CAN-OUTx addressing . . . . . . . . . . . . . . . . . . . . . . . 6-49
6.5.2.7 L-C1854/L-C2354: Selective CAN-IN/CAN-OUT addressing . . . . . . . . . . . . . . . . . . 6-50
6.5.2.8 L-C1855/L-C2355: Display of resulting identifiers . . . . . . . . . . . . . . . . . . . . . . . . 6-50
6.5.2.9 L-C1856/L-2356: Boot-up and cycle times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-51
6.5.2.10 L-C1857/L-C2357: Monitoring time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-52
6.5.2.11 L-C1859/L-C2359: Display of DIP-switch position . . . . . . . . . . . . . . . . . . . . . . . . 6-52
6.5.2.12 L-C1860: Display of current DIP-switch position . . . . . . . . . . . . . . . . . . . . . . . . . 6-53
6.5.2.13 L-C1867/L-C2367: Sync Rx identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-53
6.5.2.14 L-C1868/L-C2368: Sync Tx identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-53
6.5.2.15 L-C1873/L-C2373: Sync rate CAN-IN1 ... CAN-IN3 . . . . . . . . . . . . . . . . . . . . . . . . 6-53
6.5.2.16 L-C1874/L-C2374: Sync rate CAN-OUT1 ... CAN-OUT3 . . . . . . . . . . . . . . . . . . . . . 6-54
6.5.2.17 L-C1875/L-C2375: Tx mode CAN-OUT1 ... CAN-OUT3 . . . . . . . . . . . . . . . . . . . . . 6-55
6.5.2.18 L-C1876/L-C2376: CAN-OUT1 masks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-56
6.5.2.21 L-C1882/L-C2382: Monitoring response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-57
6.5.2.22 L-C2120: AIF control byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-57
6.5.2.23 L-C2121: AIF status byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-58
6.6 Notes to be observed for paramater setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-59
6.6.1 8200 controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-59
6.6.2 8200 vector controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-59
6.6.3 9300 servo PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-60
7 Troubleshooting and fault elimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.1 No communication with the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
8 Table of keywords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
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9 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

9.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.3 General data and application conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.4 Rated data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.5 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.5.1 Communication times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9.5.1.1 Processing times in the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9.5.1.2 Telegram time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
9.5.1.3 Maximum bus length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
10 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
10.1 Components of the fieldbus module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
10.2 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.3 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.3.1 Selection of the transmission cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.3.2 Assignment of the plug/socket connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.3.3 Voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
10.3.4 Wiring to a host . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
10.4 Features of the “thick” cable (according to DeviceNet Specification) . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
10.5 Features of the “thin” cable (according to DeviceNet Specification) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
11 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.1 Communication profile setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.2 Controller address setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.3 Baud rate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.4 Initial switch-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.5 Drive enable via 2175 fieldbus module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
11.5.1 Protection against uncontrolled restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
12 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1

12.1 Communication-relevant Lenze codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6
12.1.1 Description of communication-relevant Lenze codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6
12.1.1.1 L-C1810: Software product code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6
12.1.1.2 L-C1811: Software date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6
12.2 Notes to be observed for paramater setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7
12.2.1 8200 controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7
12.2.2 8200 vector controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7
L BA2175 EN 2.0 v
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Contents
13 Troubleshooting and fault elimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1

13.1 No communication with the controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
14 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-1
14.1 DeviceNet commissioning example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-1
14.1.1 Integration of LENZE-EDS files into “RSNetWorx” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2
14.1.2 Communication between PC and DeviceNet via “RSLinx” . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-5
14.1.3 Online connection between DeviceNet and “RSNetWorx“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-7
14.1.4 Set scanner status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-14
14.1.5 Communication between PC and PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-15
14.1.6 Starting of the “RSLogix 500 English” PLC program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-17
14.2 Control program programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-19
14.2.1 Hardware addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-19
14.2.2 Explicit messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-20
14.3 Program components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-21
14.3.1 LAD 2-Main . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-22
14.3.2 LAD 3 - DNET_MAIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-23
14.3.3 LAD30 - LENZE_MAIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-24
14.3.4 LAD31 - LENZE_PIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-24
14.3.5 LAD32 - LENZE_EXP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-25
14.3.6 LAD33 - EXPL_BTW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-26
14.3.7 LAD34 - EXPL_BTR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-28
15 Table of keywords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-1
vi BA2175 EN 2.0 L
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Preface and general information

DeviceNet and CANopen
1 Preface and general information
1.1 How to use these Operating Instructions

• These Operating Instructions are intended for safety-relevant operation on and with the
module. They contain safety information which must be observed.
• All personnel working on and with the module must have these Operating Instructions
available and observe the information and notes relevant for them.
• These Instructions are only valid in combination with the Operating Instructions of the
corresponding controller. They must always be complete and in a perfectly readable state.
• These Operating Instructions describe the communication profiles CANopen and DeviceNet.
The chapter Preface and General Information and the Safety Instructions apply to both
communication profiles. Please see the header of each page.
1.1.1 Terminology used

Controller In the following, the term ”controller” is used for ”93XX servo inverters” or ”82XX frequency inverters”.
Drive system In the following the term ”drive system” is used for drive systems with fieldbus modules and other Lenze
drive components.
Fieldbus module In the following text, the term ”fieldbus module” is used for the fieldbus module type 2175
DeviceNet/CANopen.
L-Cxxxx Lenze code
Cxxxx/y Subcode y of code Cxxxx (e.g. C0410/3 = subcode 3 of code C0410)
Xk/y Terminal strip Xk/terminal y (e.g. X3/28 = terminal 28 on terminal strip X3)
(^xx-yyy) Cross reference (chapter - page)
1.1.2 Conventions used

The following conventions are used to differentiate between different types of information:
Type of information Printing Example
Names of dialog boxes, input italics Dialog box Options
fields or selection lists
Buttons bold Click OK , to...
Menu commands bold Use the command Messages to...
If the execution of a function requires several commands, the commands are separated
from each other by arrows:
Select File WOpen , to...
1.2 Items supplied
Items supplied Important

• 1 2175 fieldbus module with housing (type of protection IP20) After the delivery has received, check immediately whether the items
• 1 M3 fixing screw supplied match the accompanying papers. Lenze does not accept any
• 1 5-pole connector for DeviceNet and CANopen liability for deficiencies claimed subsequently.
• 1 Mounting Instructions Claim
• 1 floppy • visible transport damage immediately to the forwarder
• visible deficiencies/incompleteness immediately to your Lenze
representative.
L BA2175 EN 2.0 1-1

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Preface and general information

DeviceNet and CANopen
1.2.1 Legal regulations

Labellingg Nameplate CE-identification Manufacturer
Lenze 2175 fieldbus modules are Conforms to the EC Low-Voltage Directive Lenze GmbH & Co KG
unambiguously identified by their nameplates. Postfach 101352
D-31763 Hameln
Application as 2175 fieldbus module
directed • Operate the fieldbus module only under the conditions prescribed in these Operating Instructions.
• The fieldbus module is an accessory module and can be optionally attached to the following Lenze controllers: 820X, 821X, 822X, 8200
vector, 9300 servo 9300 servo PLC. The 2175 fieldbus module links Lenze controllers with the fast serial communication system CAN.
• The fieldbus module must be attached and electrically connected so that it complies with its function and does not cause any hazards when
attached and operated as instructed.
• Observe all notes given in chapter „Safety Instructions“ (^ 2-1) ).
• Please observe all information given in these Operating Instructions. This means:
– Read these Operating Instructions carefully before you start to work with the system.
– These Operating Instructions must always be available during operation of the fieldbus module.
Any other use shall be deemed inappropriate!
Liability • The information, data, and notes in these Instructions met the state of the art at the time of printing. Claims referring to drive systems
which have already been supplied cannot be derived from information, illustrations, and descriptions given in these Operating Instructions.
• The specifications, processes, and circuitry described in these Instructions are for guidance only and must be adapted to your own specific
application. Lenze does not take responsibility for the suitability of the process and circuit proposals.
• The indications given in these Operating Instructions describe the features of the product without warranting them.
• Lenze does not accept any liability for damage and operating interference caused by:
– disregarding these Instructions
– unauthorized modifications to the controller
– operating faults
– improper working on and with the controller
Warranty • Warranty conditions: see Sales and Delivery Conditions of Lenze GmbH & Co KG.
• Warranty claims must be made to Lenze immediately after detecting the deficiency or fault.
• The warranty is void in all cases where liability claims cannot be made.
Disposal
p Material recycle dispose
Metal D -
Plastic D -
Assembled PCBs - D
Short Instructions/Operating Instructions D
1-2 BA2175 EN 2.0 L

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Safety information
DeviceNet und CANopen
2 Safety information
2.1 Persons responsible for safety

Operator
• An operator is any natural or legal person who uses the drive system or on behalf of whom the drive system is used.
• The operator or his safety personnel is obliged
– to ensure the compliance with all relevant regulations, instructions and legislation.
– to ensure that only skilled personnel works on and with the2102IB fieldbus module.
– to ensure that the personnel has the Operating Instructions available for all corresponding works.
– to ensure that all unqualified personnel are prohibited from working on and with the drive system.
Qualified personnel
Qualified personnel are persons who - because of their education, experience, instructions, and knowledge about corresponding standards and regulations, rules for
the prevention of accidents, and operating conditions - are authorized by the person responsible for the safety of the plant to perform the required actions and who are
able to recognize potential hazards.
(Definition for qualified personnel to VDE 105 or IEC 364)
2.2 General safety information

• These safety notes do claim to be complete. In case of questions and problems please contact your Lenze representative.
• At the time of delivery the fieldbus module meets the state of the art and ensures basically safe operation.
• The indications given in these Operating Instructions refer to the stated hardware and software versions of the fieldbus modules.
• The fieldbus module is hazardous if:
– unqualified personnel works on and with the fieldbus module.
– the fieldbus module is used inappropriately.
• The processing notes and circuit sections shown in these Operating Instructions are proposals which cannot be transferred to other applications without being
tested and checked.
• Ensure by appropriate measures that neither personal injury nor damage to property may occur in the event of failure of the fieldbus module.
• The drive system must only be operated when no faults occur.
• Retrofittings, modifications, or redesigns are basically prohibited.Lenze must be contacted in all cases.
• The fieldbus module is electrical equipment intended for use in industrial high-power plants. The fieldbus module must be tightly screwed to the corresponding
controller during operation. In addition, all measures described in the Operating Instructions of the used controller must be taken. Example: Fasten covers to ensure
protection against contact.
L BA2175 EN 2.0 2-1

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Safety information
DeviceNet und CANopen
2.3 Layout of the safety information

• All safety information has a uniform layout:
– The icon characterizes the type of danger.
– The signal word characterizes the severity of danger.
– The note text describes the danger and gives information how to prevent dangerous
situations.
Signal word
Note
Icons used Signal words

Warning of Warning of Danger! Warns of impending danger.
damage to hazardous electrical Consequences if disregarded:
persons voltage Death or severe injuries.
Warning of a general Warning! Warns of potential, very hazardous situations.

danger Possible consequences if disregarded:
Death or severe injuries.
Caution! Warns of potential, hazardous situations.
Possible consequences if disregarded:
Light or minor injuries.
Warning of Stop! Warns of potential damage to material.
damage to Possible consequences if disregarded:
material Damage of the controller/drive system or its environment.
Other notes Tip! This note designates general, useful notes.

If you observe it, handling of the controller/drive system is made
easier.
2-2 BA2175 EN 2.0 L

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CANopen
3 Technical data
3 Technical data
3.1 General information

The internationally standardized CAN bus protocol, which had been developed for the European
Automobile Industry, is mainly characterized by:
• its resistance against interference and extreme temperatures
• short transfer times
• low connection expenses
These advantages have made CAN products interesting for other industries too.
The CANopen communication profiles is based on CAN technology.
The CANopen protocol has been specified by drive, control, and sensor manufacturers.
The protocol has been developed by the CiA (CON in Automation)in conformity with the CAL (CON
Application Layer). All mandatory parts of the CiA DS301 protocol, version 4.01 have been
implemented in the 2175 bus module.
3.2 Features
• Attachable module for the following Lenze controller series: 82XX, 8200 vector, 93XX 9300
servo PLC.
• The front DIP switch enables easy setting of
– Communication profile DeviceNet or CANopen
– Baud rate of 10, 20, 50, 125, 250 , 500 and 1000 kbit/s (depending on the communication
profile)
– Node address (max. 63 participants)
• Bus extension up to max. 5000m
• Topology: Line terminated at both ends (R = 120 Ohm)
• Easy connection because of pluggable screw terminals
L BA2175 EN 2.0
3-1
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CANopen
3 Technical data
3.3 General data and application conditions

For Values
Order name 33.2175IB
Communication media DIN ISO 11898
Baud rate [kbit/s] 10 20 50 125 250 500 1000
Maximum cable length [m] 5000 2500 1000 550 250 100 25
Ambient temperature during operation: -20 °C to 60 °C
during transport: -25 °C to 70 °C
during storage -25 °C to 60 °C
Permissible humidity Class 3K3 to EN 50178 (without condensation, average relative humidity 85%)
24-V-DC- • external supply only: 820X
Voltage supply • internal or external supply: 9300 servo PLC / 93XX / 821X / 822X / 8200 vector (see chapter 4.3.2)
3.4 Rated data

For Values
Voltage supply 24 V DC ñ 10 %; max. 100 mA
Communication medium ISO 11898
Rated insulation voltage Type of insulation
• PE 50VAC Electrical isolation
• External supply (term. 39/59) - No electrical isolation
• Power stage
– 820X / 821X 270 V AC Basic insulation
– 822X / 8200 vector 270 V AC Double insulation
– 93XX 270 V AC Double insulation
Insulation
Ins lation voltages
oltages for
bus systems
• Control terminals:
– 820X / 8200 vector - No electrical isolation
(with internal supply)
– 8200 vector 100 V AC Basic insulation
(with external supply)
– 821X 50 V AC Electrical isolation
– 822X 270 V AC Basic insulation
– 93XX 270 V AC Basic insulation
• External bus systems 0 V AC No electrical isolation
Pollution degree VDE0110, part 2, pollution degree 2
3.5 Dimensions
62
DeviceNet
CANopen
75
18
36
Fig. 3-1 Dimensions: 2175 fieldbus module (all dimensions in mm)
3-2 BA2175 EN 2.0 L

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CANopen
3 Technical data
3.5.1 Communication times
Note!
The CAN bus communication times depend on
• Processing time in the controller
• Baud rate
• Data priority
• Bus load
More information about bus access control can be obtained from corresponding literature
specialised on Controller Area Networks.
3.5.1.1 Processing times in the controller

Processing times of 820X controllers
The processing times for 8200 controllers differ from the times for the 821X/822X/8200 vector series.
In opposite to the 821X/822X/824X series, which have parallel process data processing, the 8200
series process process and parameter data sequentially. Therefore the time needed to respond
process data depends on previous actions.
The processing time needed for telegrams also depends on the actual value conditioning (process
data from controller). If these data (status word, actual frequency) are not required, they can be
deactivated with the control word ” Bit 15” (PE inhibit).
The individual telegram times are:
Telegram Processing time
PE-inhibit = 0 PE-inhibit = 1
Parameters 62...140 ms 62...70 ms
Change of a process data value
to controller (*) 27...105 ms 27...35 ms
Change of both process data values to
controller * 62...140 ms 4...70 ms
Process data from controller * 108...140 ms not possible
Processing times of 821X/ 8200 vector/ 822X controllers:

Parameters 30...50 ms
Process data, 3...5 ms (*)
* The process data processing times refer to the sync telegram (^ 6-13)
Processing time of 93XX controllers

Parameter data and process data are independent of each other.
• Parameter data: approx. 30 ms + 20 ms tolerance (typically)
– Some codes require longer processing times (see the 9300 Manual).
• Process data: approx. 3 ms + 2 ms tolerance
L BA2175 EN 2.0
3-3
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CANopen
3 Technical data
3.5.1.2 Telegram time

Telegram times depend on the baud rate and telegram length:
Data length [byte]
Baud rate [kbit/s]
0 2 8
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
Tab. 3-1 Maximum telegram time in [ms]
The telegram times indicated in the table above are calculated according to the following equation.
This equation allows to calculate any intermediate value t Tmax if necessary.
tT = telegram time [ms]

54.4 + 9.6 ⋅ LD LD = telegram length [byte]
tT ≤
dÜ dÜ = baud rate [kbit/s]
3-4 BA2175 EN 2.0 L

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CANopen
4 Installation
4 Installation
4.1 Components of the fieldbus module
1 2
7 3
6 5
Pos. Designation Meaning Notes

OFF 2175 fieldbus module is not supplied with voltage; controller or external voltage supply is switched off.
Controller BLINKING 2175 fieldbus module is supplied with voltage but is not connected to the controller (controller is
1 connection status GREE switched off, in initialisation or not available).
(two-colour LED) N Constantly 2175 fieldbus module is supplied with voltage and connected to the controller.
ON
Bus connection OFF • No communication with the fieldbus module
status • Fieldbus module is not supplied with voltage
(
(two-colour
l LED) GREE BLINKING Communication via the fieldbus has been set up
2
N
RED ON Internal fault of the fieldbus module
Green and red drive Operating status of the following controllers: 82XX, 8200 vector, 93XX and servo PLC 9300
3 LEDs (drive) (see Operating Instructions for the controller)
4 Fixing screw
5 5-pole plug-in connector
Connection Only for 820X and 821X:

6 PE shield cable If necessary use an additional PE shield cable which avoids EMC-related communication interference
in especially noisy environments.
7 DIP switch For settings see chapter 5
L BA2175 EN 2.0
4-1
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CANopen
4 Installation
4.2 Mechanical installation
• Plug the fieldbus module onto the controller (here: 8200 vector)
2175DeN020
• Tighten the fixing screw (^ 4-1) Pos. 4)
2175DeN021
4-2 BA2175 EN 2.0 L

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CANopen
4 Installation
4.3 Electrical installation
Note!
The communication of 820X and 821X controllers can be interfered by electromagnetic
interferences.
If necessary, use an additional PE shield cable at position 6 (^ 4-1)
4.3.1 Assignment of the plug/ socket connector

The 2175 fieldbus module is connected to the bus through a 5 pole plug/socket connector.
1 2 3 4 5
2175
120R
Terminal Designation Explanation

1 V- GND; reference for external voltage supply
2 CAN_L Data cable / input for terminating resistance of 120 Ohm
3 SHIELD Shield
4 CAN_H Data cable / input for terminating resistance of 120 Ohm
5 V+ External voltage supply; see notes in chapter 10.3.3
DC
+Vcc DC
+Vcc
3
5
7
+V
1 CAN+
4 Shield
6
CAN-
8 -V
2
2175DeN007
Fig. 4-1 Terminal assignment
L BA2175 EN 2.0
4-3
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CANopen
4 Installation
4.3.2 Voltage supply

If necessary, supply the 2175 fieldbus module via the plug-in contacts V+/V- (^ 4-3) using a separate
voltage supply of 24 V DC ± 10 % .
820X controllers always require a separate voltage supply.
Use a separate supply unit in every control cabinet if the distance between the control cabinets is
larger than normal.
Controller External voltage supply
820X always required
821X / 822X / 824X and 93XX Only necessary if the mains which supply the corresponding controllers is to be switched off but
communication must not be interrupted.
8200 vector see below
Chapter 4.4 describes how to connect the 2175 fieldbus module to the bus system.
Note!
Internal voltage supply of the fieldbus module connected to a 8200 vector
(only applies to controllers as of nameplate data 82EV 1x 1x)
Controllers with an extended AIF interface (front of the 8200 vector) can be internally supplied. The
part of the drawing highlighted in grey shows the jumper position.
With Lenze setting, the fieldbus module is not internally supplied.
For internal voltage supply, put the jumper in the position indicated below.
Lenze setting Internal voltage supply

(only external voltage supply)
4.3.3 Wiring to a host
Warning!
An additional electrical isolation is required if
• a 820X, 821X or 8200 vector controller is connected to a host
• a safe electrical isolation (double basic insulation) to VDE 0160 is required.
For this, you can use an interface module for the host with an additional electrical isolation
(see the corresponding manufacturer’s information).
For wiring, the electrical isolation of the supply voltage must be taken into account. The supply
voltage is assigned to the same potential as the data bus.
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4 Installation
4.4 Structure of a CAN bus system (Example)
The CAN bus system is designed as 2 conductor type (twisted pair) shielded with additional mass
and termination at both ends of the line (see (^ 4-6) ).
Data can be send and received as follows:
• Max. 3 process data channels (PDO = Process Data Object)
– Process data are send via the process data channel and are used for high-speed and
high-priority control tasks. Typical process data are, for instance, setpoints and actual
values for a controller.
• 2 parameter data channels(SDO = Service Data Object)
– Parameters are transferred at lower priority than process data. Parameters are set or
changed during, for instance, commissioning or changing the product.
– Parameters are accessed via the parameter data channel of the 2175 fieldbus module to
the Lenze controller codes or corresponding CANopen objects (detailed description in
chapter CANopen parameter setting).
– 2 masters can be connected to the controllers because of the 2 parameter channels. Thus,
parameters can be changed directly at the controller during operation of a machine or
system networked via PLC, using a PC (e.g. with the user software Global Drive Control) or
a keypad. The second parameter data channel can be accessed with an offset of 64 via the
address set (switch or L-C0009). For instance, if a PLC addresses the controller with
address 1 and a second commanding unit address 65, the same controller will be
addressed. Please note that the last telegram determines a parameter when it is accessed
by two units ( see “ Server SDO Parameters” (^ 6-35) ).
Note!
Please note that the last telegram determines a parameter when it is accessed by two units.
See chapter 5, if you do not use the front switch to enter baud rate and address.
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4 Installation
4.4.1 CAN bus wiring
CAN_H
CAN_L
SHLD
V- V+
CAN
HIGH
2175
LOW
120 R
120 R
2175DeN002
Please observe our recommendations for signal cables:

Total length up to 300 m
Cable type LIYCY 2 x 2 x 0.5 mm2 (twisted in pairs with shield)
Cable resistance ≤ 40 Ω/km
Capacitance per unit length ≤ 130 nF/km
Total length up to 1000 m

Cable type CYPIMF 2 x 2 x 0.5 mm2 (twisted in pairs with shield)
Cable resistance ≤ 40 Ω/km
Capacitance per unit length ≤ 60 nF/km
4-6 BA2175 EN 2.0 L

