Emerson SM-ETHERCAT 0471-0128-02 User Manual

User Guide

SM-EtherCAT

Unidrive SP
Affinity
Digitax ST
Commander SK
Mentor MP

Part Number: 0471-0128-02
Issue: 2

www.controltechniques.com

General Information

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or
incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the
variable speed drive with the motor.

The contents of this guide are believed to be correct at the time of printing. In the interests of commitment
to a policy of continuous development and improvement, the manufacturer reserves the right to change the
specification of the product or its performance, or the content of the guide without notice.

All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means,
electrical or mechanical including, photocopying, recording or by an information storage or retrieval system,
without permission in writing from the publisher.

Environmental Statement

Control Techniques is committed to minimising the environmental impacts of its manufacturing operations
and of its products throughout their life cycle. To this end, we operate an Environmental Management
System (EMS) which is certified to the International Standard ISO 14001. Further information on the EMS,
our Environment Policy and other relevant information is available on request, or can be found at
www.greendrives.com.

The electronic variable speed drives manufactured by Control Techniques have the potential to save
energy and (through increased machine/process efficiency) reduce raw material consumption and scrap
throughout their long working lifetime. In typical applications, these positive environmental effects far
outweigh the negative impacts of product manufacture and end-of-life disposal.

Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded
but should instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the
products easy to dismantle into their major component parts for efficient recycling. Many parts snap
together and can be separated without the use of tools, whilst other parts are secured with conventional
fasteners. Virtually all parts of the product are suitable for recycling.

Product packaging is of good quality and can be re-used. Large products are packed in wooden crates,
while smaller products come in strong cardboard cartons which themselves have a high-recycled fibre
content. If not re-used, these containers can be recycled. Polythene, used on the protective film and bags
from wrapping product, can be recycled in the same way. Control Techniques' packaging strategy favours
easily recyclable materials of low environmental impact, and regular reviews identify opportunities for
improvement.
When preparing to recycle or dispose of any product or packaging, please observe local legislation and
best practice.

Software Statement

This Solutions Module (SM) is supplied with the latest software version. When retro-fitting to an existing
system, all software versions should be verified to confirm the same functionality as Solutions Modules of
the same type already present. This also applies to products returned from a Control Techniques Service
Centre or Repair Centre. If there is any doubt please contact the supplier of product.
The software version of the Solutions Module can be identified by looking at Pr MM.02 and Pr MM.51,
where MM is the relevant menu number for the Solutions Module slot being used.
See Pr MM.02 and Pr MM.51 description later in this manual for more information.
The software version takes the form of xx.yy.zz, where Pr MM.02 displays xx.yy and Pr MM.51 displays zz
(e.g. for software version 01.01.00 Pr 15.02 will display 1.01 and Pr 15.51 will display 0).

REACH legislation

EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals
(REACH) requires the supplier of an article to inform the recipient if it contains more than a specified
proportion of any substance which is considered by the European Chemicals Agency (ECHA) to be a
Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for compulsory
authorisation.

For current information on how this requirement applies in relation to specific Control Techniques products,
please approach your usual contact in the first instance. Control Techniques position statement can be
viewed at:

http://www.controltechniques.com/REACH

Copyright : © March 2009 Control Techniques Ltd.
Issue Number : 2

Contents

1 Safety Information ..........................................................5

1.1 Warnings, cautions and notes ...................................................................... 5

1.2 Electrical safety - general warning ...............................................................5

1.3 System design and safety of personnel ....................................................... 5

1.4 Environmental limits .....................................................................................6

1.5 Compliance with regulations ........................................................................6

1.6 Motor ............................................................................................................6

1.7 Adjusting parameters ...................................................................................6

1.8 General safety considerations for remote operation .................................... 7

2 Introduction ....................................................................8

2.1 Features .......................................................................................................8

2.2 Introduction to SM-EtherCAT ....................................................................... 8

2.3 What is EtherCAT? ......................................................................................8

2.4 Solution module identification ......................................................................8

2.5 Conventions used in this guide ....................................................................9

3 Mechanical Installation ................................................10

3.1 General Installation ....................................................................................10

4 Electrical Installation ...................................................11

4.1 SM-EtherCAT module information ............................................................. 11

4.2 Module grounding ...................................................................................... 11

4.3 Network topology ....................................................................................... 12

4.4 Minimum node-to-node cable length .......................................................... 12

5 Getting Started .............................................................13

5.1 Quick start guide ........................................................................................13

5.2 Quick start flowchart ..................................................................................17

5.3 Saving parameters to the drive ..................................................................18

5.4 Re-initialising the SM-EtherCAT ................................................................18

5.5 Re-initialise all Solutions Modules ............................................................. 18

6 Protocols .......................................................................19

6.1 CANopen over EtherCAT (CoE) ................................................................19

7 Drive profile (DSP-402) support ..................................28

7.1 0x6040 Controlword ................................................................................... 28

