Emerson SM-ETHERCAT 0471-0128-02 User Manual

Download

Page 1

User Guide

SM-EtherCAT

Unidrive SP Affinity Digitax ST Commander SK Mentor MP

Part Number: 0471-0128-02 Issue: 2

www.controltechniques.com

Page 2

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

Page 3

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

SM-EtherCAT User Guide 3 Issue Number: 2 www.controltechniques.com

Page 4

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

www.controltechniques.com Issue Number: 2

Page 5

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

Electrical

Getting Started Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Te rm s

Index

SM-EtherCAT User Guide 5 Issue Number: 2 www.controltechniques.com

Page 6

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

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.

6 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 7

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

Electrical

Getting Started Protocols

Drive profile (DSP-402)

support

SM-EtherCAT User Guide 7 Issue Number: 2 www.controltechniques.com

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Te rm s

Index

Page 8

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

8 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 9

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

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 Issue Number: 2 www.controltechniques.com

features

Reference

Te rm s

Advanced

Diagnostics

Quick

Glossary Of

Index

Page 10

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

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

10 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 11

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

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.

SM-EtherCAT User Guide 11 Issue Number: 2 www.controltechniques.com

Diagnostics

Reference

Quick

Glossary Of

Ter m s

Index

Page 12

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

www.controltechniques.com Issue Number: 2

Page 13

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

Installation

Started

support

features

Reference

Ter m s

Introduction

Mechanical

Electrical

Getting

Protocols

Drive profile (DSP-402)

Advanced

Diagnostics

Quick

Glossary Of

Index

SM-EtherCAT User Guide 13 Issue Number: 2 www.controltechniques.com

Page 14

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.

14 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 15

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

Safety

Introduction

Mechanical

Installation

Electrical

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

features

Reference

Ter m s

Protocols

Drive profile (DSP-402)

Advanced

Diagnostics

Quick

Glossary Of

Index

SM-EtherCAT User Guide 15 Issue Number: 2 www.controltechniques.com

Page 16

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.

16 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 17

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

SM-EtherCAT User Guide 17 Issue Number: 2 www.controltechniques.com

Glossary Of

Ter m s

Index

Page 18

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.

18 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 19

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

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

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

Electrical

Getting Started

Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Ter m s

SM-EtherCAT User Guide 19 Issue Number: 2 www.controltechniques.com

Index

Page 20

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).

20 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 21

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

Electrical

Getting Started

Protocols

Drive profile (DSP-402)

support

SM-EtherCAT User Guide 21 Issue Number: 2 www.controltechniques.com

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Ter m s

Index

Page 22

Table 6.8 RxPDO mapping 2

0x1601 Receive PDO mapping 2

Sub-index 0: Number of mapped objects

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

Default: 2

Description: The number of mapped objects in this 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.

Sub-index 2: 2nd mapped object

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

Default: 0x60600008 - the DSP-402 modes of operation object (0x6060)

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.

Table 6.9 RxPDO mapping 6

0x1605 Receive PDO mapping 6

Sub-index 0: Number of mapped objects

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

Default: 2

Description: The number of mapped objects in this 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.

Sub-index 2: 2nd mapped object

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

Default: 0x60600008 - the DSP-402 modes of operation object (0x6060)

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.

22 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 23

Table 6.10 RxPDO mapping 22

0x1615 Receive PDO mapping 22

Sub-index 0: Number of mapped objects

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

Default: 0

Description: The number of mapped objects in thie PDO

Sub-indices 1 to 255: 1st to 255th mapped objects in this PDO.

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

Default: 0

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.

Information

Safety

Introduction

Mechanical

Installation

Electrical

6.1.3 TxPDO mappings

Objects with the indices from 0x1A00 to 0x1BFF specify transmit PDO mappings. The following mappings from DSP-402 are included as standard:

Table 6.11 TxPDO mappings

PDO number Mapping object index Mapping object name

1 0x6041 statusword

2 0x6041

3 0x6041

6 0x6041

The PDO mapping 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.

Table 6.12 TxPDO mapping 1

0x1A00 Transmit 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: 0x60410010 - the DSP-402 status word (0x6041)

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.

0x6061

0x6064

0x6044

statusword

modes_of_operation_display

statusword

position_actual_value

statusword

vl_velocity_actual_value

Getting Started

Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Ter m s

SM-EtherCAT User Guide 23 Issue Number: 2 www.controltechniques.com

Index

Page 24

Table 6.13 TxPDO mapping 2

0x1A01 Transmit PDO mapping 2

Sub-index 0: Number of mapped objects

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

Default: 2

Description: The number of mapped objects in this PDO.

Sub-index 1: 1st mapped object

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

Default: 0x60410010 - the DSP-402 status word (0x6041)

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.

Sub-index 2: 2nd mapped object

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

Default: 0x60610008 - the DSP-402 modes of operation display object (0x6061)

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.

Table 6.14 TxPDO mapping 3

0x1A02 Transmit PDO mapping 3

Sub-index 0: Number of mapped objects

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

Default: 2

Description: The number of mapped objects in this PDO.

Sub-index 1: 1st mapped object

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

Default: 0x60410010 - the DSP-402 status word (0x6041)

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.

Sub-index 2: 2nd mapped object

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

Default: 0x60640020 - the DSP-402 actual position (0x6064)

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.

24 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 25

Table 6.15 TxPDO mapping 6

0x1A05 Transmit PDO mapping 6

Sub-index 0: Number of mapped objects

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

Default: 2

Description: The number of mapped objects in this PDO.

Sub-index 1: 1st mapped object

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

Default: 0x60410010 - the DSP-402 status word (0x6041)

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.

Sub-index 2: 2nd mapped object

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

Default: 0x60440010 - the DSP-402 vl_control_effort (0x6044).

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.

Table 6.16 TxPDO mapping 22

0x1A15 Transmit PDO mapping 22

Sub-index 0: Number of mapped objects

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

Default: 0

Description: The number of mapped objects in thie PDO

Sub-indices 1 to 255: 1st to 255th mapped objects in this PDO.

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

Default: 0

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.

Information

Safety

Introduction

Mechanical

Installation

Electrical

Getting Started

Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

SM-EtherCAT User Guide 25 Issue Number: 2 www.controltechniques.com

Reference

Quick

Glossary Of

Ter m s

Index

Page 26

6.1.4 Sync manager configuration

The sync managers are the EtherCAT means for setting access attributes for different areas of memory and triggering or notifying the application when the memory is accessed. The following objects specify how the sync managers (and thus corresponding memory areas) are utilised by the CoE protocol.

Table 6.17 Sync manager communication type object

0x1C00 Sync manager communication type

Sub-index 0 - number of sync manager channels used

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

Default: 4

Description: The number of sync manager protocols used by the CoE protocol.

Sub-index 1 - Usage of sync manager 0

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

Default: 1

Description: Sync manager 0 is used by CoE as the mailbox receive channel (master to slave).

Sub-index 2 - Usage of sync manager 1

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

Default: 2

Description: Sync manager 1 is used by CoE as the mailbox send channel (slave to master).

Sub-index 3 - Usage of sync manager 2

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

Default: 3

Description: Sync manager 2 is used by CoE as the process data output (RxPDOx - master to slave).

Sub-index 4 - Usage of sync manager 3

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

Default: 4

Description: Sync manager 3 is used by CoE as the process data input (TxPDOs - slave to master).

Table 6.18 Sync manager 0 PDO assignment object

0x1C10 Sync manager 0 PDO assignment

Sub-index 0

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

Default: 0

Description: Number of assigned PDOs. The mailbox received sync manager can never have PDOs

assigned to it.

Table 6.19 Sync manager 1 PDO assignment object

0x1C11 Sync manager 1 PDO assignment

Sub-index 0

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

Default: 0

Description: Number of assigned PDOs. The mailbox send sync manager can never have PDOs

assigned to it.