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5 Commissioning
5 Commissioning
Tip!
Settings using GDC or a keypad
Controller address and baud rate can be set using GDC or a keypad. For this, the DIP-switches S1
to S6 must be set to OFF.
Codes L-C0009 (controller address) and L-C0125 (baud rate) are not active if one or several
switches have been set to ON before a restart.
Please see the descriptions for
• Node address L-C1850/2350 (^ 6-46)
• Baud rate L-C1851/2351 (^ 6-47).
The DIP switch on the front of the 2175 fieldbus module can be used for the following settings:
• Controller address S1 - S6
• Baud rate S7 - S9
• Communication profile S10
Tip!
In default setting all switches are OFF.
The controller address and baud rate set using DIP switches will only be active after a restart.
Only the combinations shown in the following tables are defined:
5.1 Communication profile setting
OPEN OFF
1 2 3 4 5 6 7 8 9 10
ON
Communication profile S10

DeviceNet OFF
CANopen ON
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5 Commissioning
5.2 Controller address setting
Tip!
Please ensure that the addresses are not the same when using several controllers.
OPEN OFF
ON
1 2 3 4 5 6 7 8 9 10
Addressdec = S6 ⋅ 20 + S5 ⋅ 2 1 + S4 ⋅ 2 2 + S3 ⋅ 2 3 + S2 ⋅ 24 + S1 ⋅ 2 5
The address calculation (decimal number) is based on the positions of switches S1 ... S6 (’0’ = OFF
and ’1’ = ON). The numbers must be entered into the equation above.
The equation also indicates the valency of a switch. The sum of valencies results in the controller
address to be set:
Switch valencies:
Switch S1 S2 S3 S4 S5 S6
Valency 32 16 8 4 2 1
Example:
Switch position ON ON ON OFF OFF OFF
Address (= 56) 32 16 8 0 0 0
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5 Commissioning
5.3 Baud rate setting
Tip!
Please ensure that the baud rate is the same for all controllers and the host.
OPEN OFF
ON
1 2 3 4 5 6 7 8 9 10
Baud rate [kbit/s] S7 S8 S9

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
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5 Commissioning
5.4 Initial switch-on
Please do not change the switch-on sequence explained below!
Stop!
Prior to initial switch-on of the controller, check the wiring for
• completeness
• short-circuit
• earth fault
1. Switch on the controller and, if necessary, the external supply of the 2175 fieldbus module.
– One of the operating status LEDs of the controller (^ 4-1) , pos. 3 must come on or blink. If
this is not the case, see chapter ” Troubleshooting” (^ 7-1)
– The green LED (” Controller connection status” ) must be on, too (^ 4-1) (pos. 1). If this is not
the case, see chapter ” Troubleshooting” (^ 7-1) .
2. It should now be possible to communicate with the drive:
– All parameters can be read and written
– All SDO parameters except process data, such as frequency setpoint or control word, can
be overwritten.
– For more information about the communication phases of the CAN network see (^ 6-3) .
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5 Commissioning
5.5 Drive enable via 2175 fieldbus module
Tip!
If the 2175 module is plugged onto a different controller during operation, an undefined operating
status might occur.
82XX / 1. Set the Lenze parameter Operating Mode (L-C0001) from 0 to 3 to enable the driva via the 2175 fieldbus module. The parameter can be set
8200 vector using the keypad or directly via CANopen.
Examples for write (L-C0001=3):
– Index = 5FFEhex
(results from 5FFFhex − (L-C0001)hex; see Lenze Codes, Addressing, chapter 6.2 ^ 6-5 )
– Subindex: 0
– Value: 30000dec (results from: L-C0001 = 3 x 10000)
2. Terminal 28 (controller enable) is always active and must be set to HIGH during CANopen operation (see the corresponding Operating
Instructions for the controller). The controller can also be enabled via CANopen.
– With 821X, 8200vector and 822X, the function QSP (quick stop) is always active. If QSP is assigned to an input terminal (factory setting: not
assigned), this terminal must be at HIGH level during CANopen operation (see the corresponding Operating Instructions).
The controller now accepts parameter and process data.
93XX 1. For drive control via CANopen set the Lenze parameter Signal Configuration (L-C0005) to xxx3. These changes can be made using the 9371BB
keypad or directly via CANopen. For first commissioning, select signal configuration 1013.
– Index = 5FFAhex
(results from 5FFFhex − (L-C0005)hex; see chapter 6.2 ^ 6-5 )
– Subindex: 0
– Value: 10130000dec (results from: L-C0005 = 1013 x 10000)
2. Set the parameter L-C0142 to 0. Please see chapter “Protection against uncontrolled restart“.
3. Terminal 28 (RFR = controller enable) is always active and must be set to HIGH during CANopen operation (see the Operating Instructions for
93XX). The controller can also be enabled via CANopen.
– With the signal configuration L-C0005=1013, the function QSP (quick stop) and the CW/CCW changeover are assigned to the digital input
terminals E1 and E2 and thus they are always active. For CANopen operation E1 must be set to HIGH level (see Operating Instructions for
93XX).
With the signal configuration L-C0005=xx13, terminal A1 is switched as voltage output.
Connect the following terminals:
• X5.A1 with X5.28 (ctrl. enable)
• X5.A1 with X5.E1 (CW/QSP)
5.5.1 Protection against uncontrolled restart
Tip!
After a fault (e.g. short-term mains failure) a restart of the drive is not always wanted.
• By setting L-C0142 = 0, the drive can be inhibited if
– the corresponding controller sets a “ Message“ fault
– the fault is active for more than 0.5 s
Parameter function:
• L-C0142 = 0
– Controller remains inhibited (even if the fault is no longer active) and
– The drive restarts in a controlled mode: LOW-HIGH edge at one of the inputs for “ Controller
inhibit“ (CINH, e.g. at terminal X5/28)
• L-C0142 = 1
– Uncontrolled restart of the controller possible
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5-6 BA2175 EN 2.0 L

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6 Parameter setting
6 Parameter setting
Master and slave communicate with each other by sending data telegrams via the CAN bus. The
user data range of a data telegram contains either network management data, parameter data or
process data..
Different communication channels are assigned to parameter and process data in the controller.
Telegram type Communication channel
Parameter data These are, for instance, Parameter data channel • Enables access to all Lenze codes and
(SDO, • operating parameters (Chapter 6.2) the CANopen index.
Service Data Objects) • diagnostics information • Parameter changes are automatically
• motor data stored in the controller (take L-C0003
In general, the parameter transfer is not as into account).
time-critical as the tranfer of process data.
Process data, These are, for instance, Process data channel • The controller can be controlled using
(PDO, • Setpoints (chapter 6.3) process data.
Process Data Objects) • Actual values • The host has direct access to process
Exchange between host and controller data.
required as fast as possible. Small amounts In the PLC the data are, for instance,
of data which can be transferred cyclically. directly assigned to the I/O area.
• Process data are
– not stored in the controller.
– cyclically transferred between host
and controller to ensure a continuous
exchange of current input and output
data.
Tab. 6-1 Division of parameter data and process data in different communication channels
The following regulations for a communication protocol only describe what is related to Lenze
controller networkds.
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6 Parameter setting
6.1 Structure of a CAN data telegram
Control field CRC delimit. ACK delimit.

Start RTR bit CRC sequence ACK slot End
Identifier User data 0 ... 8 byte

• Network management
1 bit • Parameter data
11 bit 1 bit 6 bit 15 bit 1 bit 1 bit 1 bit 7 bit
• Process data,
Description in chapter 6.1.1 Three different data types are transported in this field:
• Network management telegrams (NMT) (Description in chapter 6.1.2 )
– NMT user data hold information about the communication structure via
CAN bus.
• Parameter data (SDO) (Description in chapter 6.2.1 )
– The user data are for parameter setting.
• Process data (PDO) (Description in chapter 6.3 )
– The process data in the user data are used for fast, mainly frequent
processes (e.g. speed setpoint and actual speed value).
Fig. 6-1 Structure of a CAN data telegram
The data relevant for programming the bus module (identifiers and user data) will be described in
detail in the corresponding chapters.
All other signals refer to the transfer features of the CAN telegram. These Instructions do not
describe them in detail. For more information please see the homepage of “ CAN in Automation
(CiA)” : www.can-cia.de.
6.1.1 Identifiers
The CAN bus system is message-oriented. One of the most important components of a data
telegram is the identifier. Except for the network management (see chapter 6.1.2) and the sync
telegram (see chapter 6.3) the identier contains the controller address.
Identifier = basic identifier + controller address
With CANopen the controller address is used for a participant-oriented message addressing.
The identifier assignment is determined in the CANopen protocol. The basic identifier is default set
as described in the following:
Direction Basic identifier
+ Controller
from the to the dec hex address
controller controller
Network manager (NMT) 0 0
No
Sync telegram 128 80
X 384 180
Process data channel 1
X 512 200
X 640 280
X 768 300
X 896 380
X 1024 400 yes
X 1408 580
Parameter data channel 1
X 1536 600
X 1472 5C0
Parameter data channel 2
X 1600 640
Node guarding 1792 700
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6 Parameter setting
6.1.2 Network management (NMT)

The telegram used for network management contains an identifier (see chapter 6.1.1) and the
command which is part of the user data and consists of command byte and controller address.
Identifier User data (2 byte)

1. byte: command
0000000000 2. byte: controller address
User data
1. byte: command 2. byte: controller address
Controller address: xx
”xx” in the table means:
• xx = 00hex
01, 02, 80, 81 or 82 With this assignment, all controllers connected are addressed by the telegram. All
controllers can change their status at the same time.
• xx = Controller address
If a certain address is indicated, the status will only be changed for the controller
addressed.
Initialisation (1):
Initialisation starts automatically when the mains is switched
ON or the hardware is reset (1).
The drive does not take part in the data transfer. Various
initialisation activities are carried out. This status is reached
after the controller has been switched on. Furthermore it is
possible to restart the entire initialisation phase or parts of it
by transferring different telegrams. All parameters already set
are overwritten with their standard values. After initialisation
(2) has been completed the participant is automatically set to
the status ”Pre-operational”. From that moment on the master
determines the controller communication. The master changes
a status for the whole network. A target address, which is part
of the command, selects the slaves.
Status Network status

Command Effect on process and parameter data
transfer after change
(1) Initialisation For description see above
(3), (6) 01 xx Operational Process and parameter data active
(2), (4), (7) 80 xx Preoperational Only parameter data active
Parameter and process data cannot be received. Network management
(5), (8) 02 xx Stopped
telegrams can be received.
(9)
Resets the drive,
drive all parameters are overwritten with standard values (like
(10) 81 xx
“Reset node”)
(11)
Initialisation
(12)
(13) 82 xx Resets the drive,, onlyy communication-relevant parameters
p are reset
(14)
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6 Parameter setting
6.1.2.1 Node/ life guarding

If you multiply guard time (chapter 6.4.1.8) and life time factor (chapter 6.4.1.9) the result is a time.
This time must not be exceeded
• when a request is sent to a slave
• a slave sends a response to a request from the master
If the master does not send a request, a “ life guarding event” will be initialised.
If the slave does not send a response to a request from the master, a “ node guarding event” will be
initialised.
Tip!
The response to a “ life guarding event” is set under code L-C1882 / L-C2382.
NMT master NMT slave
s = 4: STOPPED
s = 5: OPERATIONAL
s = 127: PREOPERATIONAL
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6 Parameter setting
6.2 Parameter data channel
Note!
• Lenze codes have a L in front of the code „ L-Cxxxx“ so that they cannot be mixed up with
the CANopen index.
– Example: ’L-C0001’ stands for Lenze code C0001.
• Please obtain the value range for Lenze codes from the corresponding Operating Instructions
(see ’Code list’).
Access to controller codes

When using fieldbus modules, a host (e.g. a PLC) can change the features and response
characteristics of any controller connected to the network.
In Lenze controllers, parameters to be changed are listed as codes .
Controller codes are addressed via the index when accessing the code through a 2175 fieldbus
module (see chapter 6.2.1).
The index for Lenze code numbers is between 16576 (40C0hex) and 24575 (5FFFhex).
Conversion formula:
Index[dec ] = 24575 − Lenze code number
Example:
Lenze codes dec hex
• Addressing of Lenze codes via
Index = 24575 - LENZE CODENO Indexhex = 5FFFhex - LENZECODENOhex
offset:
– Example for operating
Index = 24574 (= 24575 - 1) Indexhex = 5FFEhex (= 5FFFhex - 1)
mode L-C0001
The parameter value is part of the telegram user data (see expamples (^ 6-10) ).
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6 Parameter setting
Lenze parameter sets

Parameter sets are for special code saving which is necessary because of different configurations
for different application processes.
The following table informs about number and addressing of parameter sets for your controller:
82XX 8200 vector 93XX
The 82XX and 8200 vector have 2 and 4 parameter sets. The parameters can be directly addressed 93XX controllers provide up to 4
via CAN. parameter sets per technology variant to
They are addressed by means of a code-digit offset: save data in the EEPROM. Another
• Offset 0 addresses parameter set 1 with Lenze codes L-C0000 to L-C1999 parametert sett is
i iin th
the user memory off
• Offset 2000 addresses parameter set 2 with Lenze codes L-C2000 to L-C3999 the controller. This is the current
parameter setset. Only the current parameter
• Offset 4000 addresses parameter set 3 with Lenze set can be directly addressed via CAN. For
codes L-C4000 to L-C5999 the codes, see the Operating Instructions
No additional parameter sets available.
• Offset 6000 addresses parameter set 4 with Lenze or the Manual for 93XX. Changes of the
codes L-C6000 to L-C7999 current parameter set will be lost after
If a parameter is available only once (see Operating Instructions for 82XX or 8200 vector), use code switching off the controller. Code C0003
digit offset 0. is for savingg the current parameter set.
After switching
s itching on the controller,
controller
Example for L-C0011 (maximum field frequency):
parameter set 1 is automatically loaded
L-C0011 in parameter set 1: Lenze code = 11
into the current parameter set.
L-C0011 in parameter set 2: Lenze code = 2011
Parameter sets 2 - 4 must have been
L-C0011 in parameter set 3: Lenze code = 4011 activated before the parameters can be
-
L-C0011 in parameter set 4: Lenze code = 6011 changed.
Parameter changes:
82XX: Automatic saving in the controller
8200 vector: Automatic saving as default setting (can be switched off with L-C0003)
Process data changes:
82XX, 8200 vector: no automatic saving
Stop! (only for 8200 vector and 82XX)

Please take into account that cyclic writing of parameter data to the EEPROM is not permitted.
Only 8200 vector:
Configure code C0003 = 0 after every mains switching if you want to change parameter data
cyclically.
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6 Parameter setting
6.2.1 Structure of a parameter data telegram

User data (up to 8 byte)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Data 1 Data 2 Data 3 Data4
Index Index Low Word High Word
Command Subindex
Low byte High byte Low byte High byte Low byte High byte
Error message
Parameters can be set via two separate software channels which are selected by means of the
controller address (chapter 6.1.1).
Tip!
User data are displayed in the left-justified INTEL format.
For calculation examples see chapter 6.2.2.
Details about the 1st byte

parameter data
telegram: Command
The command contains the follwing information which must be entered if not already indicated:
Access to Data 1 - Data 4
4 byte data 2 byte data 1 byte data Block
Command (chapter 6.2.4)
(5th - 8th byte) (5th + 6th byte) (5th byte)
hex hex hex hex
Write Request
23 2B 2F
(Send parameters to drive) Writing not
Write Response possible
60 60 60
(Controller response to write request (acknowledgement))
Read Request
40 40 40 40
(Request to read a parameter from the drive)
Read Response
43 4B 4F 41
(Response to the read request with an actual value)
Error response
80 80 80 80
(Controller indicates communication error)
Details about the 2nd byte 3rd byte

parameter data Index Index
telegram: Low byte High byte
Parameters and Lenze codes are selected with these two bytes according to the following formula:
Index = 24575 − (Lenze- code + 2000 ⋅ (parameter set − 1))
Example Calculation Index low/high byte

Code L-C0012 (acceleration time) in 24575 - 12 - 0 = 24563 = 5FF3hex According to the left-justified Intel data format
parameter set 1 is to be addressed. the entries are (see chapter 6.2.1):
Index low byte = F3hex
Index high byte = 5Fhex
Code L-C0012 (acceleration time) in An offset of 2000 is to be added because of According to the left-justified Intel data format
parameter set 2 is to be addressed. parameter set 2: the entries are (see chapter 6.2.1):
24575 - 12 - 2000 = 22563 = 5823hex Index low byte = 23hex
Index high byte = 58hex
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6 Parameter setting
Details about the 4th byte

parameter data
telegram: Subindex
Table position of a parameter value using the index.

Example:
L-C0465 (function block processing list)
Entry of subcode: 1 ... 50 (dez) bzw. 1 ... 32 (hex)
Explanation for the 5th byte 6th byte 7th byte 8th byte
parameter data
telegram Parameter value (length 1) 00 00 00
Explanation for the 5th byte 6th byte 7th byte 8th byte
parameter data Parameter value (length 2)
00 00
telegram Low byte High byte
5th byte 6th byte 7th byte 8th byte

Explanation for the
Parameter value (length 4)
parameter data
Low Word High Word
telegram
Low byte High byte Low byte High byte
Depending on the data format (see ’Attribute list’ in the Manual) the parameter value needs 1 to 4
bytes.
Tip!
Lenze parameters are mainly FIX32 data (32 bit value with signal, decimal with four decimal codes,
see the Attribute Table in the corresponding Manual). Integers are the result of a multiplication of a
parameter value by 10000.
Parameters C0135 and C0150 must be transferred as bit code and without factor.
• Error messages in the parameter data telegram

Explanation for the 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
parameter data Index Index
telegram Command Subindex Error code
Low byte High byte
Byte 1:
The Command byte shows in code 128dec or 80hex that an error has occured.
Byte 2, 3 and 4:
The index byte and the subindex contain index and subindex of the faulty code.
Byte 5 - 8:
In data bytes 5. - 8. the error code will be entered.
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6 Parameter setting
The error code is displayed inverse to the direction of reading.

Example: Error code 06 04 00 41hex and representation of the error code:
Direction of reading the error code

41 00 04 06
Low word High word
The following table lists explanations for the error numbers:

Error code (hex) Explanation
0503 0000 Toggle bit not changed
0504 0000 SDO protocol expired
0504 0001 Invalid or unknown client/server command specifier
0504 0002 Invalid block size (only block mode)
0504 0003 Invalid processing number (only block mode)
0504 0004 CRC error (only block mode)
0504 0005 Not enough memory
0601 0000 Object access not supported
0601 0001 Try to read writeable object
0601 0002 Try to write readable object
0602 0000 Object not listed in object organiser
0604 0041 Object not transferrable to PDO
0604 0042 Number and length of objects to be transferred longer than PDO
0604 0043 General parameter incompatibility
0604 0047 General internal controller incompatibility
0606 0000 Access denied because of hardware error
0607 0010 Inappropriate data type, service parameter length
0607 0012 Inapproriate data type, service parameter length exceeded
0607 0013 Inapproriate data type, service parameters not long enough
0609 0011 Subindex does not exist
0609 0030 Parameter value range exceeded
0609 0031 Parameter values too high
0609 0032 Parameter values too low
0609 0036 Maximum value falls below minimum value
0800 0000 General error
0800 0020 Data cannot be transferred/stored for application
0800 0021 Because of local control data cannot be transferred/stored for application
0800 0022 Becaue of current controller status data cannot be transferred/stored for application
0800 0023 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)
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6 Parameter setting
6.2.2 Examples
6.2.2.1 Parameter reading

The heatsink temperature (43 °C) C061 is to be read from the controller using address 5 and
parameter channel 1.
• Identifier calculation
Identifier parameter channel 1 to controller = 1536 + controller address
Identifier = 1536 + 5 = 1541
• Command read request (request to read a parameter from the drive

Command = 40hex
• Index calculation
Index = 24575 - code number - 2000 (PS - 1) Index = 24575 - 61 - 2000 ú 0 = 24514 = 5FC2hex
Telegram to drive:
Identifier Command Index Low Index High Subindex Data 1 Data 2 Data 3 Data4
Byte Byte
1541 40hex C2hex 5Fhex 00 00 00 00 00
Telegram from drive

Identifier:
Parameter channel 1 of controller (=1408) + controller address = 1413
Command:
Read response to read request with the current value of 43hex
Index of read request
5FC2hex
Subindex:
0
Data 1 to Data 4:
43 ° C S 10.000 = 430.000 = 00 06 8F B0
Byte Byte
1413 43hex C2hex 5Fhex 00 B0hex 8Fhex 06hex 00
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6 Parameter setting
6.2.3 Write parameter

The acceleration time C0012 (parameter set 1) of the controller with address 1 is to be changed to
20 s via parameter channel 1.
• Identifier calculation
Identifier parameter channel 1 to controller = 1536 + controller address
Identifier = 1536 + 1 = 1537
• Command write request (send parameter to drive)

Command = 23hex
• Index calculation
Index = 24575 - code number - 2000 (PS - 1) Index = 24575 - 12 - 2000 V 0 = 24563 = 5FF3hex
• Subindex: 0
• Calculation of the acceleration time
Acceleration-time value 20 s ú 10.000 = 200.000 = 00 03 0D 40hex
• Telegram to drive
Byte Byte
1537 23hex F3hex 5Fhex 00 40hex 0Dhex 03hex 00
Response of the controller when no fault occurs

Byte Byte
1409 60hex F3hex 5Fhex 00 00 00 00 00
Identifier parameter channel 1 from controller = 1408 + controller address = 1409

Command = write response (controller response (acknowledgement)) = 60hex
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6 Parameter setting
6.2.4 Read block parameters

The software product code (code L-C0200) of a Lenze product 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 - 8th byte).
During transfer, the command byte (1st byte) contains entries hex or 41hex) to
– indicate the end of a block transfer
– request the next block
• Code L-C0200 - request
40hex 37hex 5Fhex 00 00 00 00 00
1st byte: 40 read request (request to read a parameter from the controller)
2nd/3rd byte: Index Low/High Byte: 24575 - 200 - 0 = 24375 = 5F37hex
• Response including the block length (14 characters)

41hex 37hex 5Fhex 00 0Ehex 00 00 00
1st byte: 41 read response. The entry 41hex implies that it is a block telegram.
2nd/3rd byte: see above
5th byte: 0E (=14dec.) data length 14 characters (ASCII format)
• First data block - request

60hex 00 00 00 00 00 00 00
1st byte: 60hex
Write response (acknowledgement) with access to bytes 2 - 8.
Note:
The individual blocks are toggled one after the other*, i.e. the request with command 60 hex (=0110 0000bin) is before command 70hex
(=0111 0000bin) and followed by 60hex again, etc. The response is sent accordingly. It is alternating because of a toggle bit. This process is
stopped by command 11hex (bit 0 is set, see below).
*Toggle bit = bit 4 (counting starts with 0)
• Response
00 33hex 33hex 53hex 39hex 33hex 30hex 30hex
2nd - 8th byte, ASCII format: 3 3 S 9 3 0 0
• Second data block - request