7.2 0x6041 Statusword .................................................................................... 29

7.3 Common profile features ............................................................................29

7.4 Interpolated position mode ......................................................................... 39

7.5 vl velocity mode .........................................................................................41

7.6 Profile Torque mode ..................................................................................46

7.7 Homing Mode ............................................................................................. 47

8 Advanced features .......................................................55

8.1 Distributed clocks .......................................................................................55

8.2 SM-EtherCAT protocol support .................................................................. 55

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9 Diagnostics ...................................................................56

9.1 Module identification parameters ...............................................................56

9.2 Network configuration objects ....................................................................57

9.3 Diagnostic parameters ............................................................................... 58

9.4 Drive trip display codes .............................................................................. 59

9.5 SM-EtherCAT module temperature ........................................................... 59

9.6 SM-EtherCAT serial number ......................................................................59

9.7 SM-EtherCAT error codes ......................................................................... 60

9.8 Critical task % free .....................................................................................61

9.9 Worst case critical task % free ...................................................................61

9.10 FLASH file system % free .......................................................................... 61

9.11 Updating SM-EtherCAT firmware .............................................................. 61

10 Quick Reference ...........................................................62

11 Glossary Of Terms .......................................................65

4 SM-EtherCAT User Guide

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1 Safety Information

Information

Safety

1.1 Warnings, cautions and notes

A Warning contains information, which is essential for avoiding a safety hazard.

WARNING

A Caution contains information, which is necessary for avoiding a risk of damage to the
product or other equipment.

CAUT ION

NOTE

A Note contains information, which helps to ensure correct operation of the product.

1.2 Electrical safety - general warning

The voltages used in the drive can cause severe electrical shock and/or burns, and
could be lethal. Extreme care is necessary at all times when working with or adjacent to
the drive.

Specific warnings are given at the relevant places in this user guide.

1.3 System design and safety of personnel

The drive is intended as a component for professional incorporation into complete
equipment or a system. If installed incorrectly, the drive may present a safety hazard.

The drive uses high voltages and currents, carries a high level of stored electrical
energy, and is used to control equipment which can cause injury.

Close attention is required to the electrical installation and the system design to avoid
hazards, either in normal operation or in the event of equipment malfunction. System
design, installation, commissioning / start up and maintenance must be carried out by
personnel who have the necessary training and experience. They must read this safety
information and this user guide carefully.

The STOP and SECURE DISABLE / SAFE TORQUE OFF functions of the drive do not
isolate dangerous voltages from the output of the drive or from any external option unit.
The supply must be disconnected by an approved electrical isolation device before
gaining access to the electrical connections.

With the sole exception of the SECURE DISABLE / SAFE TORQUE OFF function,
none of the drive functions must be used to ensure safety of personnel, i.e. they
must not be used for safety-related functions.

The SECURE DISABLE / SAFE TORQUE OFF function is only available as standard on
the Unidrive SP / Digitax ST. The Affinity, Commander SK and Mentor MP drives do not
have such a feature.

The SECURE DISABLE function on Unidrive SP and the SAFE TORQUE OFF function
of the Digitax ST meet the requirements of EN954-1 category 3 for the prevention of
unexpected starting of the drive. They may be used in a safety-related application. The

system designer is responsible for ensuring that the complete system is safe and
designed correctly according to the relevant safety standards.

Introduction

Mechanical

Installation

Installation

Electrical

Getting Started Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

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SM-EtherCAT User Guide 5
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Careful consideration must be given to the functions of the drive which might result in a
hazard, either through their intended behavior or through incorrect operation due to a
fault. In any application where a malfunction of the drive or its control system could lead
to or allow damage, loss or injury, a risk analysis must be carried out, and where
necessary, further measures taken to reduce the risk - for example, an over-speed
protection device in case of failure of the speed control, or a fail-safe mechanical brake
in case of loss of motor braking.

1.4 Environmental limits

Instructions in the Unidrive SP User Guide, Mentor MP User Guide, Affinity User Guide,
Commander SK Getting Started Guide, Commander SK Technical Data Guide, Digitax
ST Getting Started Guide and Digitax ST Technical Data Guide regarding transport,

storage, installation and use of the drive must be complied with, including the specified
environmental limits. Drives must not be subjected to excessive physical force.