26 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 27

Table 6.20 Sync manager 2 PDO assignment object

0x1C12 Sync manager 2 PDO assignment

Sub-index 0

Access: RW Range: 0 to 512 Size: 1 byte Unit: N/A

Default: 1

Description: The number of RxPDOs assigned to this sync manager (used for process data output).

Sub-indices 1 to (sub-index 0)

Access: RW Range: 0x1600 to 0x17FF Size: 2 bytes Unit: N/A

Default: 0x1605

Description: The object index of an RxPDO to assign to this sync manager. By default this is assigned

to RxPDO mapping 6 (vl_target_velocity and controlword).

Information

Safety

Introduction

Mechanical

Installation

Table 6.21 Sync manager 3 PDO assignment object

0x1C13 Sync manager 3 PDO assignment

Sub-index 0

Access: RW Range: 0 to 512 Size: 1 byte Unit: N/A

Default: 1

Description: The number of TxPDOs assigned to this sync manager (used for process data input).

Sub-indices 1 to (sub-index 0)

Access: RW Range: 0x1A00 to 0x1BFF Size: 2 bytes Unit: N/A

Default: 0x1A05

Description: The object index of an TxPDO to assign to this sync manager. By default this is assigned to

TxPDO mapping 6 (vl_velocity_actual_value and statusword).

6.1.5 Feedback encoder source

Table 6.22 Feedback encoder source

0x2802 Feedback encoder source

Sub-index 0

Access: RW Range: 0 to 3 Size: 1 byte Unit: N/A

Default: 0

Description: This object specifies the source position for position controller feedback.

Installation

Electrical

Getting Started

Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

SM-EtherCAT User Guide 27 Issue Number: 2 www.controltechniques.com

Glossary Of

Ter m s

Index

Page 28

7 Drive profile (DSP-402) support

SM-EtherCAT supports the following modes of the DSP-402 profile:

• Interpolated position mode

• vl velocity mode

• Profile torque mode

7.1 0x6040 Controlword

This provides the primary method of controlling the behavior of the drive e.g. enabling, disabling, resetting, etc. individual bits are used in combinations (see Table 7.2) to sequence the drive through the state machine described in Figure 7-1.

Table 7.1 Controlword

0x6040 Controlword

Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: N/A

Default: N/A

Description: Provides the primary method of controlling the behavior of the drive.

Table 7.2 Controlword bit functions

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Reserved r oms h fr oms hos eo qs ev so

LEGEND: ms = manufacturer-specific; r = reserved; oms = operation mode specific; h = halt; fr = fault reset; hos = homing operation start; eo = enable operation; qs = quick stop; ev = enable voltage; so = switch on

Table 7.3 Command coding

Command

Shutdown 0 X 1 1 0

Switch on 0 0 1 1 1

Switch on + enable operation

Disable voltage 0 X X 0 X

Quick stop 0 X 0 1 X

Disable operation 0 0 1 1 1

Enable operation 0 1 1 1 1

Table 7.1 describes the format of the control word. The

Bits of the controlword

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0

0 1 1 1 1

Fault reset X X X X

NOTE: Automatic transition to Enable operation state after executing SWITCHED ON state functionality.

28 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 29

7.2 0x6041 Statusword

This provides feedback about the current operating state of the drive. Table 7.4 describes the format of the status word and illustrates how the individual statusword bits are combined to represent the current state of the drive.

Table 7.4 Statusword

0x6041 Statusword

Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: N/A

Default: N/A

Description: This provides feedback about the current operating state of the drive.

Table 7.5 Statusword bit functions

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

ms ha lla tr rm ms w sod qs ve f oe so rtso

LEGEND: ms = manufacturer-specific; ha = homing attained; oms = operation mode specific; ila = internal limit active; tr = target reached; rm = remote; w = warning; sod = switch on disabled; qs = quick stop; ve = voltage enabled; f = fault; oe = operation enabled; so = switched on; rtso = ready to switch on

Table 7.6 State coding

Statusword State

xxxx xxxx x0xx 0000b Not ready to switch on

xxxx xxxx x1xx 0000b Switch on disabled

xxxx xxxx x01x 0001b Ready to switch on

xxxx xxxx x01x 0011b Switched on

xxxx xxxx x01x 0111b Operation enabled

xxxx xxxx x00x 0111b Quick stop active

xxxx xxxx x0xx 1111b Fault reaction active

xxxx xxxx x0xx 1000b Fault

Information

Introduction

Installation

Getting Started Protocols

support

Safety

Mechanical

Electrical

Drive profile (DSP-402)

7.3 Common profile features

7.3.1 Sequencing control

These are the supported objects used to control the drive:

Table 7.7 Sequencing control supported objects

Index Name

0x6040 controlword

0x6041 statusword

0x605B shutdown_option_code

0x605C disable_operation_option_code

0x605A quick_stop_option_code

0x605D halt_option_code

0x605E fault_reaction_option_code

0x6060 modes_of_operation

0x6061 modes_of_operation_display

0x6085 quick_stop_deceleration

SM-EtherCAT User Guide 29 Issue Number: 2 www.controltechniques.com

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Te rm s

Index

Page 30

The behavior of the sequencing control is shown in Figure 7-1 CoE state machine diagram . This state machine indicates how the drive will be controlled. For clarity the Statusword is abbreviated to ‘SW’ in the diagram.

When in the ‘QUICK STOP ACTIVE’ state, the currently selected mode of operation indicates how a quick stop function should be handled. When the drive is stopped, and the Quick stop option code doesn’t indicate that the state should remain at ‘QUICK STOP ACTIVE’, the state will move to ‘SWITCH ON DISABLED’.

When in the ‘OPERATION ENABLED’ or ‘QUICK STOP ACTIVE’ states it is not possible to change the mode_of_operation object. This is to ensure that the motor is stopped before changing the operation mode.

The SM-EtherCAT master device must be in the operational state before the state machine can move from the ‘SWITCH ON DISABLED’ state to the ‘READY TO SWITCH ON’ state. If the master leaves the operational state while the state machine is in the ‘SWITCH ON’, ‘OPERATION ENABLE’ , ‘QUICK STOP ACTIVE’ or ‘READY TO SWITCH ON’ state then the option will transition to the ‘SWITCH ON DISABLED’ state. This implies that the drive will be inhibited and the motor will coast.

30 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 31

Figure 7-1 CoE state machine diagram

Information

Safety

Shutdown

Disable voltage

START

Drive not

tripped

NOT READY TO

SWITCH ON

DISABLED

Shutdown

READY TO

SWITCH ON

Switch On

SWITCHED ON

Enable

operation

OPERATION

ENABLE

Any drive

trip

Pr 10.01 = 1

Pr 10.02 = 0

Quick stop

Shutdown

Disable operation

Disable voltage

Quick stop

Enable

operation

FaultPower disabled

FAULT REACTION

Power enabled

QUICK STOP

ACTIVE

FAULT

Disable voltage

Any drive

trip

Fault reaction complete

Fault reset

Introduction

Mechanical

Installation

Electrical

Getting Started Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Te rm s

SM-EtherCAT User Guide 31 Issue Number: 2 www.controltechniques.com

Index

Page 32

Table 7.8 CoE state machine transition and events

Transition Event(s) Action(s)