70hex 00 00 00 00 00 00 00
1st byte: 70hex (toggle) write response (acknowledgement) with access to all 4 data bytes
• Second data block - response with over-detection

11hex 4Dhex 5Fhex 32hex 30hex 30hex 30hex 33hex
1st byte: 11 last transfer of the data block

2nd - 8the byte: M _ 2 0 0 0 3
Result of data block transfer: 33S9300M_20003
6-12 BA2175 EN 2.0 L

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6 Parameter setting
6.3 Process data channel
6.3.1 Setpoint source selection
82XX / 8200 vector controllers

The setpoint source is selected under code L-C0001 (5FFEhex).
When using AIF fieldbus modules, code L-C0001 (setpoint source selection) must be set to 3 to
evaluate process data.
With L-C0001 = 3 the process data channel which describes the frequency setpoint (L-C0046) and
the control word (L-C0135) is used as setpoint source (see the corresponding Operating
Instructions).
Setpoint source L-C0001 Read and write parameters Parameter L-C0046 Process data,
Process data channel of an 3 yes no yes
AIF fieldbus module
Note!
• Please ensure that the setpoint source (L-C0001) must be set identically for all parameter
sets.
93XX controllers
With 93XX controllers it is not possible to select a setpoint source which can be set using just one
code. On the other hand, these controllers can be adapted to drive tasks without special
programming knowledge, since it uses preconfigured function blocks.
The function blocks can be combined and connected by the user himself. It is however safer to use
the preconfiguration provided by Lenze which is stored in the controller. This preconfiguration (code
C0005) determines the source (terminal, keyboard, fieldbus module) for frequency setpoint and
control word.
For operation with CAN bus code C0005 must be set to “ xxx3” (x = space for selected
preconfiguration).
More information can be obtained from the corresponding Manual and Operating Instructions.
L BA2175 EN 2.0
6-13
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6 Parameter setting
6.3.2 Process data transfer

Process data telegrams between host and controllers are distinguished as follows:
• Process data telegrams to drive
• Process data telegrams from drive
Process data telegram to drive

The process data telegram includes an indentifier which holds the address (93XX series). This
telegram has a user data length of 8 byte (see example below).
The CAN bus is connected to the automation interface X1.
Function AIF-IN is connected to X1. Here the user data for more function blocks are converted into
corresponding signal types. The control word is especially important for the drive. Byte 1 and byte
2 of the user data contain the controller setpoint.
AIF1-IN
Byte 1,2 = Control word

Byte 3,4
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
X1
Identifier
Byte 5,6
Byte 7,8
Tab. 6-2 Example: 93XX series
Process data telegram from drive

The function block to be used for cyclic process data telegrams from the drive is called AIF-OUT.
The status word (byte 1 and byte 2) of the process data telegram is transferred to the CAN bus via
this function block and then sent to the master (see also chapter 6.3.5).
6-14 BA2175 EN 2.0 L

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6 Parameter setting
To ensure that the process data to the controller are accepted, a special telegram, the sync
telegram, is required (see chapter 6.1.1).
For cyclic data processing, the sync telegram must be generated accordingly.
Process data synchronisation

The sync telegra is the trigger point for
• accepting data by the controller
• starting the sending process from the controller
Sync-telegram Sync-telegram
t
PDO to Controller PDO from controller PDO to controller
t1 t1
Fig. 6-2 Synchronisation of cyclic PDOs (seen from the bus participant’s view)
Note for Fig. 6-2: At t 1 all PDOs accept process data as soon as a sync telegram is received.
Tip!
SDOs or event-controlled PDOs are asynchronously accepted by controllers, i.e. after transmission
has been completed.
Asynchronous data have not been taken into account for the figure above.
L BA2175 EN 2.0
6-15
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6 Parameter setting
6.3.3 Process-data assignments for 82XX
Process data telegram to controller

User data length: 8 byte
Control word Control word Setpoint Setpoint
Identifier
L-C0135 L-C0135 L-C0046 L-C0046 xx xx xx xx
Byte 1 Bits 0 to 7 of the control word under C0135 are entered here
Bits 8 to 15 of the control word under C0135 are entered here (see chapter 6.3.4.1).
Byte 2
The bit description can be obtained from the Code Table.
More iinformation
M f ti Byte 3 The frequency setpoint, which can also be written as parameter under C046, is entered here as process data word.
about process data
Byte 4 The normalisation differs from the setting under C046. It is a signed value, 24000 = 480 Hz.
Telegram Byte 5
Byte 6
No evaluation of these data
data, anything possible
Byte 7
Byte 8
Control word: see chapter 6.3.4.1.
.B0 0 0 11 JOG/
.B1 0 10 1 C046
.B2 CW/CCW
.B3 QSP
.B4
...
...
...
Control .B8
word .B9 CINH

16 bit .B10 TRIP-SET
.B11 TRIP-RESET
.B12 PAR
AIF .B13
.B14 DCB
.B15
16 bit C0046
2141LON010
Fig. 6-3 Access to control word and frequency setpoint in 82XX (fixed, see (^ 6-20) )
6-16 BA2175 EN 2.0 L

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6 Parameter setting
Process data telegram from controller

User data length: 8 byte
Status word Status word Actual value Actual value
Identifier
L-C0150 L-C0150 L-C0050 L-C0050 xx xx xx xx
Byte 1 Bits 0 to 7 of the status word under L-C0150 are entered here
Bits 8 to 15 of the status word under L-C0150 are entered here (seen chapter 6.3.4.2).
Byte 2
The bit description can be obtained from the Code Table.
More iinformation
M f ti Byte 3 Actual frequency value with signed normalisation (L-C0050)
(L C0050)
about the process 24000 = 480 Hz is provided here.
Byte 4
data
telegram: Byte 5
Byte 6
No evaluation of these data
data, anything possible
Byte 7
Byte 8
Status word: see chapter 6.3.4.2.
PAR .B0
IMP .B1
Imax .B2
- / fd=fdset .B3
fd=fdset / RFG .B4
Qmin .B5
fd>0 .B6 Status
Ctrl. inhibit .B7 word
.B8
16 bit
Controller .B9
status .B10
.B11
Tü .B12
AIF
Ugmax .B13
CW/CCW .B14
RDY .B15
C0050 16 bit
+/-24.000 = +/- 480Hz
2141LON012
Fig. 6-4 Read access to status word and actual frequency value in 82XX (fixed, see (^ 6-21) )
L BA2175 EN 2.0
6-17
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6 Parameter setting
6.3.4 Process-data assignment for 8200 vector

A change of code L-C0001 to 3 starts the preconfiguration of process data words in the controller
(see chapter 6.3.1). .
Tip!
• Frequency and speed values are normalised with 24000 ≡ 480 Hz.

Control word Control word AIF-IN.W1 AIF-IN.W1 AIF-IN.W2 AIF-IN.W2 xx xx

AIF-IN.Wx is parameterised under code L-C0412.
AIF-IN
.B0 L-C0410/x = 10
.B1
L-C0410/x = 11
.B2 L-C0410/x = 12
DCTRL
.B3 QSP ...
...
.B4 ... ...
...
... ... ...
... ... ...
.B8 ...
AIF-CTRL DCTRL
16 bit .B9 CINH ...
...
.B10 TRIP-SET
...
.B11 TRIP-RESET
AIF
.B12
... ... L-C0410/x = 22
...
... ... ...
... ... ...
.B15
L-C0410/x = 25
AIF-IN.W1
16 bit L-C0412/x = 10
AIF-IN.W2
16 bit L-C0412/x = 11
2141LON011
Fig. 6-5 Function block AIF-IN in 8200 vector (freely programmable assignment, for default setting see (^ 6-20) )
Note:
A subcode (“ x” in figure) determines the bit or word meaning (see 8200 vector Operating Instructions)
6-18 BA2175 EN 2.0 L

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6 Parameter setting

Status word Status word AIF-OUT.W1 AIF-OUT.W1 AIF-OUT.W2 AIF-OUT.W2 xx xx

AIF-OUT.Wx is parameterised under code L-C0421.
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. 6-6 Function block AIF-OUT in 8200 vector (freely programmable assignment, for default setting see (^ 6-21) )
L BA2175 EN 2.0
6-19
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6 Parameter setting
6.3.4.1 Control word for 82XX and 8200 vector

AIF CTRL
AIF-CTRL 820X 821x,822x 8200vector
.Bxx Default setting: Default setting:
C0001=3 if C0007 < 52 C0001=3 if C0007 > 51
00 = C0046 active 00 = C0046 active 00 = C0046 active
00, 01 = JOG1 active in C0037 01 = JOG1 active in C0037 01 = NSET1-JOG1
NSET1 JOG1 (C0037) active
01 10 = JOG2 active in C0038 10 = JOG2 active in C0038 10 = NSET1-JOG2 (C0038) active
11 = JOG3 active in C0039 11 = JOG3 active in C0039 11 = NSET1-JOG3 (C0039) active Freelyy configurable
g byy user
02 CW/CCW (CW rotation/CCW rotation) CW/CCW (CW rotation/CCW rotation) DCTRL1-CW/CCW
0 = CW rotation 0 = CW rotation 0 = not active
1 = CCW rotation 1 = CCW rotation 1 = active
03 QSP (quick stop) QSP (quick stop) AIF-CTRL-QSP
0 = QSP not active 0 = QSP not active 0 = not active
1 = QSP active 1 = QSP active 1 = active
04 Reserved RFG stop (stop of the ramp function NSET1-RFG1-STOP
generator) 0 = not active
0 = RFG stop not active 1 = active
1 = RFG stop active
05 Reserved RFG zero (deceleration along Tif NSET1-RFG1-0
ramp C0013) 0 = not active
0 = RFG zero not active 1 = active
1 = RFG zero active
Freely configurable by user
06 Reserved UP function for motor potentiometer MPOT1-UP
0 = UP not active 0 = not active
1 = UP active 1 = active
07 Reserved DOWN function for motor MPOT1-DOWN
potentiometer 0 = not active
0 = DOWN not active 1 = active
1 = DOWN active
08 Reserved Reserved Freely configurable by user
09 Ctrl. inhibit (controller inhibit) Ctrl. inhibit (controller inhibit) AIF-CTRL-CINH
0 = controller not inhibited 0 = controller not inhibited 0 = not active
1 = controller inhibited 1 = controller inhibited 1 = active
10 Reserved Reserved AIF-CTRL-TRIP-SET
0 = not active
1 = active
11 Reserved TRIP reset AIF-CTRL-TRIP-RESET
0 -> 1 = Edge from 0 to 1 0 -> 1 = Edge from 0 to 1
12 PAR1 (Parameter set changeover) PAR1 (Parameter set changeover) DCTRL1-PAR2/4
0 -> 1 = Parameter set 0 -> 1 = Parameter set 0 = not active
1 -> 0 = Parameter set 1 -> 0 = Parameter set 1 = active
13 Reserved Reserved DCTRL1-PAR3/4
0 = not active Freely configurable by user
1 = active
14 DC brake (DC injection brake) DC brake (DC injection brake) MCTRL1-DCB
0 = DC brake not active 0 = DC brake not active 0 = not active
1 = DC brake active 1 = DC brake active 1 = active
15 Reserved Reserved Freely configurable by user
6-20 BA2175 EN 2.0 L

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6 Parameter setting
6.3.4.2 Status word for 82XX and 8200 vector

820X 821x,822x 8200vector default setting
0 Actual parameter set Actual parameter set DCTRL-PAR-B0
0 = Parameter set 1 or 3 active 0 = Parameter set 1 or 3 active
1 = Parameter set 2 or 4 active 1 = Parameter set 2 or 4 active
1 IMP (pulse inhibit) IMP (pulse inhibit) DCTRL1-IMP
0 = Pulses for power stage enabled 0 = Pulses for power stage enabled
1 = Pulses for power stage inhibited 1 = Pulses for power stage inhibited
2 Imax (current limit reached) Imax (current limit reached) MCTRL1-IMAX
0 = Current limit not reached 0 = Current limit not reached
1 = current limit reached 1 = current limit reached
3 not assigned fd = fdset MCTRL1-RFG1=NOUT
0 = fd ≠ fdset
1 = fd = fdset
4 fd = fdset RFG on = RFG off NSET1-RFG1-I=0
0 = fd ≠ fdset 0 = RFG on ≠ RFG off
1 = fd = fdset 1 = RFG on = RFG out
5 Qmin (fd ≤ fdQmin) Qmin (fd ≤ fdQmin) PCTRL1-QMIN
0 = Qmin not active 0 = Qmin not active
1 = Qmin active 1 = Qmin active
6 fd + 0 (act. frequency = 0) fd + 0 (act. frequency = 0) DCTRL1-NOUT=0
0 = fd ≠ 0 0 = fd ≠ 0
1 = fd + 0 1 = fd + 0
7 Ctrl. inhibit (controller inhibit) Ctrl. inhibit (controller inhibit) DCTRL1-CINH
0 = controller not inhibited 0 = controller not inhibited
1 = controller inhibited 1 = controller inhibited
8...11 !controller status !controller status !controller status
0 = Controller initialization 0 = Controller initialization 0 = Controller initialization
8 = Error active 1 = Switch on inhibit 1 = Switch on inhibit
3 = Operation inhibited 3 = Operation inhibited
4 = Flying-restart circuit active 4 = Flying-restart circuit active
5 = DC brake active 5 = DC brake active
6 = Operation enabled 6 = Operation enabled
7 = Message active 7 = Message active
8 = Error active 8 = Error active
12 Overtemperature warning Overtemperature warning DCTRL1-OH-WARN

0 = No warning 0 = No warning
1 = Warning 1 = Warning
13 UGmax (DC-bus overvoltage) UGmax (DC-bus overvoltage) DCTRL1-OV
0 = No overvoltage 0 = No overvoltage
1 = overvoltage 1 = overvoltage
14 Direction of rotation Direction of rotation DCTRL1-CCW
0 = CW rotation 0 = CW rotation
1 = CCW rotation 1 = CCW rotation
15 Ready Ready DCTRL1-RDY
0 = not ready for operation 0 = not ready for operation
1 = ready for operation 1 = ready for operation
L BA2175 EN 2.0
6-21
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6 Parameter setting
6.3.5 Process-data assignment for 93XX

With 93XX controllers, the process data assignment can be changed by reconfiguring the function
blocks AIF-IN and AIF-OUT.

Control word Control word AIF-IN.W1 AIF-IN.W1 AIF-IN.W2 AIF-IN.W2 AIF-IN.W3 AIF-IN.W3
Low byte High byte Low byte High byte Low byte High byte Low byte High byte

AIF-IN.W1 to AIF-IN.W3 depend on the signal configuration selected under L-C0005.
For detailed description of the 93XX signal configuration see the Operating Instructions for 93XX
(only the main configurations: 1000, 4000, 5000, etc.) or the Manual for 93XX.
Other controller signals can be assigned to AIF-IN.W1 to AIF-IN.W3. For this, the function-block
configuration - described in the 93XX Manual - is used. The AIF-IN function block determines the
input data of the controller as data interface for the 2175 fieldbus module.
For more detailed information about the AIF-IN function block, see the 93XX Manual.
Signal configuration (L-C0005) AIF-IN.W1 AIF-IN.W2 AIF-IN.W3 AIF-IN.D1
Speed control 1003 / 1013 / NSET-N
1113 Speed setpoint
100 % = 16383
Torque control 4003 / 4013 / MCTRL-MADD
4113 Torque setpoint not assigned
100 % = 16383
DF master 5003 / 5013 / NSET-N
5113 Speed setpoint
100 % = 16383
DF slave bus 6003 / 6013 / DFSET-A-TRIM DFSET-N-TRIM
6113 Phase trimming Speed trimming
DF slave cascade 7003 / 7013 / DFSET-VP-DIV DFSET-A-TRIM not assigned not assigned
7113 DF 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
6-22 BA2175 EN 2.0 L

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6 Parameter setting
6.3.5.1 Control word for 93XX

9300 9300 Servo 9300 9300 9300 Vector
Positioning Cam profiler
controller
C0005 1xx3 4xx3 5xx3 6xx3,7xx3 2xxx3 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-SE AIF-CTRL.TRIP-SE AIF-CTRL.TRIP- AIF-CTRL.TRIP- AIF-CTRL.TRIP-
SET SET SET SET T T SET SET SET
11 AIF-CTRL.TRIP- AIF-CTRL.TRIP- AIF-CTRL.TRIP- AIF-CTRL.TRIP- AIF-CTRL.TRIP-RE AIF-CTRL.TRIP-RE AIF-CTRL.TRIP- AIF-CTRL.TRIP- AIF-CTRL.TRIP-
RESET RESET RESET RESET SET SET 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
Tip!
The single bit control commands of the control word depend on other bit positions.
L BA2175 EN 2.0
6-23
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6 Parameter setting
A IF -IN * )
A I - " #$ ˇ B 3 , *- D C T R L
A I - " #$ ˇ B ) ! I*A B ˇ.
A IF -IN A I - " #$ ˇ B / " IN ˛
A I - " #$ ˇ B 1 #$ I - - * . #
D C T R L A I - " #$ ˇ B 1 1 #$ I - - $ . * . #
A I - " #$ ˇ B 3 , *- B it A I - " #$ ˇ B
A I - " #$ ˇ B ) ! I*A B ˇ.
A I - " #$ ˇ B 1
A I - " #$ ˇ B / " IN ˛ A I - " #$ ˇ B 2
A I - " #$ ˇ B 1 #$ I - - * . # A I - " #$ ˇ B %
* t ˘ +˘ r ˙ ˆ r t
A I - " #$ ˇ B 1 1 #$ I - - $ . * . # A I - " #$ ˇ B ˜
1 6 B it
A I - " #$ ˇ B 6
A I - " #$ ˇ B
A I - " #$ ˇ B (
A I - " #$ ˇ B 1
B it A I - " #$ ˇ B 1 2
A I - " #$ ˇ B 2 A I - " #$ ˇ B 1 3
A I - " #$ ˇ B % B it 1 ˜ A I - " #$ ˇ B 1 %
A I - " #$ ˇ B ˜
* t ˘ +˘ r ˙ ˆ r t
A I - " #$ ˇ B 1 ˜
1 6 B it A I - " #$ ˇ B 6
A I - " #$ ˇ B ( " 1 3 6 03
A I - " #$ ˇ B 1 2
B &t ˘ 3 '%
B it 1 ˜ A I - " #$ ˇ B 1 3 A I -IN W 1
1 6 B it
A I - " #$ ˇ B 1 % " ) ˜ 6 01
A I - " #$ ˇ B 1 ˜ 1 6 B it
ˇˆ˙ W ˆr ˝ A I -IN ! 2
B &t ˘ 3 '%
1 6 B it
A I -IN W 1 ˛ ig ° W ˆr ˝ " 1 1 /(
1 6 B it
" ) ˜ 6 01
X 1 A I -IN W 2
1 6 B it
A I -IN W 2 " ) ˜ 6 02
1 6 B it
A I -IN W 3
X 1 " ) ˜ 6 02 1 6 B it
A I -IN W 3 " ) ˜ 6 03
1 6 B it A I -IN B
" ) ˜ 6 03
A I -IN B " ) ˜ ˜ 01 A I -IN B 2
B &t ˘ ˜ '6
" ) ˜ ˜ 01 A I -IN B 2 1 6 B in ä r -
...
B &t ˘ ˜ '6
1 6 B in ä r - s ig n a l˘
A I -IN B 1 %
...
s ig n a l˘
A I -IN B 1 % A I -IN B 1 ˜
A I -IN B 1 ˜ A I -IN B 1 6
A I -IN B 1 6 " ) ˜ ˜ 02 A I -IN B 1 (
" ) ˜ ˜ 02 A I -IN B 1 ( 1 6 B in ä r - ...
1 6 B in ä r - s ig n a l˘ A I -IN B 3
...
s ig n a l˘ A I -IN B 3 A I -IN B 3 1
B &t ˘ ( ')
A I -IN B 3 1
B &t ˘ ( ')
1 6 B it
ˇˆ˙ W ˆr ˝
1 6 B it A I -IN ! 1
ˇˆ˙ W ˆr ˝
A I -IN ! 1 1 6 B it " )˜(
˛ ig ° W ˆr ˝
1 6 B it " )˜(
˛ ig ° W ˆr ˝
2111IBU003
Fig. 6-7 AIF-IN and AIF-IN function blocks*)

AIF-IN*) is available for the following controllers: 9300 servo, positioning controller and cam profiler as of software version
2.0. AIF-IN.D2 is new.
6-24 BA2175 EN 2.0 L

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6 Parameter setting

Status word Status word AIF-OUT.W1 AIF-OUT.W1 AIF-OUT.W2 AIF-OUT.W2 AIF-OUT.W3 AIF-OUT.W3
High byte Low byte High byte Low byte High byte Low byte High byte Low byte

AIF-OUT.W1 to AIF-OUT.W3 depend on the signal configuration selected under L-C0005.
For detailed description of the 93XX signal configuration see the Operating Instructions for 93XX
(only the main configurations: 1000, 4000, 5000, etc.) or the Manual for 93XX.
Other controller signals can be assigned to AIF-OUT.W1 to AIF-OUT.W3. For this, the function-block
configuration - described in the 93XX Manual - is used. The AIF-OUT function block determines the
controller output data as data interface for the 2175 fieldbus module.
For more detailed information about the AIF-OUT function block, see the 93XX Manual .
Signal configuration (L-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 Torque display Speed controller input
100 % = 16383 100 % = 16383 100 % = 16383
MCTRL-MSET2 MCTRL-NACT MCTRL-NSET2
Torque control 4003/4013/4113 Torque display Act. speed in % Speed controller input
100 % = 16383 100 % = 16383 100 % = 16383
MCTRL-NACT MCTRL-MSET2 MCTRL-NSET2
DF master 5003/5013/5113 Actual speed Torque display Speed controller input
100 % = 16383 100 % = 16383 100 % = 16383
MCTRL-NACT MCTRL-MSET2
MCTRL-PHI-ACT
DF slave bus 6003/6013/6113 Actual speed Torque setpoint in %
Actual phase
100 % = 16383 100 % = 16383
MCTRL-PHI-ACT
DF slave cascade 7003/7013/7113 Actual speed Torque setpoint in %
Actual phase not assigned
100 % = 16383 100 % = 16383
MCTRL-NACT
Cam profiler 1xxx3 Actual speed not assigned not assigned
100 % = 16383
MCTRL-NACT
Positioning 2xxx3 Actual speed not assigned not assigned
100 % = 16383
MCTRL-NACT MCTRL-NSET2
1xx3/4xx3/5xx3/ MCTRL-IACT
vector control Actual speed Speed controller input
10xx3
100 % = 16383 100 % = 16383
6xx3/7xx3/8xx3/ MCTRL-PHI-ANA
vector control Actual speed Torque setpoint in %
9xx3
100 % = 16383 100 % = 16383
vector control 110x3 not assigned not assigned not assigned
For more detailed information about the AIF-OUT function block, see the 93XX Manual .
L BA2175 EN 2.0
6-25
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6 Parameter setting
6.3.5.2 Status word for 93XX