1.5 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such as national
wiring regulations, accident prevention regulations and electromagnetic compatibility
(EMC) regulations. Particular attention must be given to the cross-sectional areas of
conductors, the selection of fuses or other protection, and protective ground
connections.

The Unidrive SP User Guide, Mentor MP User Guide, Affinity User Guide, Commander

SK

Technical Data Guide and Digitax ST Technical Data Guide contain instructions for

achieving compliance with specific EMC standards.

Within the European Union, all machinery in which this product is used must comply
with all relevant safety and EMC directives applicable to the installation.

1.6 Motor

Ensure the motor is installed in accordance with the manufacturer’s recommendations.
Ensure the motor shaft is not exposed.

Standard squirrel cage induction motors are designed for single speed operation. If it is
intended to use the capability of the drive to run a motor at speeds above its designed
maximum, it is strongly recommended that the manufacturer is consulted first.

Low speeds may cause the motor to overheat because the cooling fan becomes less
effective. The motor should be installed with a protection thermistor. If necessary, an
electric forced vent fan should be used.

The values of the motor parameters set in the drive affect the protection of the motor.
The default values in the drive should not be relied upon.

It is essential that the correct value is entered in the motor rated current parameter,
Pr

5.07 (or Pr 0.46 in Unidrive SP, Mentor MP, Affinity and Digitax ST, or Pr 0.06 in

Commander SK). This affects the thermal protection of the motor.

1.7 Adjusting parameters

Some parameters and/or objects have a profound effect on the operation of the drive.
They must not be altered without careful consideration of the impact on the controlled
system. Measures must be taken to prevent unwanted changes due to error or
tampering especially if a remote user can access the drive parameters.

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1.8 General safety considerations for remote operation

SM-EtherCAT enables the possibility of remotely controlling a machine from a distance.
It is vital that when connecting to a machine remotely, adequate safety procedures are
implemented to prevent damage to the machine or injury to personnel.

Any connection to a live system has the possibility of altering the state of the machine,
adequate procedures must be implemented to cover this situation.

It is the responsibility of the machine builder to ensure that such a system is safe
and complies with current legislation.

Information

Safety

Introduction

Mechanical

Installation

Installation

Electrical

Getting Started Protocols

Drive profile (DSP-402)

support

SM-EtherCAT User Guide 7
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features

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2 Introduction

2.1 Features

• Standard RJ45 connectivity with support for shielded twisted pair.

• Dual 100Mbps EtherCAT interfaces for use in line topologies i.e. daisy chaining.

• Supports the Unidrive SP drives range, Mentor MP, Affinity, Digitax ST and
Commander SK.

• Control loop synchronisation.

• Control cycle times down to 250µs.

• CANopen over EtherCAT (CoE) which includes:

• Support of CANopen DSP-402 (Device Profile for Drives and Motion)

• Interpolated position mode

• Velocity mode

• Profile torque mode

• Two transmit and two receive PDOs.

• SDO access to all profile objects and drive parameters.

2.2 Introduction to SM-EtherCAT

SM-EtherCAT is a Solutions Module that enables the Control Techniques range of
variable speed drives to be connected to an EtherCAT network as a slave device. It can
be used in a variety of applications, from those requiring accurate synchronization and
precise motion control, to those where ease of use and open loop control are
appropriate.

2.3 What is EtherCAT?

EtherCAT is an open high performance Ethernet-based fieldbus system that overcomes
the system limitations of other Ethernet solutions. The Ethernet packet is no longer
received, then interpreted and copied as process data at every connection; instead the
Ethernet frame is processed on the fly. The development goal of EtherCAT was to apply
Ethernet to automation applications that require short data update times (also called
cycle times) with low communication jitter (for synchronization purposes) and low
hardware costs. Typical application fields for EtherCAT are machine controls (e.g.
semiconductor tools, metal forming, packaging, injection moulding, assembly systems,
printing machines, robotics and many others).

2.4 Solution module identification

The SM-EtherCAT can be identified by:

1. The label located on the underside of the Solutions Module.

2. The colour coding across the front of the SM-EtherCAT (brown-red).

Figure 2-1 SM-EtherCAT label

Solutions Module
name

SM-Ether CAT

Hardware
issue
number

Revisio n:0 stdJ41

Ser N o : 3000005001

Customer
and date code

Serial number

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2.4.1 Date code format

The date code is split into two sections: a letter followed by a number.