0 Automatic transition after power-on or

1 Automatic transition Communication shall be activated

2 Shutdown command from control

3 Switch on command received from

4 Enable operation command received

5 Disable operation command received

6 Shutdown command received from

7 Quick stop or disable voltage command

8 Shutdown command from control

9 Disable voltage command from control

10 Disable voltage or quick stop command

11 Quick stop command from control

12 Automatic transition when the quick

13 Fault signal The configure fault reaction function

14 Automatic transition The drive function shall be disabled; the

15 Fault reset command from control

16 Enable operation command from control

stop function is completed and quick

stop option code 1, 2, 3 or 4 disable

voltage command received from control

device (dependant on the quick stop

device, if the quick stop option code is

reset application

device or local signal

control device or local signal

from control device or local signal

control device or local signal

from control device or local signal

device or local signal

from control device or local signal

device or local signal

option code)

device or local signal

5, 6, 7 or 8

Drive device self-test and/or self

initialisation shall be performed

None

Power section shall be switched on if

not already switched on

Drive function shall be enabled and

clear all internal set-points

Drive function shall be disabled

The high-power shall be switched-off

immediately, and the motor shall be free

to rotate if not braked; additional action

depends on the shutdown option code

None

The high-power shall be switched off

immediately if possible, and the motor

shall be free to rotate if not braked

The high-power shall be switched off

immediately if possible, and the motor

shall be free to rotate if not braked

The high-power shall be switched off

immediately if possible, and the motor

shall be free to rotate if not braked

The quick stop function shall be started

The power section shall be switch off

shall be executed

high-power may be switched off

A reset of the fault condition is carried

out, if no fault exists currently on the

drive device; after leaving the Fault

state, the Fault reset bit in the

controlword shall be cleared by the

The drive function shall be enabled

control device

32 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 33

When the SM-EtherCAT module transitions from the EtherCAT Safe-operational state to the EtherCAT Operational state, a number of drive parameters are set to allow the CoE profiles to control the drive and motor (unless object 0x2805 has been set to disable this). These parameters are set in the following order:

•Pr 6.42 to 0

•Pr 6.43 to On

•Pr 3.22 to 0 (where present)

•Pr 3.23 to On (where present)

•Pr 3.13 to Off (In open-loop operating modes)

•Pr 2.10 to 1

•Pr 2.20 to 1

•Pr 2.02 to On

•Pr 1.04 to 0

•Pr 1.21 to 0

•Pr 1.38 to 0

•Pr 1.08 to Off

•Pr 1.10 to On

•Pr 1.09 to Off

•Pr 1.15 to 1

•Pr 1.14 to 3

These values are set once and not continuously forced. They are not reset when leaving the Operational state. In addition, the option starts to write parameters implicitly mapped by the CoE profiles, when moving to the Operational state.

7.3.2 0x605A Quick stop option code

This object indicates what action is perfomed when the quick stop function is executed. The slow down ramp is the deceleration value of the used mode of operations.

Table 7.9 Quick_stop_option_code

0x605A Quick_stop_option_code

Access: RW Range: 0 to 6 Size: Unsigned 16 Unit: N/A

Default: 2

Description: Specifies what action is performed in the event of a quick stop function. See Table 7.8 CoE

state machine transition and events for more information.

Information

Introduction

Installation

Getting Started Protocols

support

features

Diagnostics

Safety

Mechanical

Electrical

Drive profile (DSP-402)

Advanced

Table 7.10 Quick stop value definitions

Value Definition

0 Disable drive function

1 Slow down on slow down ramp and transit into Switch on disabled

2 Slow down on quick stop ramp and transit into Switch on disabled

5 Slow down on slow down ramp and stay in Quick stop active

6 Slow down on quick stop ramp and stay in Quick stop active

SM-EtherCAT User Guide 33 Issue Number: 2 www.controltechniques.com

Reference

Quick

Glossary Of

Te rm s

Index

Page 34

7.3.3 0x605B Shutdown_option_code

This object is used to control what action is performed if there is a transition from the Operation Enabled state to the Ready To Switch On state.

Table 7.11 Shutdown_option_code

0x605B Shutdown_option_code

Access: RW Range: 0 to 1 Size: Unsigned 16 Unit: N/A

Default: N/A

Description: Used to control what action is performed if there is a transition from the Operation Enabled

state to the Ready To Switch On state.

Table 7.12 Shutdown_option_code values

Value Definition

0 Disable drive function (switch-off the drive power stage)

1 Slow down with slow down ramp; disable the drive function

7.3.4 0x605C Disable_operation_option_code

Disable drive function (switch-off the drive power stage).

This object is used to control what action is performed if there is a transition from the ‘Operation Enabled’ state to the ‘Switched On’ state.

Table 7.13 Disabled_operation_option_code

0x605C Disable_operation_option_code

Access: RW Range: 0 to 1 Size: Unsigned 16 Unit: N/A

Default: N/A

Description: This object is used to control what action is performed if there is a transition from the

Table 7.14 Disable_operation_option_code values

Value Definition

Operation Enabled state to the Switched On state.

0 Disable drive function (switch-off the drive power stage)

1 Slow down with slow down ramp; disable the drive function

7.3.5 0x605E Fault_reaction_option_code

This object is used to control what action is performed when a fault is detected. This object is ignored if the drive is tripped.

Table 7.15 Fault_reaction_option_code

0x605E Fault_reaction_option_code

Access: RW Range: 0 to 2 Size: Unsigned 16 Unit: N/A

Default: N/A

Description: This object is used to control what action is performed when a fault is detected.

Table 7.16 Fault_reaction_option_code values

Value Definition

0 Disable drive function, motor is free to rotate

1 Slow down on slow down ramp

2 Slow down on quick stop ramp

34 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 35

7.3.6 0x6060 Modes_of_operation

This object is used to request a change in the mode of operation.

Table 7.17 Modes_of_operation

0x6060 Modes_of_operation

Access: RW Range: 0 to 7 Size: Unsigned 8 Unit: N/A

Default: 2

Description: This object is used to request a change in the mode of operation.

Table 7.18 Modes_of_operation values

Value Definition

0 No mode change

2 vl velocity mode

4 Profile torque mode

6 Homing mode

7 Interpolated position mode

7.3.7 0x6061 Modes_of_operation_display

This read only object indicates the active mode of operation.

Table 7.19 Modes_of_operation_display

0x6061 Modes_of_operation_display

Access: RO Range: 0 to 7 Size: Unsigned 8 Unit: N/A

Default: N/A

Description: Used to provide the active mode of operation.

Information

Safety

Introduction

Mechanical

Installation

Electrical

Getting Started Protocols

Drive profile (DSP-402)

Table 7.20 Modes_of_operation_display values

Value Definition

0 No mode change

2 vl velocity mode

4 Profile torque mode

6 Homing mode

7 Interpolated position mode

7.3.8 0x6085 Quick_stop_deceleration

This object is used to configure the deceleration rate used to stop the motor when the quick stop function is activated and the quick stop code object (0x605A) is set to 2 or 6. The quick stop deceleration is also used if the fault reaction code object (0x605E) is 2. The value is given in user-defined acceleration units.

Table 7.21 Quick_stop_deceleration

0x6085 Quick_stop_deceleration

Sub-index 0

Access: RW Range:0 to 0xFFFFFFFF Size: Unsigned 32 Unit: N/A

Default: 2

Description: Quick stop function for the positioning related modes.

SM-EtherCAT User Guide 35 Issue Number: 2 www.controltechniques.com

support

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Te rm s

Index

Page 36

7.3.9 Profile units

The implementation provides a means to convert profile units into position controller and drive units. All scaling values are standard profile objects. The following objects are supported:

Table 7.22 Supported profile units

Index Name

0x608F position_encoder_resolution

0x6091 gear_ratio

0x6092 feed_constant

For positions, the scaling control includes a feed constant, a gear ratio and an encoder revolution. These values are combined by the implementation into a simple scaling numerator and denominator. It is possible to change these values non-cyclically (i.e. using SDOs), in which case the scaling numerator and denominator and any position limit values are recalculated in the background. It is not, however, possible to change these values cyclically (i.e. by mapping PDOs to them).

For velocities, in addition to the position constants described above. These values are combined into a simple numerator and denominator to scale velocities to internal velocity units. This scaling also properly handles remainders (i.e. when used on a reference or feedback, accumulate the remainder and add it to subsequent velocity values, and when used with a limit, round up or down). It is possible to change these values non-cyclically (i.e. using SDOs), in which case the scaling numerator and denominator is recalculated in the background. It is also necessary to re-scale velocity limit values with the new factor. It is not possible to change these values cyclically (i.e. by mapping PDOs to them).

7.3.10 0x608F Position_encoder_resolution

This read only object indicates the configured encoder increments per number of motor revolutions. The information is read from the drive's encoder configuration.