9300 Servo Servo Servo cam vector
positioning profiler
controller
C0005 1xx3 4xx3 5xx3 6xx3,7xx3 2xxx3 1xxx3 xxx, 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= DCTRL-NACT= DCTRL-NACT= DCTRL-NACT= DCTRL-NACT= DCTRL-NACT= DCTRL-NACT= DCTRL-NACT= DCTRL-NACT=
0 0 0 0 0 0 0 0 0
7 DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH
8 ... 11 Controller status:
0= Unit initialisation
1= Switch-on inhibit
3= Operation inhibited
4= Flying-restart circuit active
5= DC injection braking active
6= Operation enabled
7= Message active
8= Fault active
10 = Fail-QSP (only 9300 servo positioning 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
6-26 BA2175 EN 2.0 L

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6 Parameter setting
A IF -O U T A IF -O U T * )
S T A T S T A T
B it B it
* #A # B * #A # B
" 1 ˜ 6 01 " 1 ˜ 6 01
! " #$ ˇ - I 3 - ! " #$ ˇ - I 3 -
* t a t +s ˙ ˆ r ˝
* t a t +s ˙ ˆ r ˝
1 6 B it 1 6 B it
* #A # B 1 % * #A # B 1 %
" 1 ˜ 6 06 " 1 ˜ 6 06
* #A # B 1 ˜ * #A # B 1 ˜
" 1 ˜ 6 0( " 1 ˜ 6 0(
B it 1 ˜ 1 6 B it B it 1 ˜
B it A I - 1 2# ! 2 ˇˆ˙ W ˆr ˝ " )˜% B it
" 1 1 /˜
1 6 B it
" 1 1 /6 ˛ ig ° W ˆr ˝
B &t ˘ 3 '%
B &t ˘ 3 '%
A I - 1 2# W 1 A I - 1 2# W 1
" ) ˜ 01 " ) ˜ 01
3
" ) ˜ ) 01 " ) ˜ ) 01
A I - 1 2# W 2 A I - 1 2# W 2
" ) ˜ 02 " ) ˜ 02
" ) ˜ ) 02 B it 1 ˜ " ) ˜ ) 02 B it 1 ˜
" ) ˜ 03
A I - 1 2# W 3
B it
X 1 " ) ˜ 03
A I - 1 2# W 3
B it
X 1
" )˜2 " )˜2
" ) ˜ ) 03 " ) ˜ ) 03
F D O F D O
! 1- ! 1-
B &t ˘ ˜ '6
" 1 1 6 01 1
B &t ˘ ˜ '6
" 1 1 6 01 1
1 6 B it
1 6 B it 2
! 1- 1 ˜ ˇˆ˙ W ˆr ˝
2 ! 1- 1 ˜ ˇˆ˙ W ˆr ˝
" 1 1 6 01 6 " 1 1 6 01 6 3
! 1- 1 6 ! 1- 1 6
" 1 1 6 01 ( " 1 1 6 01 ( 1 6 B it
1 6 B it
˛ ig ° W ˆr ˝ ! 1- 3 1 ˛ ig ° W ˆr ˝
! 1- 3 1 " 1 1 6 03 2
" 1 1 6 03 2 " )˜3
" )˜3
1 6 B it 1 6 B it
ˇˆ˙ W ˆr ˝ ˇˆ˙ W ˆr ˝
A I - 1 2# ! 1 A I - 1 2# ! 1
B &t ˘ ( ')
" )˜1
B &t ˘ ( ')
" )˜1 1 1
1 6 B it 1 6 B it
" )˜/ 2 " )˜/ 2
˛ ig ° W ˆr ˝ ˛ ig ° W ˆr ˝
B it 3 1 B it 3 1
2111IBU002
Fig. 6-8 AIF-OUT and AIF-OUT function blocks *)

AIF-OUT*) is available for the following controllers: 9300 servo, positioning controller and cam profiler as of software
version 2.0. AIF-OUT.D2 is new.
L BA2175 EN 2.0
6-27
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6 Parameter setting
6.4 Implemented CANopen objects

Lenze controllers can be parameterised with Lenze codes (see (^ 6-43) ) 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 4.01” .
All CANopen objects can also be mapped by Lenze codes. The section “CANopen relation”
describes how a change of CANopen objects influences Lenze codes.
Tip!
Some of the terminology used here derives from the CANopen protocol.
Abbreviations
Authorisation
rw Write-read authorisation
wo Write-only authorisation
ro Read-only authorisation
const Read-only authorisation, constant value
Data type (see below)
U32 Unsigned integer 4 byte (= 32 bit)
Visible string {length} Character string with indicated {length}
Overview
Index [hex] Subindex Name Data type Authorisation
[hex]
1000 0 Device type U32 ro
1001 0 Error register U8 ro
0 Recording numbers of error U8 rw
1003
1 Standard error field U32 r0
1005 0 Identifier sync message U32 rw
1006 0 Communication cycle period U32 rw
1008 0 Manufacturer device name Visible string const
{9 characters}
100A 0 Manufacturer software version Vis. string const
{11 characters}
100C 0 Guard time U16 rw
100D 0 Life time factor U8 rw
1010 0 ... 3 Store parameters U32 ro/rw
1011 0 ... 3 Restore default parameters U32 rw/ro
1014 0 COB-ID emergency object U32 rw
1015 0 Inhibit time emergency U16 rw
1018 0 ... 3 Identity object Identity ro
1200/1201 0 Server SDO parameter SDO param ro
1 Identifier client → Server (rx)
2 Identifier server → Client (tx)
1400 Receive PDO1 communication parameter PDO comm.
0 Number of entries ro
1 COB-ID used by PDO rw
2 Transmission type rw
1401 Receive PDO2* parameter PDO comm.
6-28 BA2175 EN 2.0 L

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6 Parameter setting

[hex]
1402 Receive PDO3* parameter PDO comm.
1600 Receive PDO1 mapping parameter PDO mapping
0 Number of mapped objects in PDOs
1 PDO mapping 1
2 PDO mapping 2 ro
3 PDO mapping 3
4 PDO mapping 4
1601 Receive PDO2* mapping parameter PDO mapping
1 PDO mapping 1
2 PDO mapping 2 ro
3 PDO mapping 3
4 PDO mapping 4
1602 Receive PDO3* mapping parameter PDO mapping
1 PDO mapping 1
2 PDO mapping 2 ro
3 PDO mapping 3
4 PDO mapping 4
1800 Transmit PDO1 parameter
0 Number of supported subindexes ro
PDO comm.
comm
1 PDO1 identifier rw
1801 Transmit PDO2* parameter
PDO comm.
comm
1 PDO2* identifier rw
1802 Transmit PDO3* parameter
PDO comm.
comm
1 PDO3* identifier rw
1A00 Transmit PDO1 mapping parameter
1 PDO mapping 1
PDO mapping
2 PDO mapping 2 ro
3 PDO mapping 3
4 PDO mapping 4
1A01 Transmit PDO2* mapping parameter
1 PDO mapping 1
PDO mapping
2 PDO mapping 2 ro
3 PDO mapping 3
4 PDO mapping 4
1A02 Transmit PDO3* mapping parameter
1 PDO mapping 1
PDO mapping
2 PDO mapping 2 ro
3 PDO mapping 3
4 PDO mapping 4
*) not effective when using 82XX, 8200 vector and 93XX controllers
L BA2175 EN 2.0
6-29
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6 Parameter setting
6.4.1 Description of implemented objects
6.4.1.1 1000hex: Device type

Reading of the device type and its functionality
1000 0 Device type U32 ro
Bit assignment in telegram data

U32
LSB MSB
Controller profile number Additional information
6.4.1.2 1001hex: Error register

Reading of the error register
1001 0 Error register U8 ro
Bit assignment in telegram data byte (U8)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 0 0 0 0 0 0 0: No TRIP
1: Controller TRIP/ error in
CANopen module
For error analysis see L-C0161
in corresponding Operating
Instructions
6.4.1.3 1003hex: Pre-defined error field

Error history
0 Recording numbers of error U8 rw

1003
1 Standard error field U32 r0
This object shows that errors occurred in the module and the basic unit.
• Subindex 0: Number of saved error messages
• Subindex 1: Error list
Error messages (U32) consis of a 16-bis error code and a 16-bit manufacturer-specific
information field.
Tip!
The “ standard error field” (subindex 0) will be completely deleted if it is overwritten with “ 0” .
6-30 BA2175 EN 2.0 L

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6 Parameter setting
6.4.1.4 1005hex: Identifier sync message

This object ensures that
• sync telegrams can be created for a module.
• the identifier value can be written.
1005 0 Identifier sync message U32 rw
Sync telegram creation

Sync telegrams are created when bit 30 (see below) is set to 1.
The time between to sync telegrams can be set using a different object (index 1006hex, see chapter
6.4.1.5).
Identifier writing
The default setting for receiving PDOs is 80hex in bit 11 (also according to CANopen). This means
that all modules are default set to the same sync telegram.
If sync telegrams are only to be received by certain modules, their identifiers can be entered with
values up to 7FFhex.
U32
0 10 11 - 28 29 30 31
11 bit identifier 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0/1 X
Bit no. Value Explanation

0 - 10 X Identifier (see chapter 6.1.1)
(11 - 28)* 0
*) The extended identifier (29 bit) is not supported for the 2175 fieldbus.
fieldbus Any of these bits must be 00.
29* 0
30 0 Device does not create SYNC telegrams
1 Device creates SYNC telegrams
31 X Any
6.4.1.5 1006hex: Communication cycle period

Setting of sync telegram cycle time
1006 0 Communication cycle period U32 rw
With the default setting of t = 0, sync telegrams are not created.

Cycle times can be entered as 1000 or an integer multiple of 1000. The unit of the entered time
is [ µs].
6.4.1.6 1008hex: Manufacturer’s device name

Controller and module name and code
1008 0 Manufacturer device name Visible string const

{9 characters}
L BA2175 EN 2.0
6-31
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6 Parameter setting
6.4.1.7 100Ahex: Manufacturer’s software version

Controller and module software version
100A 0 Manufacturer software version Vis. string const

{11 characters}
6.4.1.8 100Chex: Guard time

Monitoring time
100C 0 Guard time U16 rw
The guard time is indicated in [ms].

If guarding is not to be supported, the default setting of 0 should not be changed.
6.4.1.9 100Dhex: Life time factor

Index [hex] Subindex [hex] Name Data type Authorisation
100D 0 Life time factor U8 rw
If the guarding function, which results from guard time and life time factor, is not to be supported,
the default setting of 0 should not be changed. For further information see chapter 6.1.2.1.
6.4.1.10 1010hex: Store parameters

Parameter storage in the EEPROM.
1010 0 Store parameters U32 ro/rw

1 ... 3*
The subindexes 1, 2 and 3 are presently not supported.

Parameter storage
Error messages occur when
• storage is incorrect (in bytes 5 ...8): 0606 0000hex
• the signature is wrong: 0800 0020hex
Tip!
For module parameter storing, the signature “ save” must be in the telegram data.
Assignment of telegram data words for parameter storing

Signature MSB LSB
ISO 8859 (ASCII) e v a s
hex 65 76 61 73
Bit assignment for reading right

U32
0 1 2 - 31
0/1 0/1 0 0 0 .. 0 0 0
6-32 BA2175 EN 2.0 L

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6 Parameter setting
Explanation
Subindex Rights
Write Read
• The following error message occurs while Supported subindex = 3
0 ro
writing: 0601 0002
Reading of memory functions of all The following functions are possible
1 parameters (depending on the controller) and
p
represented byy readingg the values
Reading of memory functions of off bit positions
iti 0 andd 11:
communication parameters (objects Value 0: No saving
2 Value 1: Saving on command
of the 2175 fieldbus module)
rw
• This function is not Value 2: Automatic savingg
supported yet Reading of memory functions only Value 3: Automatic saving and
• The following error of manufacturer-specific saving on command
3 message occurs while parameters
writing: (range: 6000hex - 9FFFhex)
0800 0020
6.4.1.11 1011hex: Restore default parameters

Download of default settings.
Tip!
With this function the subindex used depends on the controller type.
1011 0 ... 3 Restore default parameters U32 rw/ro
In addition to index and subindex, telgram data must include the signature“ load “ to start the
parameter download (see table).
Signature MSB LSB
ISO 8859 (ASCII) d a o l
hex 64 61 6F 6C
Bit assignment for reading right

U32
0 1 - 31
0: Download not 0 0 0 .. 0 0 0
possible
1: Download possible
Subindex Rights Write Read
• The following error message occurs Max. available subindex depends on controller type:
while writing: • 7: 8200 vector frequency inverter
0 ro 0601 0002hex • 5: 82XX frequency inverter
• 3: 93XX servo inverter
All parameters can be Function not available for
1
downloaded 8200 vector 82XX 93XX
Download of communication
2 parameters only (objects of the X X X
2175 fieldbus module)
Download of
manufacturer-specific
3 X X X
• This function is not parameters only (index 6000hex -
rw supported yet 9FFFhex)
• The following error Download of parameter set 1
4 X X
message occurs possible
while writing: Download of parameter set 2
5 X X
0800 0020hex possible
Download of parameter set 3
6 X
possible
Download of parameter set 4
7 X
possible
L BA2175 EN 2.0
6-33
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6 Parameter setting
6.4.1.12 1014hex: COB-ID emergency object

When errors occur in the 2175 fieldbus module or controller (e.g. TRIP), the CAN bus sends an error
message. The telegram is sent once for every fault.
Index [hex] Subindex Name Data type Authrorisation
1014 0 COB-ID emergency object U32 rw
Data telegram assignment

U32
0 10 11 - 28 29 30 31
11 bit identifier 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reserved
Explanation
0 - 10 0/1 Identifier (see chapter 6.1.1)
(11 - 28)* 0
*) The extended identifier (29 bit) is not supported for the 2175 fieldbus.
fieldbus Any of these bits must be 00.
29* 0
30 0
Reserved
31 0
The “ emergency” telegram sent via CAN bus is structured as follows:

Emergency error code Error register
Field for manufacturer-specific error messages
LENZE: Error code “10XX” Object 1001hex
6.4.1.13 1015hex: Inhibit time emergency

This object determines the time between an internal module error and the sending of the error
message via the bus (“ COB-ID emergency object” , code: 1014hex).
Only integer multiples of ten are processed further. The value entered is multiplied by 100, the result
is a time in [ µs].
1015 0 Inhibit time emergency U16 rw
6.4.1.14 1018hex: Identity object

Entry of vendor-ID
1018 0 ... 3 Identity Object Identity ro
The identification number for this object has been determined by “ Organisation CAN in Automation
e. V.” and can be read out using this object:
Subindex Meaning
0 Highest subindex
1 Vendor ID
2 Product code
3 Version
6-34 BA2175 EN 2.0 L

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6 Parameter setting
6.4.1.15 1200hex / 1201hex: Server SDO parameters

Server SDOs can be parameterised with two objects (CAN parameter data channel 1 = 1200hex and
CAN parameter data channel 2 = 1201hex).
With index 1201 the identifier can be written in sending and receiving direction, index 1200 has only
got reading access.
Index [hex] Subindex Name Data type Authorisation Explanation
1200 0 Server SDO Parameter SDO Param ro

1 Identifier client → Server (rx)
0: Max. supported subindex = 2
2 Identifier server → Client (tx)
1: Receive identifier specification
1201 0 Server SDO parameter SDO Param ro
2: Send identifier specification
1 Identifier client → Server (rx) rw
2 Identifier server → Client (tx) rw

U32
0 10 11 - 28 29 30 31
11 bit identifier 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0/1
Explanation
0 - 10 0/1 Identifier (see chapter 6.1.1)
(11 - 28)* 0 *) The extended identifier (29 bit) is not supported for the 2175 fieldbus. Any
29* 0 of these bits must be 0.
30 0 Reserved
31 0/1 0: SDO valid
1: SDO invalid
L BA2175 EN 2.0
6-35
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6 Parameter setting
6.4.1.16 1400hex: Receive PDO1 communication parameter

Receipt of PDO1 communication parameters
0 Number of entries PDO comm. ro Subindex 0: Max. supported subindex = 2

1400 1 COB-ID used by PDO rw S binde 1:
Subindex 1 Identifier setting for this PDO
(200hex + node ID) ^ 6-2
2 Transmission type rw Subindex 2: Transfer type setting (see table)

U32
0 10 11 - 28 29 30 31
11 bit identifier 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0/1 0/1
Explanation
Bit no. Value Meaning
10 - 0 (LSB) X Contains identifier (basic + controller address)
(11 - 28)* 0 *) The extended identifier (29 bit) is not supported for the 2175 fieldbus.
Every bit must become 0!
29* 0 *) The extended identifier (29 bit) is not supported for the 2175 fieldbus.
Every bit must become 0!
30 0 RTR to this PDO possible (Lenze)
1 RTR to this PDO not possible (cannot be set)
RTR = remote transmission request
31 (MSB) 0 0: PDO active
1 1: PDO not active
PDO transmission Acceptance as of

Explanation
cyclic synchronous event-controlled signal No. n
X X n= 1 ... 240 By entering value n, this PDO will be
accepted by every n-th SYNC.
6.4.1.17 1401hex: Receive PDO2* communication parameter
Tip!
*) Object not available for 82XX, 8200 vector and 93XX controllers.
Receipt of PDO 2 communication parameters


1401 1 COB-ID used by PDO rw S binde 1:
Subindex 1 Identifier setting for this PDO
(200hex + node ID) ^ 6-2
The further description of this object is the same as in chapter 6.4.1.16
6-36 BA2175 EN 2.0 L

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6 Parameter setting
6.4.1.18 1402hex: Receive PDO3* communication parameter

Receipt of PDO 3 communication parameters
Tip!
Index [hex] Subindex Name Data type Rights Explanation

1402 1 COB-ID used by PDO rw Subindex 1:
1 Identifier setting for this PDO
(200hex + node ID) ^ 6-2
The further description of this object is the same as in chapter 6.4.1.16
L BA2175 EN 2.0
6-37
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6 Parameter setting
6.4.1.19 1600hex: Receive PDO1 mapping parameter

With this object, parameter data can be received as PDO1.
Tip!
At present this functionality is not available. Depending on the subindex, the following values are
returned when reading the object:
Subind. 0 : value 4hex
Subind. 1 - 4: value 10hex
1600 0 Number of mapped objects in PDO mapping

Subindex 0: Max. supported subindex = 4
PDOs
1 PDO mapping 1
ro
2 PDO mapping 2 Read request of this object are responded
3 PDO mapping 3 by the value 10hex .
4 PDO mapping 4
6.4.1.20 1601hex: Receive PDO2* mapping parameter

Tip!

PDOs
1 PDO mapping 1
ro
4 PDO mapping 4
6-38 BA2175 EN 2.0 L

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6 Parameter setting
6.4.1.21 1602hex: Receive PDO3* mapping parameter

Tip!

PDOs
1 PDO mapping 1
ro
4 PDO mapping 4
L BA2175 EN 2.0
6-39
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6 Parameter setting
6.4.1.22 1800hex: Transmit PDO1 parameter

Sending of process data
Index [hex] Subindex Name Data type Authoris Explanation
ation
0 Number of supported subindexes ro Max. supported subindex = 2
1800 1 PDO identifier PDO Comm. rw Identifier setting for this PDO (180hex + node ID)
2 Transfer type rw Transfer type setting (see table)
PDO transfer
Transfer type Explanation
cyclic synchronous event-controlled
1 - 240 X X With the entry of value n, this PDO is
sent at every n SYNC
254 X
6.4.1.23 1801hex: Transmit PDO2* parameter

Tip!
Index [hex] Subindex Name Data type Authorisati Explanation

on
PDO transfer
254 X
6.4.1.24 1802hex: Transmit PDO3* parameter

Tip!
Index [hex] Subindex Name Data type Authorisati Explanation

on
PDO transfer
254 X
6-40 BA2175 EN 2.0 L

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6 Parameter setting
6.4.1.25 1A00hex: Transmit PDO1 mapping parameter

With this object, parameter data can be sent as PDO1.
Tip!
Subind. 0 : value 4hex (max. supported subindex)
Subind. 1 - 4: Read requests of this object are responded by 10hex .

1A00 1 PDO mapping 1
2 PDO mapping 2 PDO mapping ro
3 PDO mapping 3
4 PDO mapping 4
6.4.1.26 1A01hex: Transmit PDO2* mapping parameter

Tip!

3 PDO mapping 3
4 PDO mapping 4
L BA2175 EN 2.0
6-41
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6 Parameter setting
6.4.1.27 1A02hex: Transmit PDO3* mapping parameter

Tip!