The letter indicates the year and the number indicates the week number (within the
year) in which the Solutions Module was built.

The letters are alphabetical in order, starting with A in 1991 (B in 1992, C in 1993 etc.).

Example:

A date code of Q46 would correspond to week 46 of year 2007.

2.5 Conventions used in this guide

The configuration of the host drive and Solutions Module is done using menus and
parameters. A menu is a logical collection of parameters that have similar functionality.
In the case of a Solutions Module, the parameters will appear in menu 15 for the
Commander SK, in menu 15 or 16 for Affinity and in menu 15, 16 or 17 for the Unidrive
SP, Digitax ST and Mentor MP depending on the slot the module is fitted into. The menu
is determined by the number before the decimal point. The method used to determine
the menu or parameter is as follows:

•Pr xx.00 - signifies any menu and parameter number 00.

•Pr MM.xx - where MM signifies the menu allocated to the Solution Module
(this could be 15, 16 or 17 on the Unidrive SP, Digitax ST or Mentor MP, 15 or
16 on the Affinity, but will always be 15 on the Commander SK) and xx
signifies the parameter number.

NOTE

All references in this manual to SM-Applications/Plus should also extend to SM-Applica­tions Lite/Lite V2. The exceptions to this are references to SM-Applications/Plus input/
output, CTSync or the RS485 port, as these are not supported on SM-Applications Lite/
Lite V2. For full details of the differences see the SM-Applications Modules and Motion
Processors User Guide.

Information

Safety

Introduction

Mechanical

Installation

Installation

Electrical

Getting Started Protocols

Drive profile (DSP-402)

support

NOTE

It is strongly recommended that the latest firmware be used where possible to ensure
that all features are supported.

SM-EtherCAT User Guide 9
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features

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3 Mechanical Installation

Before installing or removing a Solutions Module in any drive, ensure the AC supply has
been disconnected for at least 10 minutes and refer to

WARNING

3.1 General Installation

page 5. If using a DC bus supply ensure this is fully discharged before working on any
drive or Solutions Module.

The installation of a Solutions Module is illustrated in Figure 3-1.

Figure 3-1 Fitting a Solutions Module

2

The Solutions Module connector is located on the underside of the module (1). Push
this into the Solutions Module slot located on the drive until it clicks into place (2). Note
that some drives require a protective tab to be removed from the Solutions Module slot.
For further information, refer to the appropriate drive manual.

Chapter 1 Safety Information on

1

10 SM-EtherCAT User Guide

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4 Electrical Installation

Information

Safety

4.1 SM-EtherCAT module information

4.1.1 Bus media

The SM-EtherCAT option module incorporates two x 100 BASE-TX RJ45 interfaces.

4.1.2 Cabling considerations

To ensure long-term reliability it is recommended that any cables used to connect a
system together be tested using a suitable Ethernet cable tester, this is of particular
importance when cables are constructed on site.

4.1.3 Cable

Cables should be shielded and as a minimum, meet TIA Cat 5e requirements.

NOTE

4.1.4 Maximum network length

NOTE

Cabling issues are the single biggest cause of network downtime. Ensure cabling is
correctly routed, wiring is correct, connectors are correctly fitted and any switches or
routers used are rated for industrial use. Office grade Ethernet equipment does not
generally offer the same degree of noise immunity as equipment intended for industrial
use.

The main restriction imposed on Ethernet cabling is the length of a single segment of
cable. The SM-EtherCAT module has two 100BASE-TX Ethernet ports, which support
segment lengths of up to 100m. This means that the maximum cable length which can
be used between one SM-EtherCAT port and another 100BASE-TX port is 100m
however it is not recommended that the full 100m cable length is used. The total
network length is not restricted by the Ethernet standard but depends on the number of
devices on the network and the transmission media (copper, fiber optic, etc.).

The EtherCAT system designer must consider the impact that the selected network
structure will have on performance.

Introduction

Mechanical

Installation

Installation

Electrical

Getting

Star ted

Protocols

Drive profile (DSP-402)

support

Advanced

features

4.2 Module grounding

SM-EtherCAT is supplied with a grounding tag on the module that should be connected
to the closest possible grounding point using the minimum length of cable. This will
greatly improve the noise immunity of the module.

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Diagnostics

Reference

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4.3 Network topology

Control Techniques recommend implementing daisy chaining on EtherCAT networks
(see

Figure 4-1). Other Ethernet network topologies can be used but care must be taken

to ensure that the system still operates within the constraints specified by the designer.