Table 7.23 Position_encoder_resolution

0x608F Position_encoder_resolution

Sub-index 0

Access: RO Range: N/A Size: Unsigned 8 Unit: N/A

Default: 2

Description:

Sub-index 1

Access: RO Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: N/A

Default: 1

Description: Enco der increments

Sub-index 2

Access: RO Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: N/A

Default: 1

Description: Motor revolutions

7.3.11 0x6091 Gear_ratio

This object is used to apply scaling. When configured, appropriate user units can be used to control the position of the shaft beyond a gearbox. The gear ratio is calculated using the following formula:

gear ratio = motor shaft revolutions / driving shaft revolutions

36 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 37

Table 7.24 Gear_ratio

0x6091 Gear_ratio

Sub-index 0

Access: RO Range: N/A Size: Unsigned 8 Unit: N/A

Default: 2

Description:

Sub-index 1

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: N/A

Default: 1

Description: Motor revolutions

Sub-index 2

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: N/A

Default: 1

Description: Shaft revolutions

Information

Safety

Introduction

Mechanical

Installation

Electrical

7.3.12 0x6092 Feed_constant

This is used to configure a feed constant. This is the measurement distance per one revolution of the output shaft of the gearbox. The feed constant is calculated using the following formula:

feed constant = feed / driving shaft revolutions

The feed should be provided in user-defined position units

Table 7.25 Feed_constant

0x6092 Feed_constant

Sub-index 0

Access: RO Range: N/A Size: Unsigned 8 Unit: N/A

Default: 2

Description:

Sub-index 1

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: N/A

Default: 1

Description: Feed

Sub-index 2

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: N/A

Default: 1

Description: Shaft revolutions

7.3.13 Basic position control

Basic position control is supported on the Unidrive SP in servo mode, closed-loop vector mode and RFC mode. It works on the Digitax ST and Mentor MP but is not supported in open-loop or regen mode on any of the drives. If is also not available on Commander SK or Affinity. The position control described here is used under the interpolated position mode of operation.

Getting Started Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Te rm s

SM-EtherCAT User Guide 37 Issue Number: 2 www.controltechniques.com

Index

Page 38

Table 7.26 lists the objects that are supported:

Table 7.26 Basic position control supported objects

Index Name

0x6062 position_demand_value

0x6064 position_actual_value

0x6065 following_error_window

0x6067 position_window

0x60F4 following_error_actual_value

0x60FB position_control_parameter_set

7.3.14 0x6062 Position_demand_value

This read only object is used to provide the currently demanded position value. The value is given in user defined position units.

Table 7.27 Position_demand_value

0x6062 Position_demand_value

Access: RO Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: N/A

Default: N/A

Description: Used to provide the currently demanded position value.

7.3.15 0x6064 Position_actual_value

This read only object provides the actual value of the position feedback device. The value is given in internal units.

Table 7.28 Position_actual_value

0x6064 Position_actual_value

Access: RO Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: N/A

Default: N/A

Description: This read only object provides the actual value of the position feedback device. The value

is given in internal units.

7.3.16 0x60F4 Following_error_actual_value

This read only object provides the actual value of the following error. The value is given in user-defined position units.

Table 7.29 Following_error actual_value

0x60F4 Following_error actual_value

Access: RO Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: N/A

Default: N/A

Description:

This read only object provides the actual value of the following error.

38 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 39

7.3.17 0x60FB Position_control_parameter_set object

Table 7.30 Position_control_parameter_set object

0x60FB Position_control_parameter_set

Sub-index 0

Access: RO Range: N/A Size: Unsigned 8 Unit: N/A

Default: 2

Description: The number of control loop parameters.

Sub-index 1

Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: 0.01 rad/s/rad

Default: 2500

Description: The po sition controller proportional gain.

Sub-index 2

Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: 1 / 1000

Default: 1000 (i.e. a gain of 1)

Description: The position controller speed feed forward gain.

The APC position controller kernel is used by the basic internal position control.

The position_demand_value object contains the value supplied by either the interpolated position mode or the profile position mode (in user units). It is updated every control loop cycle. This object can be mapped as cyclic data.

7.4 Interpolated position mode

Interpolated position mode operates on the Unidrive SP in servo mode, closed-loop vector mode and RFC mode. This mode also operates on the Digitax ST and Mentor MP.

Table 7.31 lists the objects that are supported:

Table 7.31 Supported Interpolated position mode objects

Index Name

0x60C0 interpolation_submode_select

0x60C1 interpolation_data_record

0x60C2 interpolation_time_period

7.4.1 0x60C0 Interpolation_sub-mode_select

Table 7.32 0x60C0 Interpolation_sub-mode_select

0x60C0 Interpolation_sub-mode_select

Access: RW Range: 0 Size: Signed 16 Unit: N/A

Default: 0 (Linear interpolation)

Description: Specifies the interpolation type. The values have the following meanings:0 = Linear

Interpolation.

Information

Introduction

Installation

Getting Started Protocols

support

features

Diagnostics

Reference

Safety

Mechanical

Electrical

Drive profile (DSP-402)

Advanced

Quick

SM-EtherCAT User Guide 39 Issue Number: 2 www.controltechniques.com

Glossary Of

Te rm s

Index

Page 40

7.4.2 0x60C1 Interpolation_data_record

This object is used to specify the target position. Linear interpolation is used to generate position demand values every 250µs. The position is specified in user-defined position units. The value is written into sub-index 1.

Table 7.33 0x60C1 Interpolation_data_record

0x60C1 Interpolation_data_record

Sub-index 0

Access: RO Range: N/A Size: Unsigned 8 Unit: N/A

Default: 1

Description: This object is used to specify the target position.

Sub-index 1

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: N/A

Default: N/A

Description: The set-point

7.4.3 0x60C2 Interpolation_time_period

Table 7.34 Interpolation_time_period

0x60C2 Interpolation_time_period

Sub-index 0

Access: RO Range: N/A Size: Unsigned 8 Unit: N/A

Default: 2

Description: The number of last sub-indexes in this object.

Sub-index 1

Access: RW Range: 0 to 255 Size: Unsigned 8 Unit: (sub-index 2)

Default: 250 (units are dependant on the value in sub-index 2)

Description: The number of time units between interpolator re-starts. A time unit is defined by sub-index

Sub-index 2

Access: RW Range: -6 to 0 Size: Signed 8 Unit: N/A

Default: -6 (a time unit of 1µs)

Description: This specifies the time unit for the interpolation time period. Sub-index 2 specifies the unit

The implementation of interpolated position mode allows synchronous operation only, where a fixed, common interpolation interval is defined. The time specified must always be an integer multiple of the control loop cycle time. The time period index has a minimum value of -6 (i.e. the smallest time unit will be microseconds), see more information.

Table 7.35 Interpolation time period units

2. The interpolator time period value is checked to ensure that it is valid. Valid values are 250µs, 500µs or any multiple of 1ms. An attempt to write other values re sults in an SDO Abort code.

exponent. The time unit, therefore, is 10(sub-index 2). The range of values allows for the shortest time unit to be 1µs, and the longest to be 1s.

Value in 0x60C2, sub-index 2 Description

0 1 second

-1 0.1 of a second

-2 0.01 of a second

-3 0.001 of a second

-4 0.0001 of a second

-5 0.00001 of a second

-6 0.000001 of a second

Table 7.35 for

40 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 41

The time period is checked to ensure that it is an integer multiple of the control loop cycle time. Only linear interpolation is currently supported. This type inserts a delay of one interpolation time period.

The input buffer has a maximum size of 1 data record, and a data record contains one position in profile-defined units. The buffer is a FIFO buffer. Every interpolator time period, a value is read from this buffer. The correct number of data points for a specific interpolation mode are stored internally. When a new position command is loaded in, the oldest position command in the data set is discarded.

7.5 vl velocity mode

Velocity mode is supported on Unidrive SP, Digitax ST, Affinity, Mentor MP and Commander SK. It is not, however, supported in regen modes. This mode uses the drive’s speed handling and ramps.