3 PDO mapping 3
4 PDO mapping 4
6-42 BA2175 EN 2.0 L

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6 Parameter setting
6.5 Communication-relevant Lenze codes

The behaviour of servo inverters and frequency inverters is determined by their parameters. Lenze
controllers can be parameterised by codes. These (Lenze) codes are exchanged between master
and 2175 fieldbus module as part of a telegram and via a CAN bus.
Depending on the Lenze inverter, the following codes are available for communication via CAN bus:
• Codes ≥ L-C2350
For controllers with PLC operating system according to IEC1131 (e.g. 9300 servo PLC).
These codes are saved in the controller .
• Module codes ≥ L-C1850
For all other inverters (82XX, 8200 vector and 93XX).
These codes are saved in the 2175 fieldbus module .
Communication with the drive is only possible when the controller is know as system device. The
devices are detected while the modules are initialised.
Address and baud rate can be set in different ways (see (^ 5-1) ):
• Front switch 1 - 6 ≠ OFF
Address and baud rate are determined by switch position.
The 2175 fieldbus module writes the front switch position to codes L-C1859 and L-C2359.
• Front switch 1 - 6 = OFF
Address and baud rate must be set under codes L-C0009 (address) and L-C0125 (baud rate).
6.5.1 Overview
How to read the table

Column Abbreviation Meaning
Code L-C1853 (Lenze) code C1853
Subcode 1 Subcode 1 of code C1853
2 .. 3 Subcodes 2 to 4 of code C1853
Index - Incidated as hexadecimal/decimal value
Lenze Code default setting
Selection 1 [1 %] 99 Minimum value [smallest step/unit] maximum value
Data type - VS: Visible string, indicated length
FIX32: 4 byte (= 32 bit) fixed value
U16: 2 byte (= 16 bit) unsigned integer
L BA2175 EN 2.0
6-43
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6 Parameter setting
L-C18xx (for 82xx, 8200 vector and 93XX)

Possible settings Data
Code Subcode Index Lenze Selection type Name
L-C1810 - 22765d = 58EDh - - VS Software product code
L-C1811 - 22764d = 58ECh VS Software date
L-C1850 - 58C5h = 22725d 1 1 [1] 63 FIX32 Node address
L-C1851 - 58C4h = 22724d 0 0 = 500 kbit/s, 1 = 250 kbit/s FIX32 Baud rate
2 = 125 kbit/s, 3 = 50 kbit/s
4 = 1000 kbit/s, 5 = 20 kbit/s
6 = 10 kbit/s
L-C1852 - 58C3h = 22723d 0 0 = Slave operation FIX32 Master / slave operation
1 = Master operation
L-C1853 58C2h = 22722d 0 0 = Addressing to CANopen FIX32 CAN-INx/CAN-OUTx
1 = Addressing to L-C1854/L-C2354 addressing
/1 ... /3 2 = Addressing to LENZE system bus
3 = Addressing to CANopen index
14Xxh/18XXh
L-C1854 /1 ... /2 58C1h = 22721d /1: 129 0 [1] 1663 FIX32 CAN-IN/CAN-OUT selective
/3* ... /6* /2: 1 addressing
/3: 257*
/4: 258*
/5: 385*
/6: 386*
L-C1855 /1 ... /2 58C0h = 22720d 0 0 [1] 2047 FIX32 Resulting identifier display
/3* ... /6*
L-C1856 /1 ... /5 58BFh = 22719d /1: 0 [1 ms] 65535 FIX32 Boot-up and cycle times
3000 ms
/2 .. /5:
0 ms
L-C1857 /1 ... /4 58BEh = 22718d 3000 ms 0 [1 ms] 65535 FIX32 Monitoring time
L-C1859 - 58BCh = 22716d - 0 [1] 1023 U16 DIP-switch position display
L-C1860 - 58BBh = 22715d - 0 [1] 1023 U16 Current DIP switch position
display
L-C1867 - 58B4h = 22708d 128 0 [1] 2047 FIX32 Sync Rx identifier
L-C1868 - 58B3h = 22707d 128 0 [1] 2047 FIX32 Sync Tx identifier
L-C1873 /1 58AEh = 22702d 1 1 [1] 240 FIX32 CAN-IN1 ... CAN-IN3 sync
/2*, /3* rate
L-C1874 /1 58ADh = 22701d 1 0 [1] 240 FIX32 CAN-OUT1 ... CAN-OUT3
/2*, /3* sync rate
L-C1875 58ACh = 22700d /1: 0 0 [1] 3 FIX32 CAN-OUT1 ... CAN-OUT3
/1
/2: 1* Tx mode
/2*, /3*
/3: 1*
L-C1876 /1 ... /4 58ABh = 22699d 65535 0 [1] 65535 FIX32 CAN-OUT1 HMIs
L-C1877 /1 ... /4 58AAh = 22698d 65535 0 [1] 65535 FIX32 CAN-OUT2 masks
L-C1878 /1 ... /4 58A9h = 22697d 65535 0 [1] 65535 FIX32 CAN-OUT3 masks
L-C1882 /1 ... /5 58A5h = 22693d 0 0 [1] 2 FIX32 Monitoring responses
0: No response
1: Controller inhibit
2: Quick stop
6-44 BA2175 EN 2.0 L

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6 Parameter setting
L-C23xx (for 9300 servo PLC)

Possible settings
Code Subcode Index Lenze Selection Data type Name
L-C1810 - 22765d = 58EDh - - VS Software product code
L-C1811 - 22764d = 58ECh VS Software date
L-C2120 - 22455d = 57B7h 0 0 = No command FIX32 AIF control byte
1 = Code L-23XX update and CAN
re-initialisation ≡ Reset node
2 = Code L-C23XX update
10 = Reading of L-C2356/1...4
11 = Reading of L-C2357
13 = Reading of L-C2376 ... L-C2378
15 = Not assigned
L-C2121 - 22454d = 57B6h 0 0 [1] 255 FIX32 AIF status byte
L-C2350 - 56D1h = 22225d 1 1 [1] 63 FIX32 Node address
L-C2351 - 56D0h = 22224d 0 0 = 500 kbit/s, 1 = 250 kbit/s FIX32 Baud rate
2 = 125 kbit/s, 3 = 50 kbit/s
4 = 1000 kbit/s, 5 = 20 kbit/s
6 = 10 kbit/s
L-C2352 - 56CFh = 22223d 0 0 = Slave operation FIX32 Master / slave operation
1 = Master operation
L-C2353 56CEh = 22222d 0 0 = Addressing to CANopen FIX32 CAN-INx/CAN-OUTx
1 = Addressing to L-C1854/L-C2354 addressing
/1 ... /3 2 = Addressing to LENZE system bus
3 = Addressing to CANopen index
14Xxh/18XXh
L-C2354 56CDh = 22221d 0 [1] 1663 FIX32 CAN-IN/CAN-OUT
/1 ... /6 /1: 129 selective addressing
/2: 1
/3: 257
/4: 258
/5: 385
/6: 386
L-C2355 56CCh = 22220d - 0 [1] 2047 FIX32 Resulting identifier
/1 ... /6 display
L-C2356 56CBh = 22219d 1: 0 [1 ms] 65535 FIX32 Boot-up and cycle times
/1 ... /5 3000 ms
2 .. 5:
0 ms
L-C2357 /1 ... /4 56CAh = 22218d 3000 ms 0 [1 ms] 65535 FIX32 Monitoring time
L-C2359 - 56C8h = 22216d - 0 [1] 1023 U16 DIP-switch position
display
L-C2367 - 56C0h = 22208d 128 0 [1] 2047 FIX32 Sync Rx identifier
L-C2368 - 56BFh = 22207d 128 0 [1] 2047 FIX32 Sync Tx identifier
L-C2373 56BAh = 22202d 1 1 [1] 240 FIX32 CAN-IN1 ... CAN-IN3 sync
/1 ... /3 rate
L-C2374 /1 ... /3 56B9h = 22201d 1 1 [1] 240 FIX32 CAN-OUT1 ... CAN-OUT3
sync rate
L-C2375 56B8h = 22200d /1: 0 0 [1] 3 FIX32 CAN-OUT1 ... CAN-OUT3
/1 ... /3 /2: 1 Tx mode
/3: 1
L-C2376 /1 ... /4 56B7h = 22199d 65535 0 [1] 65535 FIX32 CAN-OUT1 masks
L-C2382 /1 ... /5 56B1h = 22193d 0 0 [1] 2 FIX32 Monitoring responses
0: No response
2: Quick stop
L BA2175 EN 2.0
6-45
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6 Parameter setting
6.5.2 Description of communication-relevant Lenze codes
6.5.2.1 L-C1810: Software product code

Possible settings
Code Subcode Index Lenze Selection Data type
L-C1810 - 22765d = 58EDh - - VS
During module initialisation the bus devices are defined by means of the product code.
6.5.2.2 L-C1811: Software date

Possible settings
L-C1811 - 22764d = 58ECh VS
This date is mainly needed for service.
6.5.2.3 L-C1850/ L-C2350: Node address

Possible settings
L-C1850 - 58C5h = 22725d 1 1 [1] 63 FIX32
L-C2350 - 56D1h = 22225d 1 1 [1] 63 FIX32
This code can be used to set the 2175 module address via the CAN bus.
Code L-C1850 maps code L-C0009 of the basic unit. Writing to L-C1850 has a direct effect on
L-C0009.
Note!
This code is only effective if the DIP switches S1-S6 have been switched OFF before mains
switching.
A node address modification will only become active after power-on of the 2175 module or sending
of the network management command Reset_node or Reset_communication via the CAN bus.
With 9300 servo PLCs it can also be modified by setting code C2120 (AIF control byte) to 1.
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6 Parameter setting
6.5.2.4 L-C1851/ L-C2351: Baud rate

Possible settings
L-C1851 - 58C4h = 22724d 0 0 = 500 kbit/s
1 = 250 kbit/s
2 = 125 kbit/s
3 = 50 kbit/s FIX32
L-C2351 - 56D0h = 22224d 4 = 1000 kbit/s
5 = 20 kbit/s
6 = 10 kbit/s
This code can be used to set the baud rate for 2175 modules.
Note!
This code is only effective if the DIP switches S1-S6 have been switched OFF before mains
switching.
A baud rate modification will only become active after power-on of the 2175 module or sending of
the network management command Reset_node or Reset_communication via the CAN bus.
Code L-C1851 maps code L-C0125 of the basic unit, i.e. writing to L-C1851 has a direct effect on
L-C0125.
6.5.2.5 L-C1852/ L-C2352: Master/ slave operation

Possible settings
L-C1852 - 58C3h = 22723d 0 0 = Slave operation
1 = Master operation FIX32
L-C2352 - 56CFh = 22223d
After power-on, the module sets PRE-OPERATIONAL status. With this status parameter data
(SDOs) can only be exchanged.
In slave operation, the module remains in this status until the network management command
Start_remote_node is put into OPERATIONAL status.
With OPERATIONAL status, parameter data (SDOs) and process data (PDOs) can be exchanged.
In master operation, the network management command Start_remote_node is sent after the
boot-up time set under L-C1856/1 and L-C2356/1). This command puts all nodes into
OPERATIONAL status.
Note:
The network management command Start_remote_node is a “ broadcast” telegram addressing all
other nodes.
CANopen relation
Bit 30 of the CANopen index 1005h “ COB-ID SYNC message” has direct influence on this code.
Bit 30 = 1: Master operation
Bit 30 = 0: Slave operation
A modification of this code also changes the CANopen index 1005h.
L BA2175 EN 2.0
6-47
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6 Parameter setting
6.5.2.6 L-C1853/ L-C2353: CAN-INx/ CAN-OUTx addressing

Possible settings
L-C1853 58C2h = 22722d 0 0 = Addressing to CANopen FIX32
/1 CAN-IN1/OUT1 1 = Addressing to L-C1854/L-C2354
/2 CAN-IN2/OUT2
CAN IN2/OUT2 2 = Addressing to LENZE system bus
L-C2353 56CEh = 22222d 3 = Addressing to CANopen index FIX32
/3 CAN-IN3/OUT3
14Xxh/18XXh
The source for the resulting addresses of CAN-INx/OUTx process data objects (PDOs) on the CAN
bus is selected under this code.
Note!
A source address modification in one or several subcodes will only become active after power-on
of the module or sending of the network managment command Reset_Node or
Reset_Communication via the CAN bus.
CANopen relation
The addressing of the corresponding PDO pair and the subcode under code L-C1853 / L-C2353 is
changed to CANopen index 14XXh/18XXh (see above: value 3), if CANopen index 1400h, 1401h,
1402h, 1800h, 1801h or 1802h get new values.
Identifier calculation
to CANopen via code L-1854/L-2354 via to CANopen index
PDO Default setting Lenze system bus
CAN-IN1 512 + node address 384 + C1854/1 and 384 + 129 512 + node address Index 1400h, subindex 1
384 + C2354/1
384 + C2354/3
384 + C2354/5
CAN-OUT1 384 + node address 384 + C1854/2 and 384 + 1 384 + node address Index 1800h, subindex 1
384 + C1854/2
384 + C1854/4
384 + C1854/6
6-48 BA2175 EN 2.0 L

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6 Parameter setting
6.5.2.7 L-C1854/ L-C2354: Selective CAN-IN/ CAN-OUT addressing

Possible settings
L-C1854 /1 CAN-IN1 58C1h = 22721d /1: 129 0 [1] 1663 FIX32
/2 CAN-OUT1 /2: 1
/3* CAN-IN2
/3 CAN IN2 /3: 257*
257
L-C2354 /4* CAN-OUT2 56CDh = 22221d /4: 258*
/5* CAN-IN3 /5: 385*
/6* CAN-OUT3 /6: 386*
Input and output PDO addresses can be set individually via 6 subcodes under L-C1854 (see
previous chaper).
The code becomes effective when 1 appears as subcode for code L-C1853/L-C2353 (selective
addressing).
Note!
An address modification in one or several subcodes becomes effective
• when the module is switched on again or
• when a network management command is sent to the module via the CAN bus
– Reset_node and L-C2120 = 1 or
– Reset_communication
6.5.2.8 L-C1855/ L-C2355: Display of resulting identifiers

Possible settings
L-C1855 /1 CAN-IN1 58C0h = 22720d - 0 [1] 2047 FIX32
/2 CAN-OUT1
/3* CAN
/3 CAN-IN2
IN2
L-C2355 /4* CAN-OUT2 56CCh = 22220d
/5* CAN-IN3
/6* CAN-OUT3
The resulting PDO identifier can be read from the 6 subcodes of this code.
L BA2175 EN 2.0
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6 Parameter setting
6.5.2.9 L-C1856/ L-2356: Boot-up and cycle times

Possible settings
L-C1856 58BFh = 22719d 1: 0 [1 ms] 65535 FIX32
/1 Boot-up time 3000 ms
/2 CAN/OUT1 cycle times 2 .. 5:
L-C2356 /3 CAN/OUT2 cycle times 56CBh = 22219d 0 ms FIX32
/4 CAN/OUT3 cycle times
/5 Sync-Tx cycle time
The cycle time which indicates when PDOs are sent via the CAN bus (see L-C1875/L-C2375, “ Tx
mode” for CAN-OUT1..3) can be indicated in event-controlled/cyclic operation.
Note!
A cycle time change becomes effective immediately.
0 deactivates cyclic PDO sending.
Sync-Tx cycle time (C1856/5 and C2356/5)

The “ Sync-Tx cycle time” is the interval time (time basis: ms) for SYNC telegram sending.
Note!
A sync-TX cycle time change becomes effective immediately.
0 in L-C1856/5 and L-C2356/5 deactivates cyclic sync telegram sending.
CANopen relation
The CANopen index 1006h “ communication cycle period” corresponds to the settings under codes
L-C1856/5 and L-C2356/5 (Zeitbasis: µs).
Since the data processing rate of the 2175 module is 1000 µs,the input via CANopen index 1006h
is an integer multiple of 1000 µs gerundet und unter L-C1856/5 oder L-C2356/5 (abhängig vom
Antrieb) gespeichert. Wird der CANopen-Index 1006h gelesen, so wird der Inhalt dieser Codestelle
in [ µs] als Antwort zurückgesendet.
Furthermore, writing of code (L-C1856/5) automatically sets bit 30 of the CANopen index 1005h
(COB-ID Sync message).
With 9300 servo PLCs bit 30 of the CANopen index 1005h must be set additionally to start cyclic
sending of syncs.
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6 Parameter setting
6.5.2.10 L-C1857/ L-C2357: Monitoring time

Possible settings
L-C1857 /1 CAN-IN1 58BEh = 22718d 3000 ms 0 [1 ms] 65535 FIX32
/2 CAN-IN2
/3 CAN-IN3
CAN IN3
L-C2357 56CAh = 22218d FIX32
/4 BUS-OFF monitoring
time
Note!
0 deactivates the monitoring process.
A change of the monitoring time becomes effective immediately.The monitoring time starts when
the first telegram arrives.
Montoring time is the time when new process input data must arrive together with CAN-IN1..3
identifiers.If the time set is exceeded, a corresponding response can be set under L-C1882.
BUS-OFF (C1857/4 and C2357/4)

A response time can be set even if the device changes into a BUS-OFF status.
Monitoring response: see codes L-C1882 and L-C2382.
6.5.2.11 L-C1859/ L-C2359: Display of DIP-switch position

Possible settings
L-C1859 - 58BCh = 22716d - 0 [1] 1023 U16
L-C2359 - 56C8h = 22216d U16
Indicated is the DIP-switch position when initialising the module.

Valency table:
Switch --- --- --- --- --- --- S1 S2 S3 S4 S5 S6 S7 S8 S9 S10
Valency 512 256 128 64 32 16 8 4 2 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Example for DIP-switch position:

• S10 = ON (CANopen communication profile)
• S4, S5 = ON (address 6)
• S7, 8, 9 = OFF (baud rate 500kBit/s)
The table above helps to calculate the sum of valencies: 61 h ( 97d ) indicated while reading codes
L-C1859 and L-C2359.
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6 Parameter setting
6.5.2.12 L-C1860: Display of current DIP-switch position

Possible settings
L-C1860 - 58BBh = 22715d - 0 [1] 1023 U16
By indicating the current DIP-switch position it is made easy to find out whether the switch positions
for address, baud rate and the communication profile setting have been changed since the last
initialisation. For valencies see L-C1859.
6.5.2.13 L-C1867/ L-C2367: Sync Rx identifier

Possible settings
L-C1867 - 58B4h = 22708d 128 0 [1] 2047 FIX32
L-C2367 - 56C0h = 22208d FIX32
The code contains the identifier used for receiving the telegram.
The module can send its process data objects to the CAN bus by sending sync telegrams. See
L-C1875 / L-C2375.
Note!
An indentifier modification becomes effective immediately.
CANopen relation
The CANopen index 1005h “ COB-ID SYNC message” has direct influence on this code. The
identifier of new value written in index 1005hwill also be accepted by code L-C1867/L-C2367.
The value saved in L-C1868/L-C2368 will be displayed while reading the CANopen index.
6.5.2.14 L-C1868/ L-C2368: Sync Tx identifier

Possible settings
Code Index
Subcode Lenze Selection Data type
L-C1868 - 58B3h = 22707d 128 0 [1] 2047 FIX32
L-C2368 - 56BFh = 22207d FIX32
The code contains the identifier used for sending the sync telegram.
The sync is sent to the CAN bus with the identifier set under L-C1868/L-C2368 (see L-C1856 and
L-C2356, subcode 5).
Note!
An indentifier modification becomes effective immediately.
CANopen relation
The CANopen index 1005h “ COB-ID SYNC message” has direct influence on this code. The
identifier of new value written in index 1005hwill also be accepted by code L-C1868/L-C2368. The
value will be indicated when reading the index 1005h.
6.5.2.15 L-C1873/ L-C2373: Sync rate CAN-IN1 ... CAN-IN3

The input process data (CAN-INx) will only be sent to the controller when a certain number of SYNC
telegrams has received.
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6 Parameter setting
Possible settings
Code Index
L-C1873 58AEh = 22702d 1 1 [1] 240 FIX32
/1 CAN
CAN-IN1
IN1
L-C2373 /2* CAN-IN2 56BAh = 22202d FIX32
/3* CAN-IN3
Example:
Selection n = 23. Acceptance of input PDOs (to CAN-IN1... CAN-IN3) by the controller after the 23rd
sync telegram has been received.
The sync rate can be individually set for every input PDO.
Note!
Only sync telegrams with the identifier set under L-C1867 / L-C2367 count as received telegrams.
A sync rate change becomes effective immediately.
CANopen relation
The CANopen index 1400h, 1401h and 1402h (receive PDO communication parameter) with
subindex 2 (transmission type) are directly mapped to the subcodes of code L-C1873 / L-C2373.
Index 1400h, subindex 2 Code L-C1873 and L-C2373, subcode 1
Index 1401h, subindex 2 = Code L-C1873 and L-C2373, subcode 2
If, for instance, index 1402h is read, the response value comes from code L-C1873 or L-C2373
subcode 3. If a new value is written to index 1401 h also code L-C1873 or L-C2373, subcode 2 will
be overwritten with this value.
6.5.2.16 L-C1874/ L-C2374: Sync rate CAN-OUT1 ... CAN-OUT3

Possible settings
Code Index
L-C1874 /1 = CAN-OUT1 58ADh = 22701d 1 1 [1] 240 FIX32
/2* = CAN-OUT2
L-C2374 /3* = CAN-OUT3 56B9h = 22201d FIX32
The output process data (CAN-OUTx) will only be sent to the controller when a certain number of
SYNC telegrams has received.
The sync rate can be individually set for every output PDO.
Note!
Only sync telegrams with the identifier set under L-C1867 / L-C2367 count as received telegrams.
A sync rate change becomes effective immediately.
CANopen relation
The CANopen index “ transmit PDO communication parameter” 1800h, 1801h and 1802h (with
subindex 2, “ transmission type” ) are directly written to the subcodes of codes L-C1874 and
L-C2374.
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6 Parameter setting

Index 1801h, subindex 2 = Code L-C1874 and L-C2374, subcode 2
If, for instance, index 1802h is read, the response value comes from code L-C1874 / L-C2374,
subcode 3. If a new value is written to index 1801h also code L-C1874, subcode 2 will be overwritten
with this value.
Exception:
If value ” 254” is written via CANopen index 1800h, 1801h or 1802h the sync rate under l-C1874 and
L-C2374 of the corresponding subcode will be set zero. In addition the Tx modue under code
L-C1875 / L-C2375 of the corresponding subcode will be set to 2 (event control or cyclic control).
If ” 254” is read via index 1800h, 1801h or 1802h, the settings under codes L-C1874 and L-C1875 or
L-C2374 and L-C2375, subcode 1, 2 or 3 apply.
6.5.2.17 L-C1875/ L-C2375: Tx mode CAN-OUT1 ... CAN-OUT3

This code contains a selection which indicates when CAN-OUT1 .. CAN-OUT3 PDO are to be sent.
The selection can be made for every output PDO by subdivision into subcodes.
Possible settings
Code Index
L-C1875 58ACh = 22700d /1: 0 0 [1] 3 FIX32
/2: 1
/1 CAN-OUT1
/3: 1
/2* CAN
CAN-OUT2
OUT2
L-C2375 56B8h = 22200d /1: 0 FIX32
/3* CAN-OUT3
/2: 0
/3: 0
• Value = 0
– Output PDOs are sent when a sync telegram is received.
– Only sync telegrams with the identifier set under L-C1867 / L-C2367 count as received
telegrams. L-C1874 / L-C2374 can also be used for setting a number of sync telegrams (n =
1 ... 240) after which output PDO are to be sent.
• Value = 1
– Output PDOs are not sent.
– This selection deactivates the sending of CAN-OUT1..CAN-OUT3.
This deactivation should be used for 82XX, 8200 vector and 9300 controllers which can
exchange a max. of 4 words of control and status information via the AIF. Use just one input
and output PDO because every PDO contains 4 information words (default setting).
Thus unnecessary CAN load can be avoided.
• Value = 2
– The output PDO is either event-controlled or cyclically sent if this value is entered in one of
the three available subcodes.
– The output PDO will be cyclically sent if a cycle time is input for the same CAN-OUT1..3
under code L-C1856 or L-C2356 (depending on the drive). If the cycle time is zero, it will be
sent when an event occurs, i.e. bit change in CAN-OUT object.
• Value = 3
– The output PDO is sent either event-controlled or cyclically , which means that the object is
sent according to the time set under L-C1856 and L-C2356.
– The object is also sent when one or several bits in the CAN-OUT object change.
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6 Parameter setting
Note!
A Tx mode modification becomes active immediately.
With event-controlled sending (even with cyclic overlay), the objects can be masked using codes
L-C1876 to L-C1878 or with 9300 servo PLC certain bits can be skipped using codes L-C2376 to
L-C2378 and achieve that the CAN-OUT object will not be sent when a bit is changed.
6.5.2.18 L-C1876/ L-C2376: CAN-OUT1 masks

This mask is used to skip one or several bits of the CAN-OUT1 output PDO.
Possible settings
L-C1876 /1 CAN-OUT1.W1 58ABh = 22699d 65535 0 [1] 65535 FIX32
/2 CAN-OUT1.W2
CAN OUT1.W2
L-C2376 /3 CAN-OUT1.W3 56B7h = 22199d FIX32
/4 CAN-OUT1.W4
Event-controlled sending of a CAN-OUT object can depend on a single bit, if necessary. See code
L-C1875 / L-C2375.
Example:
The mask in word 3 of the CAN-OUT 1 process data object is set to 20 hex under code L-C1876/3
(see “ MASK“ ). Please observe the field highlighted in grey.
1st cycle
Result after 1st cycle: PDO is sent
CAN-OUT 1.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
2nd cycle
New data is written to CAN-OUT1 after the 2nd cycle.
Result after 2nd cycle: PDO not sent because of bit change
CAN-OUT 1.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
Note!
A mask change for the CAN-OUT1 output PDO becomes active immediately.