Figure 4-1 SM-EtherCAT daisy chain network topology

Master / PLC

Commander SK

SM -

EtherCAT

Unidrive SP Digitax ST

SM -

EtherCAT

4.4 Minimum node-to-node cable length

There is no minimum length of cable recommended in the Ethernet standards. To avoid
possible problems it is recommended that you allow sufficient cable length to ensure
good bend radii on cables and avoid unnecessary strain on connectors.

I/ O

SM -

EtherCAT

12 SM-EtherCAT User Guide

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5 Getting Started

Information

Safety

5.1 Quick start guide

This section is intended to provide a generic guide for setting up SM-EtherCAT with a
master/controller PLC. It will cover the basic steps required to get cyclic data
communicating using the CANopen over EtherCAT (CoE) protocol on the SM-EtherCAT
module.

5.1.1 SM-EtherCAT version compatibility

Table 5.1 SM-EtherCAT version compatibility

Drive Type Drive Firmware SM-EtherCAT firmware

Unidrive SP V01.08.00 or later V01.00.00 or later

Affinity V01.02.00 or later V01.00.00 or later

Digitax ST V01.02.00 or later V01.00.00 or later

Commander SK V01.06.00 or later V01.00.00 or later

Mentor MP V01.00.00 or later V01.02.00 or later

For the purpose of the example this section will follow the steps required to set up cyclic
communications using one RxPDO and two TxPDOs. These PDOs will consist of the
mappings shown in

Table 5.2 PDO test mappings

Mapping 1 0x6040 (controlword)

Mapping 2 0x6042

Mapping 3 Pr 20.21 (32-bits) N/A N/A

NOTE

It is strongly recommended that the latest firmware be used where possible to ensure
that all features are supported.

Due to the large number of different masters that support CoE, details cannot be
provided for a specific master. Generic support is available through your supplier or
local Control Techniques Drive Centre. Before contacting your supplier or local Control
Techniques Drive Centre for support please ensure you have read
9 Diagnostics on page 56 of this manual and have checked that the SDO/PDO
configurations are correct.

5.1.2 SM-EtherCAT XML file

Control Techniques provides an EtherCAT device description file (Control Techniques
SM-EtherCAT.xml). This file provides the master with information about the SM­EtherCAT module to aid with its configuration. The file can be downloaded from the
Control Techniques CTSupport.com website or from your local Control Techniques
Drive Centre or supplier. It should be placed in the directory specified by the master e.g.
When using TwinCAT this could be C:\TwinCAT\Io\EtherCAT.

NOTE

The master may have to be re-started for the file to be loaded.

Table 5.2:

RxPDO1 TxPDO1 TxPDO6

(16-bits)

(vl_target_velocity)
(16-bits)

0x6041 (statusword)
(16-bits)

0x6064
(position_actual_value)
(32-bits)

Pr 18.22 (16-bits)

Pr 20.21 (32-bits)

section

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Drive profile (DSP-402)

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5.1.3 Configuring the SM-EtherCAT module for cyclic communications

Unlike other Control Techniques fieldbus communication protocols, CoE does not
require that any module parameters be changed in order to achieve communications.
The baud rate of the network is fixed and the module is automatically allocated an
address.

To check that the ethernet cable connected to the SM-EtherCAT module on the drive is
connected correctly, look at the LED on the front of the SM-EtherCAT module relating to
the connector being used, if this light is a solid green color then a link is established with
the master, if this light if off then check the cabling and also check that the master has
started communications.

In the master, scan the network ensuring that the SM-EtherCAT module is connected
correctly to the master. If the network is configured correctly the SM-EtherCAT node(s)
should be visible in the PLC Master.

Decide on the input / output data you wish to send cyclically (objects and/or
parameters).

Cyclic data is implemented on CoE networks by using "Process Data Objects" or PDOs.
Separate data objects are used for receiving (TxPDOs - from the slave to the master)
and transmitting (RxPDOs - from the master to the slave) data.

These PDOs contain the cyclic data (objects and/or parameters), the RxPDOs available
are 1, 2, 6 and 22, the TxPDOs available are 1, 2, 3, 6 and 22 (for more information on
these PDOs including default mappings please see
page 21 and section 6.1.3 TxPDO mappings on page 23).

Figure 5-1 SM-EtherCAT PDO configuration

RxPDO1

PLC

TxPDO1

0x6041

Status word

0x6040

Control word

0x6064 position

actual value

0x6042

vl_target_velocity

section 6.1.2 RxPDO mappings on

Pr 20.21

TxPDO6

Pr 18.22 Pr 20.22

RxPDO1, TxPDO1 and TxPDO6 will need to be enabled in the master. Once enabled
you will need to add mappings to the PDOs.