When the attached drive is in either of the closed-loop or servo operating modes the scaled velocity is written to the drive internal speed shortcut. When the attached drive is in an open-loop operating mode the scaled velocity is written to the user preset reference parameter (Pr 1.21).

Table 7.36 vl velocity mode supported objects

Index Name

0x6042 vl_target_velocity

0x6043 vl_velocity_demand

0x6044 vl_velocity_actual_value

0x6046 vl_velocity_min_max_amount

0x6047 vl_velocity_min_max

0x6048 vl_velocity_accleration

0x6049 vl_velocity_deceleration

0x604A vl_velocity_quick_stop

0x604B vl_setpoint_factor

0x604C vl_dimension_factor

7.5.1 0x6042 vl_target_velocity

This object is used to set the required velocity of the system. It is multiplied by the vl_dimension_factor and the vl_setpoint_factor. The value is given in rpm, If the vl_dimension_factor has the value of 1, otherwise the value is in user units. Positive values indicate forward direction and negative values indicate reverse direction.

Table 7.37 vl_target_velocity

0x6042 vl_target_velocity

Access: RW Range: -32768 to +32767 Size: Signed 16 Unit: rpm

Default: 0

Description: Used to set the required velocity of the system.

Table 7.36 lists the objects that are supported:

Information

Safety

Introduction

Mechanical

Installation

Electrical

Getting Started Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Te rm s

SM-EtherCAT User Guide 41 Issue Number: 2 www.controltechniques.com

Index

Page 42

7.5.2 0x6043 vl_velocity_demand

This read only object provides the instantaneous velocity demand generated by the drive ramp function. The value is given in rpm if the vl_dimension_factor and the vl_setpoint_factor have the value 1, otherwise the value is in user units. Positive values indicate forward direction and negative values indicate reverse direction.

Table 7.38 vl_velocity_demand

0x6043 vl_velocity_demand

Access: RO Range: -32768 to +32767 Size: Signed 16 Unit: rpm

Default: 0

Description: Provides the instantaneous velocity demand generated by the drive ramp function

7.5.3 0x6044 vl_velocity_actual_value

This read only object provides the velocity at the motor spindle or load. In a closed loop system this is determined from the motor feedback device and in an open loop system it is a copy of vl_velocity_demand.

The value is given in rpm if the vl_dimension_factor has the value of 1, otherwise the value is in user units. Positive values indicate forward direction and negative values indicate reverse direction.

Table 7.39 vl_velocity_actual_value

0x6044 vl_velocity_actual_value

Access: RO Range: -32768 to +32767 Size: Signed 16 Unit: N/A

Default: 0

Description: Provides the velocity at the motor spindle or load.

Only available when in vl_velocity_mode.

7.5.4 0x6046 vl_velocity_min_max_amount

This object is used to configure the minimum and maximum velocity.

The value is given in rpm if the vl_dimension_factor has the value of 1, otherwise the value is in user units.

Table 7.40 vl_velocity_min_max_amount

0x6046 vl_velocity_min_max_amount

Sub-index 0

Access: RO Range: N/A Size: Unsigned 8 Unit: N/A

Default: 2

Description: The number of last sub-indexes in this object.

Sub-index 1

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm

Default: 0

Description: Used to configure the minimum velocity (both in the forward and reverse direction) that the

Sub-index 2

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm

Default: 2147483647

Description: Used to configure the maximum velocity (both in the forward and reverse direction) that the

system can operate at. Writing to this sub index will overwrite vl_velocity_min positive and vl_velocity_min negative.

system can operate at. Writing to this sub index will overwrite vl_velocity_max positive and vl_velocity_max negative.

42 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 43

7.5.5 0x6047 vl_velocity_min_max

This object is used to configure the minimum and maximum velocity.

The value is given in rpm if the vl_dimension_factor has the value of 1, otherwise the value is in user units.

Table 7.41 0x6047 vl_velocity_min_max

0x6047 vl_velocity_min_max

Sub-index 0

Access: RO Range: N/A Size: Unsigned 8 Unit: N/A

Default: 4

Description: The number of last sub-indexes in this object.

Sub-index 1

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm

Default: 0

Description: Used to configure the minimum positive velocity at which the system can operate.

Sub-index 2

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm

Default: 2147483647

Description: Used to configure the maximum positive velocity at which the system can operate.

Sub-index 3

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm

Default: 0

Description: Used to configure the minimum negative velocity at which the system can operate.

Sub-index 4

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm

Default: 2147483647

Description: Used to configure the maximum negative velocity at which the system can operate.

7.5.6 0x6048 vl_velocity_acceleration

This object is used to configure the delta speed and delta time of the slope of the acceleration ramp.

Example: To ramp to 1000 rpm in 5s, possible values for delta speed and delta time are 10000 and 50 respectively.

vl_velocity_acceleration = delta speed / delta time

Table 7.42 0x6048 vl_velocity_acceleration

0x6048 vl_velocity_acceleration

Sub-index 0

Access: RO Range: N/A Size: Unsigned 8 Unit: N/A

Default: 2

Description: The number of last sub-indexes in this object.

Sub-index 1

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm

Default: 1000

Description: The value of delta speed is given in rpm if the vl_dimension_factor and the

Sub-index 2

Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: s

Default: 2

Description: The val ue of delta time is given in seconds.

vl_setpoint_factor have the value 1, otherwise the value is in user units.

Information

Safety

Introduction

Mechanical

Installation

Electrical

Getting Started Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Te rm s

Index

SM-EtherCAT User Guide 43 Issue Number: 2 www.controltechniques.com

Page 44

7.5.7 0x6049 vl_velocity_deceleration

This object is used to configure the delta speed and delta time of the slope of the deceleration ramp.

Example: To decelerate by 800 rpm in 10s, possible values for delta speed and delta time are 8000 and 100 respectively.

vl_velocity_deceleration = delta speed / delta time

Table 7.43 0x6049 vl_velocity_deceleration

0x6049 vl_velocity_deceleration

Sub-index 0

Access: C Range: N/A Size: Unsigned 8 Unit: N/A

Default: 2

Description: The number of last sub-indexes in this object.

Sub-index 1

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm

Default: 1000

Description: The value of delta speed is given in rpm if the vl_dimension_factor and the

Sub-index 2

Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: s

Default: 2

Description: The val ue of delta time is given in seconds.

vl_setpoint_factor have the value 1, otherwise the value is in user units.

7.5.8 0x604A vl_velocity_quick_stop

This object is used to configure the delta speed and delta time of the slope of the deceleration ramp for quick stop.

Example: To decelerate by 800 rpm in 10s, possible values for delta speed and delta time are 8000 and 100 respectively.

vl velocity deceleration = delta speed / delta time

Table 7.44 0x604A vl_velocity_quick_stop

0x604A vl_velocity_quick_stop

Sub-index 0

Access: C Range: N/A Size: Unsigned 8 Unit: N/A

Default: 2

Description: The number of last sub-indexes in this object.

Sub-index 1

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: rpm

Default: 1000

Description: The value of delta speed is given in rpm if the vl_dimension_factor and the

vl_setpoint_factor have the value 1, otherwise the value is in user units.

Sub-index 2

Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: s

Default: 2

Description: The val ue of delta time is given in seconds.

44 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 45

7.5.9 0x604B vl_setpoint_factor

This object is used to configure the numerator and denominator of the vl_setpoint_factor. The vl_setpoint_factor modifies the resolution or directing range of the specified setpoint. It does not influence the velocity limit function and the ramp function. A value of 0 must not be used.

Table 7.45 0x604B vl_setpoint_factor

0x604B vl_setpoint_factor

Sub-index 0

Access: C Range: N/A Size: Unsigned 8 Unit: N/A

Default: 2

Description: The number of last sub-indexes in this object.