Possible settings
Code Index
L-C1877 /1 CAN-OUT2.W1 58AAh = 22698d 65535 0 [1] 65535 FIX32
/2 CAN-OUT2.W2
CAN OUT2.W2
L-C2377 /3 CAN-OUT2.W3 56B6h = 22198d
/4 CAN-OUT2.W4
L BA2175 EN 2.0
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6 Parameter setting
See L-C1876 / L-C2376.

Possible settings
Code Index
L-C1878 /1 CAN-OUT3.W1 58A9h = 22697d 65535 0 [1] 65535 FIX32
/2 CAN-OUT3.W2
CAN OUT3.W2
L-C2378 /3 CAN-OUT3.W3 56B5h = 22197d
/4 CAN-OUT3.W4
See L-C1876 / L-C2376.
6.5.2.21 L-C1882/ L-C2382: Monitoring response

Possible settings
Code Index
L-C1882 /1 CAN-IN1 response 58A5h = 22693d 0 0 [1] 2 FIX32
/2 CAN-IN2 response
/3 CAN-IN3
CAN IN3 response 0: No response
L-C2382 /4 BUS-OFF response 56B1h = 22193d 1: C
Controller inhibit FIX32
/5 Life guarding event 2: Quick stop
response
Setting of the response after the monitoring time (see L-C1857/L-C2357) has been exceeded.
Note!
A monitoring response change becomes effective immediately.
CANopen relation
The CANopen indexes 100Ch “ guard time” and 100Dh “ life time factor” can be used to set a time
for the node guarding p. The node guarding protocol has been developed for monitoring the
master/slave connection. A time in milliseconds can be entered in CANopen index 100Ch“ guard
time” . Index 100Dh “ life time factor” saves a factor. The monitoring time (time in which the master
sends a certain telegram to the slave/2175 IB) results from multiplying the two indexes. If one of the
indexes is set to zero, the monitoring time is zero too and thus deactivated. The slave sends a
telegram with its current NMT status to the master. The status can be preoperational, operational
or stopped.
If the monitoring time is exceeded, the slave responds with a life guarding event and the master with
a node guarding event.
The node guarding protocol must be programmed and started in the master. The 2175IB module
supports the node guarding protocol, a response can only be entered under this code.
6.5.2.22 L-C2120: AIF control byte

Possible settings
L-C2120 - 22455d = 57B7h 0 0 = No command FIX32
1 = Code L-23XX update and CAN
re-initialisation ≡ Reset node
2 = Code L-C23XX update
10 = Reading of L-C2356/1...4
13 = Reading of L-C2376 ... L-C2378
15 = Not assigned
6-56 BA2175 EN 2.0 L

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6 Parameter setting
The AIF control byte is used to read the codes saved in a 9300 servo PLC by the 2175 fieldbus
module. This process can be started by writing a value which is indicated in the table in the AIF
control byte.
6.5.2.23 L-C2121: AIF status byte

Possible settings
L-C2121 - 22454d = 57B6h 0 0 1 255 FIX32
The AIF status byte provides information from the 2175 fieldbus module for the 9300 servo PLC. The
status of the 2175 fieldbus module can be monitored from the 9300 servo PLC by reading the status
byte. The user can take measures against this process.
AIF status byte Description
Bit 0 CE11 error, CAN-IN1 monitoring time exceeded
Bit 3 CE14 error, module in BUS-OFF status
Bit 4 Operational status
Bit 5 Preoperational status
Bit 6 Warning status
Bit 7 Internally assigned
Note!
Writing of value 2 to the AIF control byte however re-reads all codes L-C23XX, but L-C2350 ...
L-C2355 need a new CAN initialisation to activate new value and their functions.
L BA2175 EN 2.0
6-57
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6 Parameter setting
6.6 Notes to be observed for paramater setting
6.6.1 8200 controllers

The following applies to the 8200 inverter series:
Caution!
Parameter setting (codes except C046, C0135) is only possible when the controller is inhibited.
Parameters are accepted when the controller is enabled, but they are not saved.
After having set a parameter, the controller must not be addressed for approx. 50 ms; otherwise the
command will be ignored.
After parameter setting, the controller needs up to approx. 70 ms to set the status ’enabled’
(terminal, C040, C0135).
The TRIP reset function is activated by inhibiting the controller and enabling it again under C040 or
C0135.
The TRIP reset function initializes the 8200 inverter and the 2175 fieldbus module. Therefore the
TRIP reset command is not acknowledged for the master.
6.6.2 8200 vector controllers

Digital and analog input and output signals can be freely configured (see Operating Instructions;
codes C0410, C0412, C0417 and C0421)
6-58 BA2175 EN 2.0 L

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6 Parameter setting
6.6.3 9300 servo PLC
AIF control / status byte

Controller and fieldbus module can exchange control and status information. For this, the AIF
protocol provides so-called control bytes and status bytes.
Thanks to “ Drive PLC Developer Studio” (DDS) the user can directly access the status byte via the
control configuration of the AIF module. The 2175 fieldbus module writes its error messages to this
byte.
The PLC programmer must ensure that these error messages are indicate by means of an
error-warning-message firmware module.
Assignment of the C2121 AIF status byte for the 2175 fieldbus module
AIF status bit Function
0 CE11 error
1 CE12 error
2 CE13 error
3 CE14 error
4 Operational
5 Pre-operational
6 Warning
7 Internally assigned
The control byte is used to send messages and commands from the controller to the 2175 fieldbus
module.
The control byte can be accessed via code C2120. The commands are defined as numbers. Some
of the command numbers apply to all fieldbus modules, others only apply to certain modules.
Altogether up to 16 commands can be used.
Order number Function R/W code
in C2120, bit0..3
0 No command
1 New initialisation of optional module all
2 Update of all relevant codes for the current optional module. No new init. all
10 XCAN-OUT cycle times or boot-up time accepted C2356
11 Monitoring times accepted C2357
12 TX mode accepted C2375
13 HMIs accepted C2376-C2378
14 CE error configuration accepted C2382
AIF control byte assignment for the 2175 fieldbus module

C2120 is automatically reset to 0 after the command has been transferred to the optional module,
i.e. toggle bits are not required. The command itself is written to the 4 last bits of the control byte,
i.e. 4 bits are available for future entries.
L BA2175 EN 2.0
6-59
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6 Parameter setting
6-60 BA2175 EN 2.0 L

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7 Troubleshooting and fault elimination
7.1 No communication with the controller
Possible causes Diagnostics Remedy

Is the controller switched on? The operation status LED of the basic Supply controller with voltage (see Operating Instructions for the basic unit)
unit must be on
^ 4-1 Point 3.
Is the fieldbus module supplied with The green LED for “Controller With supply from the basic unit check the connection. With external supply check
voltage? connection status” on the fieldbus the 24 V voltage at terminals 39 and 59.
module A voltage between 24 V +10 % must be applied.
^ 4-14 1 mustt bbe on (R
(Remedy
d 1) or The fieldbus module has not been initialised with the controller yet.
blinking (Remedy 2) Possibility 1: Controller not switched on (see fault possibility 1).
Possibility 2: Check the connection to the controller
Does the controller receive telegrams The LED “Bus connection status“ on the Check whether the connection corresponds to the instructions given in chapter
fieldbus ”CAN bus wiring“, page. ^ 4-1 .
^ 4-1 must be blinkingg in ggreen Check whether host sends telegrams and uses the appropriate interface.
when
h ththe ddevice
i iis communicating
i ti withith CAN controller address (L-C0009 / DIP switch) and baud rate (L-C0125 / DIP
the host. switch) can be set differently for controller and host. Ensure that the addresses
are identical.
The controller address (L-C0009) must be different for all connected devices.
Check whether some addresses are used twice and correct them if necessary.
Check the wiring to your host.
L BA2175 EN 2.0
7-1
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8 Table of keywords
8 Table of keywords
8200 inverter series, 6-59 C

8200 vector CAN bus, Wiring, 4-6
Control word, 6-20 CAN bus system, Assembly, 4-5
Status word, 6-21 Code numbers, Access via the fieldbus module, 6-5
Code numbers / index, Conversion, 6-5
82XX, Status word, 6-21 Codes, Lenze, 6-5
Commissioning, 5-1
82XX
Communication medium, 3-2
Control word, 6-20
Communication profile, 5-1
Status word, 6-21
Communication profile setting, 5-1
93XX Communication times, 3-3
Control word, 6-23 Connection
Status word, 6-26 Connections of the fieldbus module, 4-3
Plug-in terminal (5 pole), 4-3
Control word, 6-13
8200 vector, 6-20
A 82XX, 6-20
93XX, 6-23, 6-26
Controller
Address setting, 5-2 Application as directed, 1-2
Labelling, 1-2
AIF-IN, Function block, 6-24
D
AIF-OUT, Function block, 6-27
Definitions, 1-1
Application, as directed, 1-2 Dimensions, 3-2
DIP switch settings / CANopen, 5-1
Application as directed, 1-2
Disposal, 1-2
Application conditions, 3-2

E
Assignment of the plug/socket connector, 4-3
Electrical isolation, 4-4
Example
Read block parameters, 6-12
Read parameter, 6-10
B Write parameter, 6-11
Basic insulation, 4-4 F

Fault elimination, 7-1
Baud rate, 3-2, 3-3
Fieldbus module, Connections, 4-3
Baud rate setting, 5-3 Frequency setpoint, 6-13
L BA2175 EN 2.0
8-1
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8 Table of keywords
I R
Index, Conversion, 6-5
Rated data, 3-2
Installation
Mechanical, 4-2
Wiring to a host, 4-4
Items supplied, 1-1 S
L Safety information, 2-1
Labelling, Controller, 1-2 Layout, 2-2

Other notes, 2-2
Legal regulations, 1-2 Warning of damage to material, 2-2
Warning of damage to persons, 2-2
Lenze codes, 6-5
Operating Instructions, 1-1
Liability, 1-2
Setpoint source, 6-13
M
Manufacturer, 1-2
T
N
Technical data, 3-1
Network management (NMT), 6-3
Technicaldata
O Dimensions, 3-2
General data/Application conditions, 3-2
Operator, 2-1
Telegram time, 3-4
P
Troubleshooting, 7-1
Parameter channel, 4-5
Parameter sets, 6-6
Lenze, 6-6
Parameter setting, 6-1
U
Parameters
User data, 6-7
Control word (C0135), 6-13
Frequency setpoint (C0046), 6-13
L-C0142, 5-5
Personnel, qualified, 2-1 V
Plug-in terminal for external supply, Connections, 4-3
Plug/socket connector, Assignment, 4-3 Voltage supply, 4-4
Process data channel, 4-5
Voltage supply, external, 4-3
Process data telegram
from controller, 6-17
to controller, 6-16
Process data transfer, 6-14 W
Processing times
8210, 3-3 Warranty, 1-2
8200, 3-3
in the controller, 3-3 Wiring, to a host, 4-4
8-2 BA2175 EN 2.0 L

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9 Technical data
9 Technical data
9.1 General information

The internationally standardized CAN bus protocol, which had been developed for the European
Automobile Industry, is mainly characterized by:
• its resistance against interference and extreme temperatures
• short transfer times
• low expenditure for connection
These advantages have made CAN products interesting for other industries too.
The DeviceNet communication profile is based on CAN technology.
A DeviceNet network enables communication between control systems and industry components
such as sensors (e.g. initiators)and actuators (e.g. electromagnetically actuated pneumatic valves),
frequency inverters and servos.
The units are directly connected to the network. This means reduced costs for installation,
commissioning, maintenance, tests and upgrading of the system.
The 2175 fieldbus module with the communication profile DeviceNet is a ’ONLY-SERVER’ module
of group 2.
9.2 Features
• Attachable module for the following Lenze controller series: 820X, 821X, 82X, 8200 vector,
93XX and 9300 servo PLC.
• The front DIP switch enables easy setting of
– Communication profile DeviceNet or CANopen
– Baud rates of 125, 250 and 500 kbit/s
– Node address (max. 63 participants)
• Bus extension up to max. 500m
• Topology: Line terminated at both ends (R = 120 Ohm)
• Easy connection because of pluggable screw terminals
L BA2175 EN 2.0
9-1
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9 Technical data
9.3 General data and application conditions

For Values
Order name 33.2175IB
Communication media DIN ISO 11898
Baud rate [kBit/s] 125, 250, 500
Ambient temperature during operation: -20 °C to 60 °C
during transport: -25 °C to 70 °C
during storage -25 °C to 60 °C
Permissible humidity Class 3K3 to EN 50178 (without condensation, average relative humidity 85%)
24-V-DC- • external supply only: 820X
Voltage supply • internal or external supply: 93XX / 9300 servo PLC / 821X / 822X / 8200 vector (see chapter 4.3.2)
9.4 Rated data

For Values
Voltage supply 24 V DC ñ 10 %; max. 100 mA
Communication medium ISO 11898
Rated insulation voltage Type of insulation
• PE 50VAC Electrical isolation
• External supply (term. 39/59) - No electrical isolation
• Power stage
– 820X / 821X 270 V AC Basic insulation
– 822X / 8200 vector 270 V AC Double insulation
– 93XX 270 V AC Double insulation
Insulation
Ins lation voltages
oltages for
bus systems
• Control terminals:
– 820X / 8200 vector - No electrical isolation
(with internal supply)
– 8200 vector 100 V AC Basic insulation
(with external supply)
– 821X 50 V AC Electrical isolation
– 822X 270 V AC Basic insulation
– 93XX 270 V AC Basic insulation
• External bus systems 0 V AC No electrical isolation
Pollution degree VDE0110, part 2, pollution degree 2
9.5 Dimensions
62
DeviceNet
CANopen
75
18
36
Fig. 9-1 Dimensions: 2175 fieldbus module (all dimensions in mm)
9-2 BA2175 EN 2.0 L

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9 Technical data
9.5.1 Communication times
Note!
The CAN bus communication times depend on the following:
• Processing time in the controller
• Baud rate
• Data priority
• Bus load
More information about bus access control can be obtained from corresponding literature
specialised on Controller Area Networks.
9.5.1.1 Processing times in the controller

Processing times for 820X controllers
The processing times for 8200 controllers differ from the times for the 821X/822X/8200 vector series.
In opposite to the 821X/822X/824X series, which have parallel process data processing, the 8200
series process process and parameter data sequentially. Therefore the time needed to respond
process data depends on previous actions.
The processing time needed for telegrams also depends on the actual value conditioning (process
data from controller). If these data (status word, actual frequency) are not required, they can be
deactivated with the control word ” Bit 15” (PE inhibit).
L BA2175 EN 2.0
9-3
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9 Technical data
The individual telegram times are:

Telegram Processing time
PE-inhibit = 0 PE-inhibit = 1
Parameters 62...140 ms 62...70 ms
Change of a process data value
to controller (*) 27...105 ms 27...35 ms
Change of both process data values to
controller * 62...140 ms 4...70 ms
Process data from controller * 108...140 ms not possible
* The processing times for process data refer to the sync telegram (chapter 6.3 (^ 6-13) )
Processing times for 821X/ 8200 vector/ 822X controllers:

Parameters 30...50 ms
Process data, 3...5 ms (*)
Processing time for 93XX

Parameter data and process data are independent of each other.
• Parameter data: approx. 30 ms + 20 ms tolerance (typically)
– Some codes require longer processing times (see the 9300 Manual).
• Process data: approx. 3 ms + 2 ms tolerance
9-4 BA2175 EN 2.0 L

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9 Technical data
9.5.1.2 Telegram time

Telegram times depend on baud rate and telegram length:
Data length [byte]
Baud rate [kbit/s]
0 2 8
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
Tab. 9-1 Maximum telegram time in [ms]
The telegram times indicated in the table above are calculated according to the following equation.
This equation allows to calculate any intermediate value t Tmax if necessary.
tT = telegram time [ms]

54.4 + 9.6 ⋅ LD LD = telegram length [byte]
tT ≤
dÜ dÜ = baud rate [kbit/s]
9.5.1.3 Maximum bus length

Depending on the baud rate and the cable used the following bus lengths are possible:
Baud rate [Kbit/s] Thin cable Thick cable
125 500 m
250 100 m 250 m
500 100 m
When using both, thick and thin cable types (see (^ 10-6) and (^ 10-7) ) the maximum cable lengths
are to be selected according to the baud rate:
• 125 kbit/s: L max = Lthick + 5 ⋅ L thin
• 250 kbit/s: L max = Lthick + 2.5 ⋅ L thin
• 500 kbit/s: L max = Lthick + Lthin
L BA2175 EN 2.0
9-5
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9 Technical data
9-6 BA2175 EN 2.0 L

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10 Installation
10 Installation
10.1 Components of the fieldbus module
1 2
7 3
6 5
Pos. Designation Meaning Notes

OFF 2175 fieldbus module is not supplied with voltage; controller or external voltage supply is switched off.
Status
St t off the
th BLINKING 2175 fieldbus module is supplied with voltage but is not connected to the controller (controller is
controller switched off, in initialization or not available).
1 connection GREE
(two-colour LED) N Constantly 2175 fieldbus module is supplied with voltage and is connected to the controller.
ON
OFF • No connection with the master
• Fieldbus module is not supplied with voltage
GREE BLINKING Dup_Mac_ID testing. Still no connection to the master.
Connection status N
2 (two-colour LED) GREE ON DeviceNet connection built up.
N
RED BLINKING No communication because time limit exceeded
RED ON Internal fault of the fieldbus module
Green and red drive Operating status of the following controllers: 82XX, 8200 vector, 93XX and servo PLC 9300
3 LEDs (drive) (see Operating Instructions for the controller)
4 Fixing screw
5 5-pole plug-in connector (see chapter 10.3.2)
Connection Only for 820X and 821X:

6 PE shield cable If necessary use an additional PE shield cable which avoids EMC-related communication interference
in especially noisy environments.
7 DIP switch For settings see chapter 11
L BA2175 EN 2.0
10-1
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10 Installation
10.2 Mechanical installation
• Plug the fieldbus module onto the controller (here: 8200 vector)
• Tighten the fixing screw (^ 10-1) Pos. 4)
10-2 BA2175 EN 2.0 L

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10 Installation
10.3 Electrical installation
10.3.1 Selection of the transmission cable

The devices are connected to the bus by means of a fieldbus cable which must comply with the
DeviceNetÔ specification (release 2.0). Companies like Belden Wire & Cable, Olflex Wire & Cable,
C&M Corp. and Madison Cable manufacture DeviceNetÔ “ thick” - and “ thin” cables.
Stop!
If you do not want to use “ thick” or “ thin” cables, the cables used must comply with the requirements
of the DeviceNet Specification (see chapter 10.410.5).
Any other cable is not permitted and must not be used.
10.3.2 Assignment of the plug/ socket connector

The 2175 fieldbus module is connected to the bus through a 5 pole plug/socket connector.
The assignment of the plug/socket connector and the cable colour used according to the DeviceNet
Specification is listed in the table.
1 2 3 4 5
2175
120R Thick
Thin
Terminal Designation Cable colour Explanation

1 V- black GND; reference for external voltage supply
2 CAN_L blue Data cable / input for terminating resistance of 120 Ohm
3 SHIELD Shield
4 CAN_H white Data cable / input for terminating resistance of 120 Ohm
5 V+ red External voltage supply; see notes in chapter 10.3.3
DC
+Vcc DC
+Vcc
3
5
7
+V
1 CAN+
4 Shield
6
CAN-
8 -V
2
2175DeN007
Tab. 10-1 Terminal assignment
L BA2175 EN 2.0
10-3
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10 Installation
10.3.3 Voltage supply
External supply of the fieldbus module
Stop!
The Specifications for the communication profile DeviceNet describe the voltage supply in detail.
These values must be observed!
The corresponding Specifications can be obtained from, for instance, Allen-Bradley.
These Operating Instructions do not inform about technical data.
Note!
Internal voltage supply of the fieldbus module connected to a 8200 vector
(only applies to controllers as of nameplate data 82EV 1x 1x)
Controllers with an extended AIF interface (front of the 8200 vector) can be internally supplied. The
part of the drawing highlighted in grey shows the jumper position.
With Lenze setting, the fieldbus module is not internally supplied.
For internal voltage supply, put the jumper in the position indicated below.
Lenze setting Internal voltage supply

(only external voltage supply)
10.3.4 Wiring to a host
Warning!
An additional electrical isolation is required if
• a 820X or 821X controller is connected to a host and
• a safe electrical isolation (double basic insulation) to VDE 0160 is required.
For this, you can use an interface module for the host with an additional electrical isolation (see the
corresponding manufacturer’s information).
For wiring, the electrical isolation of the supply voltage must be taken into account. The supply
voltage is assigned to the same potential as the data bus.
10-4 BA2175 EN 2.0 L

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10 Installation
A CAN line can have max. 63 devices. Devices are

• connected controllers
• masters
• all components taking part in the communication
The following diagram shows a network:
By means of this network 8200 vector controllers with attached 2175 fieldbus modules 0 can
communicate with the DeviceNet master.
For easy configuration of the fieldbus modules a PC with “ DeviceNet Manager” software 1 can be
used.
2175DeN010
Fig. 10-1 DeviceNet line
The assignment of the plug/socket connector is described in chapter 10.3.2.