The format used when mapping objects to PDOs is as follows:

• Index: Object index number (0x0000)

• Sub-index: Object sub-index number (0x00)

• Size: Dependant on the size (in bytes) of the object to be mapped (range: 1-4)

The format of mapping drive parameters to PDO is as follows:

• Index: 0x2000 + menu number

• Sub-index: 0x00 + parameter number

• Size: Dependant on the size (in bytes) of the object to be mapped (range: 1-4)

For example Pr 20.21 would be index 0x2014, sub-index 0x15 and the size would be 4
(the parameter is a 32-bit signed value).

NOTE

The values are normally expressed in hexadecimal, so care must be taken to enter the
correct parameter number.

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For this example the following objects will need to be set in order to achieve the
mappings of the parameters/objects in the PDOs.

Table 5.3 Cyclic data mapping configuration

RxPDO1: TxPDO1: TxPDO6:

Object: 0x1600 Object: 0x1A00 Object: 0x1A05
Sub-index: 0x00 Sub-index: 0x00 Sub-index: 0x00
Size: 1 Size: 1 Size: 1
Value: 3 Value: 2 Value: 2
Sub-index: 0x01 Sub-index: 0x01 Sub-index: 0x01
Size: 4 Size: 4 Size: 4
Value: 0x60400010 Value: 0x60410010 Value: 0x20121610
Sub-index: 0x02 Sub-index: 0x02 Sub-index: 0x02
Size: 4 Size: 4 Size: 4
Value: 0x60420010 Value: 0x60640020 Value: 0x20141620
Sub-index: 0x03

Not Used Not Used

Size: 4
Value: 0x20141520

Information

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Introduction

Mechanical

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Installation

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Getting

Started

NOTE

The format used to define the value of a mapped object is as follows:
Bit 0 to 7: Length of the mapped object in bits (if a gap, bit length of the gap).
Bit 8 to 15: Sub-index of the mapped object (if a gap, zero).
Bit 16 to 31: Index of the mapped object (if a gap, zero).

NOTE

The maximum number of mappings in one PDO is five. There are no restrictions on the
data length of these 5 parameters (i.e. It is possible to map five, 32-bit parameters in
one PDO). It is also possible to use a maximum of 2 x RxPDOs and 2 x TxPDOs.

5.1.4 Configuring the Sync Managers

The Sync manager is used to control the transmission of CANopen PDOs over the
EtherCAT network.

The following objects 0x1C12 - Sync manager 2 PDO assignment (RxPDO) and
0x1C13 - Sync manager 3 PDO assignment (TxPDO) are required to assign PDOs to
the synchronization task. For the purpose of the example assign one RxPDO to sync
manager 2 and two TxPDOs to sync manager 3.

Figure 5-2 SM-EtherCAT sync manager configuration

0x1C12

RxPDO1

0x6040

Control word

PLC

0x1C13

TxPDO1

0x6041

Status word

actual value

vl_target_velocity

0x6064
position

0x6042

TxPDO6

Pr 18.22 Pr 20.22

Pr 20.21

support

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SM-EtherCAT User Guide 15
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Assigning RxPDO to the Sync Manager

To assign RxPDO1 to sync manager 2 PDO assignment set the values below to the
following objects:

• Index: 0x1C12

• Sub index: 0x00

•Size: 1

• Value: 1

Setting object 0x1C12, sub-index 0 to a value of 1 (as above) indicates that one RxPDO
will be assigned to the sync manager 2 assignment.

• Index: 0x1C12

• Sub index: 0x01

•Size: 2

• Value: 0x1600

Setting object 0x1C12, sub-index 1 to a value of 0x1600 (as above) maps RxPDO1 to
the process data output sync.

Assigning TxPDO to the Sync Manager

To assign TxPDO1 to sync manager 3 PDO assignment set the values below to the
following objects:

• Index: 0x1C13

• Sub index: 0x00

•Size: 1

• Value: 2

Setting object 0x1C13, sub-index 0 to a value of 2 (as above) indicates that two
TxPDO's will be assigned to the sync manager 3 assignment.

• Index: 0x1C13

• Sub index: 0x01

•Size: 2

• Value: 0x1A00

• Index: 0x1C13

• Sub index: 0x02

•Size: 2

• Value: 0x1A05

Setting object 0x1C13, sub-index 1 to a value of 0x1A00 and sub-index 2 to a value of
0x1A05 (as above) maps TxPDO1 and TxPDO6 to the process data input sync.