Sub-index 1

Access: RW Range: -32768 to +32767 Size: Signed 16 Unit: N/A

Default: 1

Description: vl_setpoint_factor numerator (a value of 0 is not valid)

Sub-index 2

Access: RW Range: -32768 to +32767 Size: Signed 16 Unit: N/A

Default: 1

Description: vl_setpoint_factor denominator (a value of 0 is not valid)

7.5.10 0x604C vl_dimension_factor

This object is used to configure the numerator and denominator of the vl_dimension_factor. The vl_dimension_factor is used to scale the user units so that they can be used in a way that relates to the specific application.

Calculating the vl dimension factor:

Every user-specific velocity consists of a specific unit referred to as a specific unit of time (e.g. 1/s, bottles/min, m/s,...). The purpose of the vl_dimension_factor is to convert this specific unit to the revolutions/minute unit. A value of 0 must not be used.

Velocity [user-defined unit] / Dimension factor [rpm/user-defined unit] = Velocity [rpm]

Table 7.46 0x604C vl_dimension_factor

0x604C vl_dimension_factor

Sub-index 0

Access: C Range: N/A Size: Unsigned 8 Unit: N/A

Default: 2

Description: The number of last sub-indexes in this object.

Sub-index 1

Access: RW Range: -32768 to +32767 Size: Signed 16 Unit: N/A

Default: 1

Description: vl_dimension_factor numerator (a value of 0 is not valid)

Sub-index 2

Access: RW Range: -32768 to +32767 Size: Signed 16 Unit: N/A

Default: 1

Description: vl_dimension_factor denominator (a value of 0 is not valid)

The vl_target_velocity object is re-read every new profile cycle. It is scaled to appropriate units using the vl_dimension_factor and vl_setpoint_factor objects and then written to the drive preset reference 1 parameter (Pr 1.21).

Information

Safety

Introduction

Mechanical

Installation

Electrical

Getting Started Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Te rm s

Index

SM-EtherCAT User Guide 45 Issue Number: 2 www.controltechniques.com

Page 46

The object vl_velocity_min_max is handled every profile cycle. The vl_target_velocity is limited according to the values set in the object vl_velocity_min_max, which is read every profile cycle. The object vl_velocity_min_max_amount is mapped to vl_velocity_min_max.

The value of the vl_velocity_demand object is calculated in the background. The option reads the value of parameter Pr 2.01 (post ramp reference), scaled from RPM to user units using vl_dimension_factor and vl_setpoint_factor, and writes the value to the vl_velocity_demand object.

On a closed-loop drive, the speed feedback is read from the drive internally every profile cycle, scaled to the same units as vl_target_velocity and written to the vl_velocity_actual_value object. On an open-loop drive, the estimated motor speed is read from Pr 5.04 (motor RPM) in the background, scaled to the units of vl_target_velocity and written to the vl_velocity_actual_value object.

The vl_velocity_acceleration and vl_velocity_deceleration objects are handled in the background. They are read, scaled to drive acceleration units (depending on the drive operating mode), and written to the drive acceleration rate and deceleration rate presets. In addition, if the drive acceleration rate preset is changed, the vl_velocity_acceleration object is updated, and if the drive deceleration rate preset is changed (Pr 2.21), the vl_velocity_deceleration object is updated.

7.6 Profile Torque mode

The profile torque mode is supported on Unidrive SP, Digitax ST, Affinity, Mentor MP and Commander SK. It is possible to use this profile in regen mode on the Unidrive SP. On the Unidrive SP and Digitax ST in closed-loop or servo mode, this mode operates on the profile cycle time, using the drives internal torque shortcut (which is read by the drive every 250µs). On the Commander SK, Unidrive SP and Affinity in open-loop mode, the torque reference is written to the drive user torque parameter, which is handled every 4ms. When using profile torque mode object 0x604A vl_velocity_quick_stop will be used in the event of a quick stop (also for quick stop option codes 2 and 6 the 0x6049 vl_velocity_deceleration object will be used).

Table 7.47 shows the objects that are supported:

Table 7.47 Profile torque mode supported objects

Index Name

0x6071 Target_torque

0x6075 Motor_rated_current

0x6078 Current_actual_value

0x6087 Torque_slope

7.6.1 0x6071 Target_torque

This object indicates the configured input value for the torque controller in profile torque

mode. The value of this object is given per thousand of rated torque.

Table 7.48 0x6071 Target_torque

0x6071 Target_torque

Access: RW Range: -32768 to +32767 Size: Signed 16 Unit: 0.1% of rated torque

Default: 0

Description: Indicates the configured input value for the torque controller in profile torque mode.

46 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 47

7.6.2 0x6075 Motor_rated_current

This object indicates the configured motor rated current. It is taken from the motor’s

name-plate. Depending on the motor and drive technology this current is DC, peak or rms (root-mean-square) current. All relative current data refers to this value. The value of this object is given in mA.

Table 7.49 0x6075 Motor_rated_current

0x6075 Motor_rated_current

Access: RO Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: mA

Default: 0

Description: Indicates the configured motor rated current (Pr 5.07).

Information

Safety

Introduction

Mechanical

Installation

7.6.3 0x6078 Current_actual_value

This object provides the actual value of the current. It shall correspond to the current in the motor. The value of this object is given per thousand of rated current.

Table 7.50 0x6078 Current_actual_value

0x6078 Current_actual_value

Access: RO Range: -32768 to +32767 Size: Signed 16 Unit: 0.1% of rated current

Default: 0

Description: Provides the actual value of the current.

7.6.4 0x6087 Torque_slope

This object indicates the configured rate of change of torque. The value of this object is given in units of per thousand of rated torque per second.

Table 7.51 Torque_slope

0x6087 Torque_slope

Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: 0.1% of rated torque per second

Default: 0

Description: Indicates the configured rate of change of torque.

7.7 Homing Mode

This section describes the method by which a drive seeks the home position (also called, the datum, reference point or zero point).

Figure 7-2 Homing mode function on page 47 shows the defined input objects as well as the output objects. The user may specify the speeds, acceleration and the method of homing. There is a further object home offset, which allows the user to displace zero in the user's coordinate system from the home position.

There is no output data except for those bits in the statusword, which return the status or result of the homing process and the demand to the position control loops.

Figure 7-2 Homing mode function

Controlword (6040 )

Homing method (6098 )

Homing Speeds (6099 )

Homing acceleration (609A )

Home offset (607C )

Installation

Electrical

Getting Started Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

Statusword (6041 )

Homing method

Position demand value (6062 )

Glossary Of

Te rm s

Index

SM-EtherCAT User Guide 47 Issue Number: 2 www.controltechniques.com

Page 48

By choosing a homing method the following behaviour is determined: The homing signal (positive limit switch, negative limit switch, home switch), the direction of actuation and where appropriate the position of the index pulse.

An encircled number in Figure 7-3 to Figure 7-10 indicates the code for selection of this homing position. The direction of movement is also indicated.

There are four sources of homing signal available: These are the negative and positive limit switches, the home switch and the index pulse from an encoder.

In the diagrams of homing sequences shown below, the encoder count increases as the axis's position moves to the right, in other words the left is the minimum position and the right is the maximum position.

7.7.1 General homing definitions

Method 1: Homing on negative limit switch and index pulse

Using this method as shown in Figure 7-3 Homing on negative limit switch and index pulse on page 48, the initial direction of movement shall be leftward if the negative limit

switch is inactive (here: low). The home position shall be at the first index pulse to the right of the position where the negative limit switch becomes inactive.

Figure 7-3 Homing on negative limit switch and index pulse

Method 2: Homing on positive limit switch and index pulse

Using this method as shown in Figure 7-4 Homing on positive limit switch and index pulse on page 48, the initial direction of movement shall be rightward if the positive limit

switch is inactive (here: low). The position of home shall be at the first index pulse to the left of the position where the positive limit switch becomes inactive.