Chapter 9.5.1.3 informs about maximum cable lengths.
Not shown is the voltage supply required for the fieldbus modules.
Note!
Please take into consideration that
• the shield of the DeviceNet cable is connected with each side
(plug/socket connector, connection: Shield).
• a bus termination of 120 Ohm is available on both ends of the network.
• the shield is connected to GND on the master side.
L BA2175 EN 2.0
10-5
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10 Installation
10.4 Features of the “thick” cable (according to DeviceNet Specification)
General features Two shielded pairs Common axis with drain wire in center.
Total shielding 65% coverage
36 AWG or 0.12mm Cu braid (individually tinned)
Drain wire #18 copper min.; 19 AWG min. (individually tinned)
Outside diameter 10.41 mm (min) to 12.45 mm (max.) roundness - radius delta to be within 15% of 0.5
O.D.
Jacket marking Vendor name & part # and additional markings
DCR (braid+tape+drain) 5.74 Ohm/1000 m (nom. @ 20ºC)
Certifications (U.S. and Canada) NEC (UL) type, CL2/CL3 (min.)
Bend readius installation / fixed 20 x diameter / 7 x diameter
Operating ambient temperature -20 to +60ºC @ 8 Ampere; de-rate current linearly to zero @ 80ºC
Storage temperature -40 to +85ºC
Pull tension 845.5 N. max.
Features of the Conductor pair size #18 copper (minimum); 19 AWG min (individually tinned)
data cables Insulation diameter 3.81 mm (nominal)
Colours libht blue blue, white
Pair twist / m approx. 10
Tape shield over pair 2 mil / 1 mil, Al / Mylar. Al side outw/shorting fold (pull-on applied)
Impedance 120 Ohm +/- 10% (at 1 MHz)
Capacitance between conductors 39.37 pF / m at 1 kHz (nominal)
Capacitance between a conductor and the 78.74 pF / m at 1 kHz (nominal)
conductor connected to shield.
Capacitive unbalance 3937 pF/1000 m at 1 kHz (nominal)
DCR - @ 20ºC 22.64 Ohm/1000 m (maximum)
Attenuation: 0.43 dB/100 m @ 125 kHz (maximum)
0.82 dB/100 m @ 500 kHz (maximum)
1.31 dB/100 m @1.00MHz (maximum)
Features of the Conductor pair size #15 copper (minimum); 19 AWG minimum (individually tinned)
DC voltage cables Insulation diameter 2.49 mm (nominal)
Colours Red / black
Pair twist/m approx. 10
Tape shield over pair 1.0 mil/ 1 mil, Al/Mylar. Al side out
w/shorting fold (pull-on applied)
10-6 BA2175 EN 2.0 L

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10 Installation
10.5 Features of the “ thin” cable (according to DeviceNet Specification)

General features Two shielded pairs Common axis with drain wire in center.
Total shielding 65% coverage
36 AWG or 0.12mm Cu braid (individually tinned)
Drain wire #22 copper min.; 19 AWG min. (individually tinned)
Outside diameter 6.096 mm (min) to 7.112 mm (max.) roundness - radius delta to be within 20% of 0.5
O.D.
Jacket marking Vendor name & part # and additional markings
DCR (braid+tape+drain) 10.5 Ohm/1000 m (nom. @ 20ºC)
General features Specification
Certifications (U.S. and Canada) NEC (UL) type CL2(min.)
Bend readius installation / fixed 20 x diameter / 7 x diameter
Oprating ambient temperature -20 to +70ºC @ 1,5 Ampere; de-rate current linearly to zero @ 80ºC
Storage temperature -40 to +85ºC
Pull tension 289.23 N. max.
Features of the Insulation diameter 1.96 mm (nominal)
data cable Conductor pair size #24 copper (minimum); 19 AWG min (individually tinned)
Colours libht blue blue, white
Pair twist / m approx. 16
Tape shield over pair 1 mil / 1 mil, Al / Mylar. Al side out
Impedance 120 Ohm +/- 10% (at 1 MHz)
Propagation delay 4.46 ns/m (maximum)
Capacitance between conductors 39.37 pF / m at 1 kHz (nominal)
Capacitance between a conductor and the 78.74 pF / m at 1 kHz (nominal)
conductor connected to shield.
Capacitive unbalance 3.94 pF/1000 m at 1 kHz (maximum)
Attenuation: 0.95 dB/100 m @ 125 kHz (maximum)
1.64 dB/100 m @ 500 kHz (maximum)
2.30 dB/100 m @1.00MHz (maximum)
Features of the Conductor pair size #22 copper (Minimum); 19 AWG Minimum (individually tinned)
voltage cable Insulation diameter 1.4 mm (nominal)
Colours Red
Black
Pair twist/m approx. 16
Tape shield over pair 1 mil / 1 mil, Al / Mylar. Al side out
L BA2175 EN 2.0
10-7
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10 Installation
10-8 BA2175 EN 2.0 L

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11 Commissioning
11 Commissioning
Note!
Settings using GDC, keypad and DeviceNet manager
Controller address and baud rate can also be set using GDC, the keypad or the DeviceNet Manager.
For this the DIP switches S1 to S6 must be in OFF position.
Codes L-C0009 (controller address) and L-C0125 (baud rate) are not active if one or several
switches have been set to ON before a restart.
Please see the descriptions for
• L-C1850/2350 node address
• L-C1851/2351 baud rate
The DIP switch on the front of the 2175 fieldbus module can be used for the following settings:
• Controller address S1 - S6
• Baud rate S7 - S9
• Communication profile S10
Note!
In default setting all switches are OFF.
The controller address and baud rate set using DIP switches will only be active after a restart.
Only the combinations shown in the following tables are defined:
11.1 Communication profile setting
OPEN OFF
ON
1 2 3 4 5 6 7 8 9 10
Communication profile S10

DeviceNet OFF
CANopen ON
L BA2175 EN 2.0
11-1
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11 Commissioning
11.2 Controller address setting
Note!
Please ensure that the addresses are not the same when using several controllers.
OPEN
OFF
ON
1 2 3 4 5 6 7 8 9 10
Addressdec = S6 ⋅ 20 + S5 ⋅ 2 1 + S4 ⋅ 2 2 + S3 ⋅ 2 3 + S2 ⋅ 24 + S1 ⋅ 2 5
The address calculation (decimal number) is based on the positions of switches S1 ... S6 (’0’ = OFF
and ’1’ = ON). The numbers must be entered into the equation above.
The equation also indicates the valency of a switch. The sum of valencies results in the controller
addresses to be set (see examples 1 and 2):
Switch valencies:
Valency 32 16 8 4 2 1
Example:
Switch position ON ON ON OFF OFF OFF
Address (= 56) 32 16 8 0 0 0
11.3 Baud rate setting
Note!
Please ensure that the baud rate is the same for all controllers and the host.
OPEN
OFF
ON
1 2 3 4 5 6 7 8 9 10
Baud rate [kbit/s] S7 S8 S9

125 OFF OFF OFF
250 OFF OFF ON
500 OFF ON OFF
11-2 BA2175 EN 2.0 L

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11 Commissioning
11.4 Initial switch-on
Please do not change the switch-on sequence explained below!
Stop!
Prior to initial switch-on of the controller, check the wiring for
• completeness
• short-circuit
• earth fault
1. Switch on the controller and, if necessary, the external supply of the 2175 fieldbus module.
– A controller status LED ( (^ 10-1) , pos. 3 ) must now be on or blinking. If this is not the case,
see chapter ” Troubleshooting” (^ 13-1)
– The green LED (” Controller connection status” ) must be on, too (^ 10-1) (pos. 1). If this is not
the case, see chapter ” Troubleshooting” (^ 13-1) .
2. It should now be possible to communicate with the drive:
– All parameters (SDO) can be read and written
– All SDO parameters except process data, such as frequency setpoint or control word, can
be overwritten.
– For more information on the communication phases of the CAN network see chapter 6.1.2
(^ 6-3) .
L BA2175 EN 2.0
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11 Commissioning
11.5 Drive enable via 2175 fieldbus module

82XX / 1. Set the Lenze parameter Operating Mode (L-C0001) from 0 to 3 to enable the drive via the 2175 fieldbus module. The parameter can be set
8200 vector using the keypad or directly via CAN.
– Index = 5FFEhex
(results from 5FFFhex − (L-C0001)hex; see Lenze Codes, Addressing, chapter 6.2 ^ 6-5 )
– Subindex: 0
– Value: 30000dec (results from 3x104 )
2. Terminal 28 (controller enable) is always active and must be set to HIGH during DeviceNet operation (see the corresponding Operating
Instructions for the controller).
– Otherwise, the controller cannot be enabled.
– With 821X, 8200vector and 822X, the function QSP (quick stop) is always active. If QSP is assigned to an input terminal (default setting: not
assigned), this terminal must be HIGH during DeviceNet operation (see the corresponding Operating Instructions).
93XX 1. For drive control via DeviceNet set the Lenze parameter Signal Configuration (L-C0005) to xxx3. These changes can be made using the
9371BB keypad or directly via DeviceNet. For first commissioning, select signal configuration 1013.
– Index = 5FFAhex
(results from 5FFFhex − (L-C0005)hex; see chapter 6.2 ^ 6-5 )
– Subindex: 0
– Value: 10 130 000dec (results from 1013x104)
2. Set the parameter L-C0142 to 0
3. Terminal 28 (controller enable) is always active and must be set to HIGH during DeviceNet operation (see the corresponding Operating
Instructions for the controller). Otherwise, the controller cannot be enabled.
– With the signal configuration L-C0005=1013, the function QSP (quick stop) and the CW/CCW changeover are assigned to the digital input
terminals E1 and E2 and thus they are always active. For DeviceNet operation E1 must be set to HIGH (see Operating Instructions for 93XX).
With signal configuration L-C0005=xx13, terminal A1 is switched as voltage output. Therefore, only the following terminals
must be connected via cables:
• X5.A1 with X5.28 (ctrl. enable)
• X5.A1 with X5.E1 (CW/QSP)
11.5.1 Protection against uncontrolled restart
Note!
After a fault (e.g. short-term mains failure) a restart of the drive is not always wanted.
• By setting L-C0142 = 0, the drive can be inhibited if
– the corresponding controller sets a “ Message“ fault
– the fault is active for more than 0.5 s
Parameter function:
• L-C0142 = 0
– Controller remains inhibited (even if the fault is no longer active) and
– The drive restarts in a controlled mode: LOW-HIGH edge at one of the inputs for “ Controller
inhibit“ (CINH, e.g. at terminal X5/28)
• L-C0142 = 1
– Uncontrolled restart of the controller possible
11-4 BA2175 EN 2.0 L

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DeviceNet
12 Parameter setting
General information
Ensure to use the terminology defined for the DeviceNet communication profile.
Two different telegram types are transferred between host and controller(s):
• Parameter data (explicite messages)
• Process data (I/O messages)
As indicated in the table, these telegram types are subdivided into communication channels
according to their time-critical response.
Communication channel Telegram type
à Parameter data channel (chapter 6.2) à Parameter data (explicite messages)
– Enables the access to all Lenze codes. – operating parameters
– Parameter changes are normally saved in the controller (observe – diagnostics information
C0003). – motor data
– If the parameter channel is active, it assigns 4 words of the input In general, the parameter transfer is not as time-critical as the
and output process data. ^ 6-5 ) tranfer of process data.
à Process data channel (chapter 6.3) à Process data
– The controller can be controlled using process data ( ^ 6-13 ). Process data are, for instance, setpoints and actual values. Process
– The host has direct access to the process data. In the PLC, for data must be exchanged between host and controller as quickly as
instance, the data are directly assigned to the I/O area. possible. Process data are usually small amounts of cyclically
– Process data are not stored in the controller and cyclically transferred data.
exchanged between host and controller (continuous exchange of
current input and output data). • I/O polled messages (polled)
– The poll command sent by the master contains output data for
the slave. The slave then sends its input data to the master.
The Poll response can also be used as receive message.
• Cyclic I/O
– With cyclic I/O master and slave generate their data
independently of each other. The data is sent as set through
the timer. The timer value is to be entered by the user. In
default setting the cyclic I/O message is to be acknowledge by
the consumer. If the timer cycle is set to a high value, the
user can suppress the acknowledgements.
• Change of state (COS)
– This type of I/O message is a special type of cyclic message.
COS nodes send their data when the data status changes or
the heartbeat interval set by the user has expired. The
heartbeat interval is set by means of the cyclic timer.
NOTE:
The default message type for 2175 DeviceNet modules is the I/O
polled message. Other message types can be enabled using the
DeviceNet Manager.
Tab. 12-1 Distribution of parameter data and process data to different communication channels
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List of classes, instances and attributes

In DeviceNet, process and parameter data are addressed by classes, instances and attributes.
Because of their size, attributes are read individually by “ GET single” and written by “ SET single” .
The following instances/attributes are assigned to classes:
Identity class (Class1) (GET / --) INSTANCE 1

Attribute 1 Attribute 2 Attribute 3 Attribute 4 Attribute 5 Attribute 6 Attribute 7 Attribute 8
Vendor-ID: 445 Device profile Product code Maj./minor rev. Status Serial number Product name CFG consistency
(445 = LENZE) 0 = Generic 0x01** Unambiguous 2175 IB
(see below) number of a
module
The product code (attribute 3) of the identity class contains “ 01” in the HIGH byte for the 2175
fieldbus module. The LOW byte contains the number of process data words.
The information given in the identity class are unambiguous for every module. Attribute 6 contains
the default setting for every module.
Message router class (class 2) (GET/ ---) INSTANCE 1

The message router class supports the settings for the communication features.
Class List Max. # of cnct Curr. # of cnct CAN IDs
Assembly class (class 4) (GET/ ---) INSTANCE 1

Assembly class specifies the relation between data and objects.
Max. instance No. of members Member list Data
in list
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Connection class (class 5) (GET/ ---)

The connection class determines process and parameter data features.
Instance 1
Instance type SDO length (see TIP)
Produced Consumed
State Explicit messaging Transport class Init. comm. char. Prod. connection Cons. connection
Connection ID Connection ID
(0) Size Size
Instance 2
PDO length (see TIP)
Instance type: Produced Consumed
State Transport class Init. comm. char. Prod. connection Cons. connection
(1) connection ID Connection ID
Size Size
Instance 3
Prod. connection Cons. connection
Instance type: Produced Consumed Init. comm. char.
State Transport class Size
(1) Connection ID Connection ID
Size
Tip!
The PDO length depends on the controller used and the settings in class 102
• 820X: 4 byte
• 8200 vector: 6 byte
• 8210/8220: 6 byte
• 93XX: 8 byte (all technology variants except 9300 servo PLC)
• 9300 servo PLC 9300: 24 byte
Acknowledge handler class (class 43)

The acknowledge handler object is needed to handle acknowledgements when using COS/cyclic
messages.
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Vendor-specific class (class 100) (GET/ SET)

Instance 1
Byte
• Attribute 1: Parameter data
Request Response
1 Code Low Code Low
2 Code High Code High
3 Subcode Subcode
4 Reserve Status • Byte value = 0: No errors
• Byte value ≠ 0: Incorrect message
The byte value indicates the error number. Its meaning is explained in the table below.
5 Data_1 Low Data_1 Low
.. Data_1 High Data_1 High
.. Data_2 Low Data_2 Low
Data_2 High Data_2 High
. .
. .
. .
. .
Data_22 Low Data_22 Low
Data_22 High Data_22 High
The following table lists the explanations for the error numbers:
Error code (hex) Explanation
03 Invalid data type
04 Invalid subcode no.
05 Invalid code no.
07 No access during operation
08 No access because of operating mode
09 No access because parameters can only be read
0A No access authorisation
0B Data block too long
0C Collision with other value ranges
0D Quit value range
0E General value range error
2X Error in AIF interface
jFF General error
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DeviceNet

Instance 1
• Attribute 1: Process data monitoring code (2 byte)
0: No response (default)
2: Quick stop
This setting is saved as non-volatile value in the EEPROM.

Instance 1
• VSC attribute 1: Process data length (2 byte)
0: Default value according to EDS file
1: 2 byte
...
12: 24 byte
Note: When changing the process data length, the process data length in the master must be adapted under ”produced / consumed data size”.
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DeviceNet
12.1 Communication-relevant Lenze codes
Tip!
If the 2175 module is plugged onto a different controller during operation, an undefined operating
status might occur.
The behaviour of servo inverters and frequency inverters is determined by their parameters. Lenze
controllers can be parameterised by codes. These (Lenze) codes are exchanged between master
and 2175 fieldbus module as part of a telegram and via a CAN bus.
Depending on the Lenze inverter, two codes are available for communication via CAN bus: L-C1810
and L-C1811.
Communication with the drive is only possible when the controller is know as system device. The
devices are detected while the modules are initialised.
Address and baud rate can only be set using the front switch:
• Switches 1 - 9 ≠ OFF (see chapter 10)
• Switch 10 = OFF: DeviceNet communication profile
12.1.1 Description of communication-relevant Lenze codes
How to read the table

Column Meaning
Code (Lenze) code
Subcode Subcode
Index Incidated as hexadecimal/decimal value
Lenze Code default setting
Selection Minimum value [smallest step/unit] maximum value
Data type VS: Visible string, indicated length
12.1.1.1 L-C1810: Software product code

Possible settings
L-C1810 - 22765d = 58EDh - - Visible string
During module initialisation the bus devices are defined by means of the product code.
12.1.1.2 L-C1811: Software date

Possible settings
L-C1811 - 22764d = 58ECh - - Visible string
This date is mainly needed for service.
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12.2 Notes to be observed for paramater setting
12.2.1 8200 controllers

The following applies to the 8200 inverter series:
Caution!
Parameter setting (codes except C046, C0135) is only possible when the controller is inhibited.
Parameters are accepted when the controller is enabled, but they are not saved.
After having set a parameter, the controller must not be addressed for approx. 50 ms; otherwise the
command will be ignored.
After parameter setting, the controller needs up to approx. 70 ms to set the status ’enabled’
(terminal, C040, C0135).
The TRIP reset function is activated by inhibiting the controller and enabling it again under C040 or
C0135.
The TRIP reset function initializes the 8200 inverter and the 2175 fieldbus module. Therefore the
TRIP reset command is not acknowledged for the master.
12.2.2 8200 vector controllers

Digital and analog input and output signals can be freely configured (see Operating Instructions;
codes C0410, C0412, C0417 and C0421)
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13.1 No communication with the controller.
Possible causes Diagnostics Remedy

Is the controller switched on? The operation status LED of the basic Supply controller with voltage (see Operating Instructions for the basic unit)
unit must be on
^ 10-1 Point 3.
Is the fieldbus module supplied with The green LED for “Controller With supply from the basic unit check the connection. With external supply check
voltage? connection status” on the fieldbus the 24 V voltage at terminals 39 and 59.
module A voltage between 24 V +10 % must be applied.
^ 10-1
10 1 mustt bbe on (R
(Remedy
d 1) or The fieldbus module has not been initialised with the controller yet.
blinking (Remedy 2) Possibility 1: Controller not switched on (see fault possibility 1).
Possibility 2: Check the connection to the controller
Does the controller receive telegrams The LED “Bus connection status“ on the Check whether the connection corresponds to the instructions given in chapter
fieldbus ”CAN bus wiring“, page. ^ 10-1 .
^ 10-1 must be blinkingg in ggreen Check whether host sends telegrams and uses the appropriate interface.
when
h ththe ddevice
i iis communicating
i ti withith CAN controller address (L-C0009 / DIP switch) and baud rate (L-C0125 / DIP
the host. switch) can be set differently for controller and host. Ensure that the addresses
are identical.
The controller address (L-C0009) must be different for all connected devices.
Check whether some addresses are used twice and correct them if necessary.
Check the wiring to your host.
L BA2175 EN 2.0
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13-2 BA2175 EN 2.0 L

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14 Appendix
14 Appendix
14.1 DeviceNet commissioning example
0 1 2 3 4 5 6
DC
24V
1747- 1747- 1747- RS232

L541 IB32 OB32
1 2
7 8
2175DeN050
Tab. 14-1 Overview over the hardware and software used
Position Module
0 Power supply, type: SLC 500 modular chassis (1746-A4)
1 SLC 5/04 CPU type: SLC 5/04 CPU (1747-L541)
2 DeviceNet scanner type: DeviceNet scanner (1747-SDN scanner module)
3 Digital input type: 32 digital input (1746-IB32)
4 Digital output typ: 32 digital output (1746-OB32)
5 External voltage supply for DeviceNet
6 PC with Allen-Bradley software:
• RSLinx (revision 2.20.02)
• RSNetworx (revision 3.00)
• RSLogix (revision 4.10.01
7 Controller type: 8200vector, node 28 Setpoint selection via process data channel of the 2175 fieldbus
module: C0001 = 3
8 Controller type: 9300 servo inverter, node 34 Setpoint selection via process data channel of the 2175 fieldbus module
C0005 = xxx3
9 RS232 interface module type, 1770-KFD
Parameter setting for communication via DeviceNet:

Program transfer to CPU
DeviceNet configuration
According to the DeviceNet specification, thin cables (^ 10-7) have been used for wiring.
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14 Appendix
Hardware adjustment on the front of the 2175 fieldbus module
OPEN OFF
1 2 3 4 5 6 7 8 9 10
ON
The DIP switch positions correspond to the settings:

– Address = 3
– Baud rate = 250 kbit/s
– Communication profile: DeviceNet
14.1.1 Integration of LENZE-EDS files into “ RSNetWorx”
EDS file handling

A floppy is included in the delivery package of the 2175 fieldbus module.
The floppy contains several electronic data sheets (EDS files Electronic Data Sheets) for the
following LENZE controllers:
– 2175ib02.eds: 8200 frequency inverter
– 2175ib03.eds: 8210, 8220, 8200 vector frequency inverter
– 2175ib04.eds: 9300 servo inverter
– 2175ib12.eds: 9300 servo PLC
EDS files are text files describing controllers according to the DeviceNet specification. The
corresponding files are archived in the work station and called up by the installation software when
being needed (see example “ RSNetWorx” , Allen Bradley).
The file name includes the fieldbus (’2175’), two letters (’ib’, interface module) and a two-digit
number which indicates the number of supported process data words (16 bit/word).
Tip!
You can read EDS files by using an ASCII editor.
We recommend not to change anything. Every change can have a negative effect on the module!
EDS file download

EDS files can be downloaded from the Internet. See the Lenze homepage
( ServiceWDownloadWDeviceNet).
Enter the following for saving the self-decompressing file on your hard disk (the subdirectory
“ LENZE” must have been created earlier).
RockwellSoftware\RSCommon\EDS\LENZE
After decompression, the LENZE-EDS files are available for use.
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14 Appendix
Integration into “ RSNetWorx”

EDS files must be integrated using the installation program “ RSNetWorx” :
1. Start “ RSNetWorx”
2. Start EDS wizard under ToolsWEDS wizard
2175DeN051/052
3. Select Register an EDS file
2175DeN053
4. Select Register a directory of EDS files

A group of LENZE-EDS files and their path ( Browse ) must be registered.
2175DeN054
5. Wizard finds the LENZE-EDS files (” 2175IBxx.EDS” ) and indicates the test result.
2175DeN055
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14 Appendix
6. All assigned symbols are displayed.
2175DeN056
7. The registration query will be completed when pressing Complete .
2175DeN057
All inserted data are now available for the hardware catalog. The path is:
DeviceNet/Vendor/Lenze GmbH&CoKG/Generic Device
2175DeN059
The process data length depends on the controller used.