Download the configuration to the master.

After downloading the configuration to the master the LED(s) on the front of the SM­EtherCAT should flash, depending on the port(s) connected.

Values written to parameters over RxPDOs should now be viewable using the drive’s
keypad so long as the master has put the slave into the Operational state; also,
parameter values changed using the drive keypad will be updated on the master.

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5.2 Quick start flowchart

Figure 5-3 details the steps required to achieve cyclic communications on the EtherCAT
network. This flowchart should be used as the starting point for all configurations.

Figure 5-3 Quick start flowchart

START

Information

Safety

Introduction

Mechanical

Installation

Ensure the Control Techniques .xml file is in the appropriate

folder on the hard drive of the master

Check the LED status of the SM-EtherCAT module

In the master, scan the EtherCAT network

Select required PDOs

Configure the PDOs with the mappings required

Configure the Sync managers using the required PDOs

Download or activate the configuration to the master

Installation

Started

support

features

Reference

Electrical

Getting

Protocols

Drive profile (DSP-402)

Advanced

Diagnostics

Quick

Check the front of the SM-EtherCAT module to ensure that the

LED relating to the connection being used is flashing, this

confirms that communications are functioning

END

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5.3 Saving parameters to the drive

On the Unidrive SP, Affinity, Digitax ST and Commander SK to avoid loss of the
configured settings when the drive is powered down it is necessary to write 1000 to
Pr MM.00 followed by pressing the reset button to perform a drive save. On Mentor MP
Pr MM.00 needs to be set to a value of ‘SAVE’ followed by pressing the reset button.

To store drive parameters:

•Set Pr MM.00 to 1000 (Mentor MP Pr MM.00=SAVE).

• Press the red RESET button.

The drive will store all parameters (except Menu 20) but the operation of the SM­EtherCAT will not be affected. Changes made to the SM-EtherCAT configuration
parameters will not take effect until the SM-EtherCAT is reset.

NOTE

Unidrive-SP, Mentor MP, Affinity and Digitax ST: Menu 20 applications parameters may
be saved if an Application Module is fitted, menu 20 is stored in the Application
Module’s memory. See the relevant Application Module documentation for more
information. If the drive is running on backup supply only, Pr MM.00 must be set to 1001
to perform a save.

NOTE

This saves only drive and module parameters and not SM-EtherCAT related objects.

5.4 Re-initialising the SM-EtherCAT

Table 5.4 SM-EtherCAT re-initialise

SM-EtherCAT re-initialise

Default 0 (OFF)

Pr MM.32

Range 0 (OFF) to 1 (ON)

Access RW

Changes to the SM-EtherCAT configuration in menu 15, 16 or 17 parameters (menu 15
and 16 on Affinity, menu 15 on Commander SK) will not take effect until the SM­EtherCAT has been re-initialised.

To re-initialise SM-EtherCAT:

1. Set Pr MM.32 to ON.

2. When the sequence has been completed, Pr MM.32 will be reset to OFF.

3. The SM-EtherCAT will re-initialise using the updated configuration.

NOTE

The above sequence does NOT store the SM-EtherCAT configuration parameters in the
drive or the SM-EtherCAT’s internal FLASH memory. This parameter will change back to
off immediately and as such the change may not be visible on the display.

5.5 Re-initialise all Solutions Modules

To re-initialise all Solutions Modules fitted on a Unidrive SP, Affinity or Digitax ST:

1. Set Pr MM.00 to 1070.

2. Press the red RESET button on the drive.

NOTE

This sequence does NOT store the SM-EtherCAT configuration parameters in the drive
or the SM-EtherCAT FLASH memory.

NOTE

On Commander SK drives, Pr 00.00 is not available.

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6 Protocols

Information

Safety

6.1 CANopen over EtherCAT (CoE)

The CoE protocol over EtherCAT uses a modified form of the CANopen object
dictionary. This is specified in

Table 6.1 CoE object dictionary

Index Object dictionary area

0x0000 to 0x0FFF Data type area

0x1000 to 0x1FFF CoE communication area

0x2000 to 0x5FFF Manufacturer specific area

0x6000 to 0x9FFF Profile area

0xA000 to 0xFFFF Reserved area

The object description format describes object related information such as size, range
and descriptions and is detailed in

Table 6.2 Object description format

<index> <object name>

Access: <access> Range: <range> Size: <size> Unit: <unit>

Default: <default>

Description: <description>

For entries having sub-indices:

Table 6.3 Object description format with sub-indices

<index> <object name>

Sub-index 0

Access: <access> Range: <range> Size: <size> Unit: <unit>

Default: <default>

Description: <description>

Sub-index 1

Access: <access> Range: <range> Size: <size> Unit: <unit>

Default: <default>

Description: <description>

...