Figure 7-4 Homing on positive limit switch and index pulse

48 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 49

Method 3 and 4: Homing on positive home switch and index pulse

Using these methods as shown in Figure 7-5 Homing on positive home switch and index pulse on page 49, the initial direction of movement shall be dependent on the

state of the home switch. The home position shall be at the index pulse either to the left or the right of the point where the home switch changes state. If the initial position is sited so that the direction of movement shall reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

Figure 7-5 Homing on positive home switch and index pulse

Information

Safety

Introduction

Mechanical

Installation

Electrical

Getting Started Protocols

Method 5 and 6: Homing on negative home switch and index pulse

Using these methods as shown in Figure 7-6 Homing on negative home switch and index pulse on page 49, the initial direction of movement shall be dependent on the

Figure 7-6 Homing on negative home switch and index pulse

Method 7 to 14: Homing on home switch and index pulse

These methods use a home switch, which is active over only a portion of the travel; in effect the switch has a 'momentary' action as the axis's position sweeps past the switch. Using the methods 7 to 10, the initial direction of movement shall be to the right, and

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Te rm s

Index

SM-EtherCAT User Guide 49 Issue Number: 2 www.controltechniques.com

Page 50

using methods 11 to 14 the initial direction of movement shall be to the left except if the home switch is active at the start of the motion. In this case the initial direction of motion shall be dependent on the edge being sought. The home position shall be at the index pulse on either side of the rising or falling edges of the home switch, as shown in 7-7 Homing on home switch and index pulse - positive initial motion on page 50 and Figure 7-8 Homing on home switch and index pulse - negative initial motion on page

50. If the initial direction of movement leads away from the home switch, the drive shall reverse on encountering the relevant limit switch.

Figure 7-7 Homing on home switch and index pulse - positive initial motion

Figure

Figure 7-8 Homing on home switch and index pulse - negative initial motion

50 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 51

Method 15 and 16: Reserved

These methods are reserved.

Method 17 to 30: Homing without index pulse

These methods are similar to methods 1 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions. For example methods 19 and 20 are similar to methods 3 and 4 as shown in Figure 7-9 Homing on positive home switch on page 51.

Figure 7-9 Homing on positive home switch

Information

Safety

Introduction

Mechanical

Installation

Electrical

Getting Started Protocols

Method 31 and 32: Reserved

These methods are reserved.

Method 33 and 34: Homing on index pulse

Using these methods, the direction of homing is negative or positive respectively. The home position shall be at the index pulse found in the selected direction as shown in Figure 7-10 Homing on index pulse on page 51.

Figure 7-10 Homing on index pulse

Method 35: Homing on index pulse

In this method, the current position shall be taken to be the home position. This method does not require the drive device to be in operational enabled state.

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Te rm s

Index

SM-EtherCAT User Guide 51 Issue Number: 2 www.controltechniques.com

Page 52

Use of controlword and statusword

The homing mode uses some bits of the controlword and the statusword for modespecific purposes.

Table 7.52 Definition of bits 4 and 8 of the controlword on page 52

defines the values for bits 4 and 8 of the controlword.

Table 7.52 Definition of bits 4 and 8 of the controlword

Bit Value Definition

0 Do not start homing procedure.

1 Start or continue homing procedure.

0 Enable bit 4.

1 Stop axis according to halt option code (0x605D).

Table 7.53 Definition of bits 10 and 12 of the statusword on page 52 defines the values for bits 10 and 12 of the statusword.

Table 7.53 Definition of bits 10 and 12 of the statusword

Bit 12 Bit 10 Definition

0 0 Homing procedure is in progress.

0 1 Homing procedure is interrupted or not started.

1 0 Homing is attained, but target is not reached.

1 1 Homing procedure was completed successfully.

0 0 Homing error occurred, velocity is not 0.

0 1 Homing error occurred, velocity is 0.

1 X Reserved.

7.7.2 Homing mode object definitions

0x2803 Homing source

This object indicates the configured source of the homing switch used during the homing procedure. description.

Table 7.54 Homing source

0x2803 Homing source

Sub-index 0

Access: RO Range: N/A Size: Unigned 8 Unit: N/A

Default: 2

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

Sub-index 1

Access: RW Range: 1 to 8

Default: 5

Description: The source of the homing switch. This will specify a digital input as follows: 1 to 6 - The number of a Drive digital input 7 to 8 - SM-EtherCAT option module digital input 0 or 1

Sub-index 2

Access: RW

Default: 0

Description: Use the feedback source freeze for homing. This will cause the freeze from the selected feedback device to be used instead of the index (marker) pulse when it is required during homing.

Table 7.54 Homing source on page 52 specifies the object

Range: 0 to 1 Size: Unsigned 8 Unit: N/A

Size: Unsigned 8 Unit: N/A

52 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 53

0x2804 Freeze object

This object is used to configure the freeze function that can be used within the Homing mode profile.

Table 7.55 Freeze object on page 53 specifies the object description.

Table 7.55 Freeze object

0x2804

Sub-index 0

Access: RO Range: N/A Size: Unigned 8 Unit: N/A

Default: 2

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

Sub-index 1

Access: RW Range: 0 to 1

Default: 0

Description: Route the option freeze onto the drive. Setting a value of 1 here will route the option digital input 0 onto the drive freeze line.

Sub-index 2

Access: RW

Default: 0

Description: Option to drive freeze invert. Setting a value of 1 will invert the freeze signal routed onto the drive from the option input 0 (if 0x2804, sub-index 1 is set to 1). This value will be read only on a transition from 0 to 1 in sub-index 1.

Freeze object

Size: Unsigned 8 Unit: N/A

Range: 0 to 1 Size: Unsigned 8 Unit: N/A

0x607C Home offset

This object indicates the configured difference between the zero position for the application and the machine home position (found during homing). During homing the machine home position is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position. All subsequent absolute moves shall be taken relative to this new zero position. This is illustrated in

Figure 7-11 Home offset definition on page 53. The value of this object shall be given in user-defined position units. Negative values indicate the opposite direction.

Figure 7-11 Home offset definition

Information

Introduction

Installation

Getting Started Protocols

support

features

Safety

Mechanical

Electrical

Drive profile (DSP-402)

Advanced

Table 7.56 Home offset

0x607C Home offset

Access: RW

Default: 0

Description: Homing offset value.

Range: -32768 to +32767

Size: Signed 32

Unit: User-defined position units

SM-EtherCAT User Guide 53 Issue Number: 2 www.controltechniques.com

Diagnostics

Reference

Quick

Glossary Of

Te rm s

Index

Page 54

0x6098 Homing method

This object indicates the configured homing method that shall be used. Ta b le

7.57 Homing method on page 54 specifies the object description, and Table

7.58 Homing method values on page 54 specifies the value ranges for this object.

Table 7.57 Homing method

0x6098 Homing Method

Access: RW Range: 0 - 35 Size: Unsigned 8 Unit: N/A

Default: 0

Description: The homing method that shall be used.

Table 7.58 Homing method values

Value Definition

0 No homing method assigned

1 Method 1 shall be used

34 Method 34 shall be used

35 Method 35 shall be used

0x6099 Homing speeds

This object indicates the configured speeds used during the homing procedure. The values shall be given in user-defined velocity units.

Table 7.59 Homing speeds on page

54 specifies the object description.

Table 7.59 Homing speeds

0x6099 Homing speeds

Sub-index 0

Access: C Range: 2 Size: Signed 8 Unit: N/A

Default: 2

Description: The number of supported sub-indices.

Sub-index 1

Access: RW Range: Unsigned 32

Default: 0

Description: Speed during search for a switch.

Sub-index 2

Access: RW

Default: 0

Description: Speed during search for a zero.

Range: Unsigned 32 Size: Unsigned 32 Unit: N/A

Size: Unsigned 32 Unit: N/A

0x609A Homing acceleration

This object indicates the configured acceleration and deceleration to be used during the homing operation. The value shall be given in user-defined acceleration units.

Table

7.60 Homing acceleration on page 54 specifies the object description.

Table 7.60 Homing acceleration

0x609A Homing acceleration

Access: RW Range: Unsigned 32 Size: Unsigned 32

Default: 0

Description:

Indicates the configured acceleration and deceleration to be used during homing operation.