Select according to the controller:
• 820X: 4byte = 2 words
• 821X/822X: 4byte = 2 words
• 8200vector: 6byte = 3 words
• 93XX: 8byte = 4 words
• 9300 servo PLC: 24byte = 12 words
Tip!
“ RSNetWorx” automatically assigns the EDS files if the controller is connected online.
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DeviceNet
14 Appendix
14.1.2 Communication between PC and DeviceNet via “ RSLinx”

1. Start “ RSLinx”
2. Select Communication WConfigure Drivers
2175DeN086
3. Select DeviceNet Drivers. Confirm with Add new.
2175DeN060
4. Select Interface 1770-KFD. Confirm with Select .
2175DeN061
5. Configuration of PC interface data in KFD driver setup.

Press OK to check the configuration and initialise the KFD box.
2175DeN062
Tip!
A second name can be assigned to the interface to make identification easier. Here it is
“ 1770-KFD-1” . This name has been suggested by RSLinx and has not been changed.
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14 Appendix
The interface configuration is now completed and indicates ” Running” as current status.
2175DeN063
6. Close the window with Close .

After the configuration of the “ 1770-KFD-1” interface has been completed, the bus structure and
assigned node addresses will be output if the function Autobrowse (arrow) has been activated.
2175DeN064
This example uses the following components:

Address Component
00 Scanner
28 Addressed 2175 module
34 Addressed 2175 module
62 PC workstation / 1770 KFD box interface
Tip!
• The “ RSLinx” software tool must run in the background to coordinate PC and KFD box.
• If node addresses are marked with question marks, Lenze components cannot be identified
because the corresponding EDS files are missing. Chapter 14.1.1 describes how to proceed.
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14 Appendix
14.1.3 Online connection between DeviceNet and “ RSNetWorx“

1. Select NetworkWOnline.
2175DeN065
The menu for scanning DeviceNet will be opened. 1770-KFD-1 lists all bus nodes.
2. Select Autobrowse or Refresh. Confirm with OK.
The bus is searched for connected devices.
2175DeN066/067
The components found are indicated as follows:
2175DeN068
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14 Appendix
Processing assignment (scanner properties)

Set the I/O address assignment between CPU and DeviceNet devices under Properties of the
DeviceNet scanner using “ RSNetWorx” .
1. General scanner data are indicated when the scanner symbol is double clicked.
2175DeN069
2. Select the register card Module

You will be asked whether you want to upload/download the components connected to the
DeviceNet before the modules can be displayed. The window Module shows the scanner
configuration.
2175DeN071
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14 Appendix
3. Register card Scan list

Under Available devices you will find a list of all components which can be shifted into the Scan list .
Use Automap on add (arrow) to automatically enter all devices into the Scan list . The DeviceNet
devices listed here will be processed by the scanner.
2175DeN072
• The selected module can be configured via Edit I/ O Parameters.
2175DeN073
Use Edit I/ O Parameters to select the corresponding telegram type for a node address.
The different protocols are described in the chapter about DeviceNet parameter setting.
I/O data of the following message types can be processed:
• Strobed
• Polled
• Change of state
• Cylic
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14 Appendix
4. Register card Input / register card Output
2175DeN074/75
• Use Input to enter the peripheral input address of every device.

– The function Automap automatically assigns the input address in the DeviceNet scanner.
Select Unmap to remove this assignment.
– The input addresses determined here must be taken into account for the project under
RSLogix
• Use Output to enter the output peripheral address of every device.
– The function Automap automatically assigns output addresses in the DeviceNet scanner.
Select Unmap to remove this assignment.
– The output addresses determined here must be taken into account for the project under
RSLogix
The configuration for DeviceNet communication is completed now. The controllers are saved in the
scanner under the node and I/O peripheral address.
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14 Appendix
Processing assignment (DeviceNet slave properties)

1. Select a controller (right mouse key)
2. Select Properties
2175DeN078
• Register card General

Here you will find general data of the EDS file for a certain device.
2175DeN079
• Register card Parameters

– Here the controller response to interruption of the process data transfer and communication
errors is parameterised. (The module must be supplied with voltage)
– The length of process data must be entered if the process data size is less than set in
default setting (setting = 0).
2175DeN080
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14 Appendix
• Register card I/ O defaults
Tip!
Modifications cannot be made since the communication profile has been defined in the scanner.
2175DeN081
• Register card EDS file

This card shows the identification data of and EDS file.
2175DeN082
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DeviceNet
14 Appendix
Class Instance Editor

The class instance editor can be used for checking communication or modifying controller
parameters.
2175DeN083
Confirm the query with YES

Go to Service class instance attribute editor and Object address to access controller data.
2175DeN084
Proceed as follows to read, e.g., the acceleration time (code L-C0012) from the controller:
Input HMI Input Explanation
• Description Other
• Value Ihex (get single attribute), value = 10hex (set single attribute)
• Class 64hex (always with Lenze controllers)
• Instance 1 (always with Lenze controllers)
• Attribute 1 (always with Lenze controllers)
• Data sent to the device 000C 0000
• Data received from the device Response: Because of the left-justified Intel data format the response
0C 00 00 00 A8 61 sequence is LOW byte/HIGH byte.
1st word Lenze code L-C0012 0C 00hex
2nd word 00 + subcode 00 00 00
3rd word A8 61 Enter the following for an acceleration time (L-C0012) of 2.5 s:
4the word Not used Value * 10000 = 2.5 * 10000 = 25000 = 61A8hex
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14 Appendix
14.1.4 Set scanner status

The scanner is equipped with two status LEDs and a 7-segment display (3 digits):
• LED MODULE: Status display for the scanner module (should be green)
• LED NET: Status disply for the network (DeviceNet) (should be green)
• 7-segment display: Every second the display changes from the DeviceNet node address to
the current diagnostics status and back.
– Set status for program mode (no PLC program active)
node address 00 (scanner) = 80 (scanner in idle running)
– Set status for ” Run mode” (control active)
always 00
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14 Appendix
14.1.5 Communication between PC and PLC

PC and PLC communicate via the RS232 interface of the PC and the CPU of the PLC
(ALLEN-BRADLEY) (see Tab. 14-1, ).
Communication is controlled by the “ RSLinx” program. It must be configured and activated before
online programming starts.
Tip!
“ RS Linx” must not be closed, but minimised (the bottom task bar must show the symbol to indicate
that communication is possible).
1. Start “ RS Linx”
2. Select Communication / Configure drivers
3. Select RS-232 DF1 devices. Confirm with Add new. The connection is automatically
configured. Find a name with max. 15 characters.
2175DeN087
4. Auto-Configure must be confirmed. Auto configuration successful! will be displayed after

the process has been completed.
2175DeN088
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14 Appendix
5. The next window will be displayed. Close the window with Close .
2175DeN089
With Autobrowse you can look at the communication in the start window of “ RSLinx” :
• Address 00: PC
• Address 01: SLC5/04
2175DeN065
Note!
Select View/ Options/ Service to determine whether “ RS Linx” is activated automatically at every
PC start.
2175DeN091
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14 Appendix
14.1.6 Starting of the “ RSLogix 500 English” PLC program

1. Select File new to create a new project.
2. Select “ SLC5/04 CPU”
(Rack with four slots; exact name on CPU flap with “ 1747-L541” )
2175DeN092
The window changes to the current project.

The rack components are organised by clicking I/ O Configuration.
2175DeN093
3. Select Read IO Config to read the I/Os from the CPU
2175DeN094
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14 Appendix
4. Select Who Active. The active driver will be selected.
2175DeN095
5. Select SLC 5/04. Confirm with OK.
2175DeN096
6. Select Read IO config to automatically start search and ’fill’ the rack.
The individual slots are equipped with the components shown in Tab. 14-1
2175DeN097
The I/O configuration is completed. Close the window with X .
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14 Appendix
14.2 Control program programming

The SLC programming is explained by means of the example named “ 82VEC2175PZD_Para.RSS” .
Note!
This example is also available on the internet at Lenze website Path
Service W Downloads WDeviceNet
14.2.1 Hardware addressing

DeviceNet is configured with the following node addresses
• Node address 28 (2175 fieldbus module with 8200 vector)
• Node address 34 (2175 fieldbus module with 9300 Servo)
The address assignment is to be configured in the scanner properties with “ RSNetWorx” .
2175DeN074/75
Default setting of input and output words for Lenze controllers:

Word PCD AIF-IN
AIF IN controller input AIF-OUT
AIF OUT controller output Controller
8200 vector 9300 servo inverter
1 1 AIF-CTRL = C135 AIF-Stat = C150 • •
2 2 AIF-W1 = Speed setpoint AIF-W1 = Act. speed value • •
2 3 AIF-W2 = Open AIF-W2 = • •
3 4 AIF-W3 = Open AIF-W3 = - •
L BA2175 EN 2.0
14-19
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DeviceNet
14 Appendix
14.2.2 Explicit messages

“ Explicit Messages” can transfer parameter data between controllers and the SLC-CPU via the
DeviceNet parameter channel.
Data between the “ SLC5/04-CPU” , DeviceNet scanner “ 1747” and the DeviceNet device is
transferred via “ module files” :
Module file DeviceNet data direction Data path
• M0 Output data from the CPU to the DeviceNet node via a scanner
• M1 Input data from the DeviceNet node to the CPU via a scanner
The CPU writes or reads module file data by means of copy commands from the scanner. The data
are organized by the CPU memory of the processary. Further data processing then uses the data
from the processor memory.
Addressing:
DeviceNet data direction Module file Scanner rack position Data length in words (max. 224 words)
Output data M0
1
1. 224
Input data M1
DeviceNet output data M0

Word HIGH byte LOW byte Explanation
0 TXID COMMAND Data as hexadecimal values
1 PORT SIZE
depending on scanner
• TXID Order number
2 SERVICE MAC ID • COMMAND 01 (execute block)
04 (clear response buffer)
3 CLASS • PORT 00, with SLC only 00
4 INSTANCE • SIZE Data length in byte
5 ATTRIBUTE • SERVICE 0E (GET SINGLE ATTRIBUTE)
10 (SET SINGLE ATTRIBUTE)
6 L-Code • MAC ID DeviceNet node address
7 L subcode • User data
Parameter transfer data – CLASS = 0064
– INSTANCE = 0001
8 Value (Low word)
– ATTRIBUTE = 0001
– L code
9 Value (High word) – L subcode
– Value
DeviceNet input data M1

Word HIGH byte LOW byte Data content Explanation
0 TXID STATUS Data as hexadecimal values
1 PORT SIZE
depending on scanner
• TXID Order number
2 SERVICE MAC ID • STATUS 01 (transaction successful)
(excerpt) 03 (slave not in scan list)
3 L code • PORT 00, with SLC only 00
4 L subcode • SIZE Data length in byte
5 Value (LOW word) • SERVICE
6 Value (HIGH word) Parameter transfer data • MAC ID DeviceNet node address
10 • User data
– CLASS = 0064
– INSTANCE = 0001
– ATTRIBUTE = 0001
– L code
– L subcode
– Value
14-20 BA2175 EN 2.0 L

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14 Appendix
14.3 Program components
2175DeN098
Program component nesting:
LAD 2 LAD 3 LAD 30 LAD 31

Main DNET_MAIN LENZE_MAIN LENZE_PIO
(analog
setpoint) LAD 33
EXP_BTW
(writing of an
LAD 32
explicit
LENZE_EXP
message)
(preparation
for an LAD 34
explicit EXP_BTR
message) (reading of an
explicit
message)
L BA2175 EN 2.0
14-21
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14 Appendix
14.3.1 LAD 2-Main

• Program basis
• The program is in first position of the processing table
2175DeN101
Programmed marker bits:

• Rung 0000 = Zero marker bit always defined as zero
• Rung 0001 = One marker bit always defined as one
• Rung 0002 = Cycle marker bit toggles after every cycle
• Rung 0003 Jump to subroutine 3, change without any conditions
14-22 BA2175 EN 2.0 L

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DeviceNet
14 Appendix
14.3.2 LAD 3 - DNET_MAIN

The 1747 scanner is activated here.
Two bits of a DeviceNet device are activated via digital inputs.
2175DeN102
• Rung 0000 = Scanner enable via the ” One marker bit” (generated in LAD 2). The scanner is
always in “ Run” status
• Rung 0001: Digital input 2 sets bit 0 of the AIF-CTRL of the controller
• Rung 0002: Digital input 3 sets bit 1 of the AIF-CTRL of the controllers
• Rung 0003: Jump to subroutine 30, change without considering any conditions
L BA2175 EN 2.0
14-23
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14 Appendix
14.3.3 LAD30 - LENZE_MAIN

Jump to routines 31 and 32
2175DeN103
14.3.4 LAD31 - LENZE_PIO

Sending of the controller setpoint
2175DeN104
The example describes the writing of the speed setpoint to the 8200 vector frequency inverter.
The speed setpoint is normalised with 24000dec ≡ 480Hz.
The value written to PCD2 (O:1.2) is = 500dec and corresponds to a field frequency of 10 Hz.
Note!
Process data normalisation is described in detail in the corresponding Operating Instructions.
14-24 BA2175 EN 2.0 L

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14 Appendix
14.3.5 LAD32 - LENZE_EXP

Preparations for explicit messages
2175DeN105
• Rung 0000: Data area N10:0 is set zero. This data area is used to save input data of explicit
messages. Here the order is activated via a digital input.
• Rung 0001: The order number (TXID) of an explicit message of the last order is filtered and
saved in data area N7:2.
• Rung 0002: Data area N7:2 is consolidated ” Scanner reset” . Thus the data area N7:2 contains
order number (TXID) and reset command (command = 04) for the scanner to be able to send
the next explicit message.
• Rung 0003: Jump to subroutine 33, change without any conditions
• Rung 0004: Jump to subroutine 34, change without any conditions
L BA2175 EN 2.0
14-25
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DeviceNet
14 Appendix
14.3.6 LAD33 - EXPL_BTW

Explicit message output data
2175DeN106
Bit I:2.0/1 sets the copying command “ COP” . The data are copied from the data word N9:0 to the
scanner DeviceNet output area M0:1 and sent to the DeviceNet device.
The signal for starting the copying process is sent via a digital input. The function “ OSR” converts
the input signal into a pulse (pulse time: one cyle).
The data sent from the scanner as explicit message are prepared in data word N9:0 before they are
copied as order to the scanner DeviceNet output area M0:1.
Explicit message data contents

Example for parameter data transfer of code L-C0012 = 000Chex:
Word High byte Low byte
0 TXID 01 Order number Command 01 Execute block
04 Clear response buffer
1 Port 00 with SLC only 0 Size 0E User data size in byte
2 Service 0E Get attribute single MAC ID DeviceNet node address
10 Set attribute single
3 Class 00 (for Lenze codes) Class 64 (for Lenze codes)
4 Instance 00 (for Lenze codes) Instance 01 (for Lenze codes)
5 Attribute 00 (for Lenze codes) Âttribute 01 (for Lenze codes)
6 L code 00 L code 0C
7 00 Subcode 00
Data area N9:0 is filled as follows:

N9:0 0101 TXID + command Order number = 01 + command = 01 Execute block
N9:1 000E Port + size Port = 00 + size = E = 14 byte
N9:2 0E1C Service + Mac ID Service = 0E = Get single attribute + Mac ID = 1C = 28 node address
N9:3 0064 Class Class = 0064 = 100 with Lenze controllers
N9:4 0001 Instance Instance = 0001 with Lenze controllers
N9:5 0001 Attribute Attribute = 0001 with Lenze controllers
N9:6 000C L code L code = 000C = L-C0012 (acceleration time)
N9:7 0000 Subcode No subcode
14-26 BA2175 EN 2.0 L

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14 Appendix
2175DeN108
Fig. 14-1 Data display in “ Data File N9”
The order response is read from the subroutine LAD 34 (see (^ 14-28) )
L BA2175 EN 2.0
14-27
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DeviceNet
14 Appendix
14.3.7 LAD34 - EXPL_BTR

The scanner content is read.
2175DeN107
Scanner status bit 15 indicates that a response is available in scanner area M1:1. The scanner status
bit activates the copy command and sets a marker bit.
The marker bit activates the scanner reset to ensure the next order.
The scanner input area is copied to the data area N10:0 with 32 words, i.e. the data received from
the scanner are saved. The data can be processed from the data word N10:0.
The scanner must be reset for the next order.
This is achieved by writing the reset command for the corresponding order and TXID, e.g. 0104hex.
The order is reset with TXID 01.
0 TXID = 01 Order No. (e.g. 01) Command = 04 01= Execute block
04= Clear response buffer
The read order response in N10:0 has the following structure:

0 TXID 01 (order No.) Status 01 = Transaction successful
1 Port 00 (with SLC only 0) Size 0E (user data size [byte])
2 Service MAC ID DeviceNet node address
3 L-code 00 L-code 0C
4 00 Subcode 00
5 Value LOW word Value LOW word
6 Value HIGH word Value HIGH word
Response to write request of code L-C0012 = 2.5sec:

N10:0 0101 TXID + status 01 (order No.) + 01(status): Transaction successful
N10:1 0008 Port + size 00 (port) + 08 (size, 8 bytes user data)
N10:2 8E1C Service + Mac ID 8E (service) + 1C (Mac ID): 28 (node address)
N10:3 000C L code 000C: L-C0012 (acceleration time)
N10:4 0000 Subcode No subcode
N10:5 61A8 LOW word value 25000 ≡ 2.5 sec
N10:6 0000 HIGH word value 0000: End of user data
14-28 BA2175 EN 2.0 L

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15 Table of keywords
8200 inverter series, 12-7 F

A Fault elimination, 13-1
Address setting, 11-2 Fieldbus module, Connections, 10-3
Appendix, 14-1
Application, as directed, 1-2 I
Installation
Application conditions, 9-2 Mechanical, 10-2
Assignment of the plug/socket connector, 10-3 Wiring to a host, 10-4
Items supplied, 1-1

B
Basic insulation, 10-4 L
Baud rate, 9-2, 9-3
Labelling, Controller, 1-2
Baud rate setting, 11-2
Bus length Legal regulations, 1-2
CANopen, 9-5 Liability, 1-2
DeviceNet, 9-5
C M
Cable, 10-3 Manufacturer, 1-2
Commissioning, 11-1
Communication medium, 9-2 O
Communication profile, 11-1
Operator, 2-1
Communication profile setting, 11-1
Communication times, 9-3
Connection P
Connections of the fieldbus module, 10-3
Plug-in terminal (5 pole), 10-3
Parameter setting, 12-1
Controller Parameters, L-C0142, 11-4

Personnel, qualified, 2-1
Labelling, 1-2
Plug-in terminal for external supply, Connections, 10-3
D Plug/socket connector, Assignment, 10-3
Definitions, 1-1 Processing times
Dimensions, 9-2 8210, 9-4
8200, 9-3
DIP switch settings, 11-1
in the controller, 9-3
Disposal, 1-2
E R
Electrical isolation, 10-4 Rated data, 9-2
L BA2175 EN 2.0
15-1
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S V
Safety information, 2-1
Layout, 2-2
Other notes, 2-2 Voltage supply, 10-4
Warning of damage to material, 2-2
Warning of damage to persons, 2-2
Operating Instructions, 1-1 Voltage supply, external, 10-3
T
Technical data, 9-1
Technicaldata W
Dimensions, 9-2
General data/Application conditions, 9-2
Telegram time, 9-5 Warranty, 1-2
Transmission cable, 10-3
Troubleshooting, 13-1 Wiring, to a host, 10-4
15-2 BA2175 EN 2.0 L

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L BA2175 EN 2.0
15-3
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15-4 BA2175 EN 2.0 L


Lenze 2175 Fieldbus Module

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Lenze 2175 Fieldbus Module

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Fieldbus module type 2175

Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com

In connection with the unit series as from nameplate data:

What is new / what has been changed ?

Material no. Edition Important Contents

E 2001 Lenze GmbH & Co KG

1 Preface and general information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

2 Safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

3 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

6 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

L BA2175 EN 2.0 iii

6.5 Communication-relevant Lenze codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44

7 Troubleshooting and fault elimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

8 Table of keywords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

9 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

12 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1

13 Troubleshooting and fault elimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1

15 Table of keywords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-1

Preface and general information

1 Preface and general information

1.1 How to use these Operating Instructions

1.1.1 Terminology used

1.1.2 Conventions used

1.2 Items supplied

Items supplied Important

L BA2175 EN 2.0 1-1

Preface and general information

1.2.1 Legal regulations

1-2 BA2175 EN 2.0 L

2.1 Persons responsible for safety

2.2 General safety information

L BA2175 EN 2.0 2-1

2.3 Layout of the safety information

Icons used Signal words

Warning of a general Warning! Warns of potential, very hazardous situations.

Other notes Tip! This note designates general, useful notes.

2-2 BA2175 EN 2.0 L

3.1 General information

3.3 General data and application conditions

3.4 Rated data

Fig. 3-1 Dimensions: 2175 fieldbus module (all dimensions in mm)

3-2 BA2175 EN 2.0 L

3.5.1 Communication times

3.5.1.1 Processing times in the controller

Processing times of 821X/ 8200 vector/ 822X controllers:

Processing time of 93XX controllers

3.5.1.2 Telegram time

Tab. 3-1 Maximum telegram time in [ms]

tT = telegram time [ms]

3-4 BA2175 EN 2.0 L

4.1 Components of the fieldbus module

Pos. Designation Meaning Notes

5 5-pole plug-in connector

Connection Only for 820X and 821X:

7 DIP switch For settings see chapter 5

4.2 Mechanical installation

• Tighten the fixing screw (^ 4-1) Pos. 4)

4-2 BA2175 EN 2.0 L

4.3 Electrical installation

4.3.1 Assignment of the plug/ socket connector

Terminal Designation Explanation

Fig. 4-1 Terminal assignment

4.3.2 Voltage supply

Lenze setting Internal voltage supply

4.3.3 Wiring to a host

4-4 BA2175 EN 2.0 L

4.4 Structure of a CAN bus system (Example)

4.4.1 CAN bus wiring

Please observe our recommendations for signal cables:

Total length up to 1000 m

4-6 BA2175 EN 2.0 L

5.1 Communication profile setting

Communication profile S10

5.2 Controller address setting

5-2 BA2175 EN 2.0 L