Access: <access> Range: <range> Size: <size> Unit: <unit>

Default: <default>

Description: <description>

Sub-index n-1

Access: <access> Range: <range> Size: <size> Unit: <unit>

Default: <default>

Description: <description>

Sub-index n

Access: <access> Range: <range> Size: <size> Unit: <unit>

Default: <default>

Description: <description>

Table 6.1:

Table 6.2:

Introduction

Mechanical

Installation

Installation

Electrical

Getting Started

Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

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Index

Definitions:

• <index> : A signed 16-bit number. This is the index of the object dictionary
entry specified in four hexadecimal characters.

• <access> : A value describing how the object may be accessed (RW = read/
write, RO = read-only and WO = write-only).

• <size> : The size of the object/sub-index in bytes.

• <unit> : The physical unit (e.g. ms, counts per second etc.).

6.1.1 CoE communication area

The first set of objects specify general communication settings.

Table 6.4 Device type object

0x1000 Device type

Access: RO Range: N/A Size: 4 bytes Unit: N/A

Default: 0x00030192

Description: The primary CoE functional profile is DSP-402, the value of the object is defined as follows:

Bits 0 to 15 (Device profile number): 402 (0x192)
Bit 16 (Frequency converter): x
Bit 17 (Servo drive): y
Bit 18 (Stepper motor): 0
Bit 24 (DC drive - manufacturer specific : z
Bits 25 to 31 (Manufacturer specific): 0

This value will depend on the drive operating mode and/or type. On a Unidrive SP in open­loop or closed-loop mode or a Mentor MP in closed-loop mode, bit 16 will be set, while bits
17 and 24 will be cleared. On a Unidrive SP in Servo mode or a Digitax ST, bit 17 will be
set, while bits 16 and 24 will be cleared.

Table 6.5 Identity object

0x1018 Identity object

Sub-index 0

Access: RO Range: N/A Size: 1 byte Unit: N/A

Default: 4

Description: The nu mber of the last sub-index in this object.

Sub-index 1

Access: RO Range: N/A Size: 4 bytes Unit: N/A

Default: 0x000000F9

Description: This contains the EtherCAT Technology Group vendor ID for Control Techniques

Sub-index 2

Access: RO Range: N/A Size: 4 bytes Unit: N/A

Default: See Pr MM.01.

Description: This has the value of the option ID code.

Sub-index 3

Access: RO Range: N/A Size: 4 bytes Unit: N/A

Default: High word: Pr MM.02. Low word: Pr MM.51.

Description: Contains the option module software version number (the major and minor version

Sub-index 4

Access: RO Range: N/A Size: 4 bytes Unit: N/A

Default: See Pr MM.35.

Description: Contains the option hardware serial number.

(0x000000F9).

parameter are placed in the high word of this object, and the sub-version parameter is the
low word).

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6.1.2 RxPDO mappings

Objects with indices from 0x1600 to 0x17FF specify receive PDO mappings. The
mappings from DSP-402 are included as standard (the PDO mappings will have the
following default values):

Table 6.6 RxPDO mappings

PDO number Mapping object index Mapping object name

1 0x6040 controlword

2 0x6040

6 0x6040

The RxPDO mappings objects are defined below. Each mapping object has the
maximum number of sub-indices (each representing an object mapped to a PDO)
defined in the XML configuration file (specified as “CF” in the descriptions below).

Table 6.7 RxPDO mapping 1

0x1600 Receive PDO mapping 1

Sub-index 0: Number of mapped objects

Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A

Default: 1

Description: The number of mapped objects in thie PDO

Sub-index 1: 1st mapped object

Access: RW Range: 0 to 0xFFFFFFFF Size: 4 bytes Unit: N/A

Default: 0x60400010 - the DSP-402 control word (0x6040)

Description: A mapping to an object with the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit parameter would have a length
of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.

0x6060

0x6042

controlword

modes of operation

controlword

vl_target _velocity

Information

Safety

Introduction

Mechanical

Installation

Installation

Electrical

Getting Started

Protocols

Drive profile (DSP-402)

support

SM-EtherCAT User Guide 21
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Advanced

features

Diagnostics

Reference

Quick

Glossary Of

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