Unit: User-defined acceleration units

54 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 55

8 Advanced features

Information

Safety

8.1 Distributed clocks

SM-EtherCAT supports Distributed clocks. This is the scheme used by EtherCAT to accurately time synchronize slave devices. Position, speed and current control loops can all be synchronized.

When the option module is connected to a drive which can take a time synchronization signal (e.g. a Unidrive SP or Digitax ST), the EtherCAT distributed clocks facility can be used to provide this signal so the drive speed and current tasks are synchronized to the network. The position controller, and appropriate motion features will also be synchronized to the drive speed task.

NOTE

In CoE interpolated position mode the position command provided by the master every interpolation cycle time is used to generate a position command for the drive every 250µs.

8.2 SM-EtherCAT protocol support

The following are supported:

• Four Sync Managers. Two are used for the Mailbox Protocol (non-cyclic data) and two are used for process data (cyclic data)

• Distributed Clocks

• CANopen over EtherCAT (CoE)

• CMP protocol through Modbus RTU (only on the Unidrive SP, Digitax ST, Mentor MP and Affinity)

Introduction

Mechanical

Installation

Electrical

Getting

Star ted

Protocols

Drive profile (DSP-402)

support

Advanced

features

SM-EtherCAT User Guide 55 Issue Number: 2 www.controltechniques.com

Diagnostics

Reference

Quick

Glossary Of

Te rm s

Index

Page 56

9 Diagnostics

9.1 Module identification parameters

The basic menu parameters can be accessed through the slot menu in the drive, Pr MM.PP, where MM is the menu for SM-EtherCAT in the host drive. The basic menu parameters may also be accessed using menu 60, i.e. Pr 60.PP.

9.1.1 SM-EtherCAT module ID code

Table 9.1 SM-EtherCAT module ID code

SM-EtherCAT module ID code

Default 421 (SM-EtherCAT)

Pr MM.01

The module ID code indicates the type of module installed in the slot corresponding to menu MM. This is useful for checking the module is of the correct type.

9.1.2 SM-EtherCAT firmware version

Table 9.2 SM-EtherCAT firmware - major version

SM-EtherCAT firmware - major version (xx.yy)

Pr MM.02

Table 9.3 SM-EtherCAT firmware - minor version

SM-EtherCAT firmware - minor version (zz)

Pr MM.51

Unidrive SP/ Unidrive SPM/ Mentor MP

The software version of the Solutions Modules can be identified by looking at Pr 15.02 / Pr 16.02 or Pr

Menu 15,16 or 17 is Solutions Module slot dependent with menu 17 being the lowest position nearest the control terminal connections.

Range -

Access RO

Default N/A

Range 00.00 to 99.99

Access RO

Default N/A

Range 0 to 99

Access RO

17.02 and Pr 15.51 / Pr 16.51 or Pr 17.51.

The software version takes the form of xx.yy.zz, where Pr 15.02 displays xx.yy and Pr

15.51 displays zz (e.g. for software version 01.01.00 on a module in the middle Solu-

tions Module slot, Pr 16.02 will display 1.01 and Pr 16.51 will display 0).

Digitax ST / Unidrive ES / Affinity

The software version of the Solutions Modules can be identified by looking at Pr 15.02 or Pr 16.02 and Pr 15.51 or Pr 16.51.

Menu 15 or 16 is Solutions Module slot dependent with menu 15 being the position nearest the control terminal connections.

The software version takes the form of xx.yy.zz, where Pr 15.02 displays xx.yy and Pr

15.51 displays zz (e.g. for software version 01.01.00 on a module in the middle Solu-

tions Module slot, Pr 16.02 will display 1.01 and Pr 16.51 will display 0).

56 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 57

Commander SK / Commander SL

The software version of the Solutions Module can be identified by looking at Pr 15.02 and Pr 15.51.

The software version takes the form of xx.yy.zz, where Pr 15.02 displays xx.yy and Pr

15.51 displays zz (e.g. for software version 01.01.00 Pr 15.02 will display 1.01 and

15.51 will display 0).

Information

Safety

Introduction

9.2 Network configuration objects

9.2.1 SM-EtherCAT network loss trip

Table 9.4 Network loss behavior object

0x2813 Network loss behavior

Sub-index 0:

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

Default: 2

Description: The number of last sub-indexes in this object.

Sub-index 1: Maximum time interval

Access: RW Range: 0 to 65535 Size: 2 bytes Unit: ms

Default: 0 (by default the network loss behavior is disabled)

Description: The maximum time, in ms, allowed between accesses to PDOs (read or write). If no PDO

Sub-index 2: Trip type

Access: RW Range: 0 to 2 Size: 1 byte Unit: N/A

Default: 0

Description: Network loss trip type. If this value is set to 0, a network loss trip will never occur; however,

SM-EtherCAT resets an internal timer when a valid message is received from the EtherCAT network. The network loss trip is triggered when no new messages are received before the timer times out. The SM-EtherCAT will trip the drive and the SMEtherCAT error code parameter (Pr MM.50) will show 120.

After power-up or reset the network loss trip is not armed until one of the following events occur:

• SYNC message is received.

• RxPDO is received

Once the trip has been armed, a minimum of one of the above messages must be received or transmitted in each time period set in sub-index 2 of the Network loss behavior object (0x2813).

access occurs for this period, the option will start network loss handling. If a value of zero is set, no network loss handling will occur.

a network loss will still be handled by stopping the drive and indicating a warning as previously described. If this value is set to 1, the network loss trip will occur only after the motor has been stopped according to the Fault reaction option code. If the value is set to 2, the network loss trip will occur immediately on network loss (this implies that the motor will coast).

Mechanical

Installation

Electrical

Getting

Star ted

Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

Reference

Quick

SM-EtherCAT User Guide 57 Issue Number: 2 www.controltechniques.com

Glossary Of

Ter m s

Index

Page 58

9.3 Diagnostic parameters

Table 9.5 SM-EtherCAT operating status

SM-EtherCAT operating status

Default N/A

Pr MM.06

9.3.1 Running states

Table 9.6 Diagnostic information - running states

Pr MM.06 Meaning Description

0 Link established A link has been established but no frames are being

> 0 Handled messages per

Table 9.7 Diagnostic information - application

Pr MM.06 Meaning Description

-99 Application started The main application has been launched.

-70 Initialising file system The file system is initialising.

-50 Initialising databases The databases are initialising.

-30 Initialising fieldbus The fieldbus is initialising.

-25 Starting fieldbus The fieldbus is starting.

-1 Initialisation complete The option module has initialised correctly but no

Table 9.8 Diagnostic information - bootloader

Pr MM.06 Meaning Description

-199 Boot loader start The bootloader is starting up.

-180 Initialising memory The memory manager is being initialised.

-150 Initialising file system The file system handler is being initialised.

-149 Format file system The file system is being formatted.

-148 Verify file system The file system is being verified.

-130 Check boot mode The required boot mode is being checked.

-110 Loading application The requested application image is being copied from

-101 Launching application The application is being launched.

-100 Default mode The bootloader has finished but no application was

Range -9999 to 9999

Access RO

second

transmitted or received.

The number of cyclic PDO messages that the active EtherCAT is handling per second.

network communication is taking place. i.e. no EtherCAT frames have been transmitted or received.

the file system to memory.

launched.

58 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 59

9.4 Drive trip display codes

If the SM-EtherCAT detects an error during operation, it will force a trip on the drive. However, the trip code displayed on the drive will only indicate which slot initiated the trip. The exact reason for the trip will be indicated in the SM-EtherCAT error code parameter, Pr MM.50.

Table 9.9 shows the possible trip codes that will be displayed on the drive when a problem is detected with SM-EtherCAT or when SM-EtherCAT initiates a trip.

Table 9.9 Drive trip display codes

Trip

Code

SLX.HF/

SL.HF

SLX.Er/

SL.Er

SLX.nF/

SL.nF

SLX.dF/

SL.dF

Fault

Hardware

Error Error trip generated by SM-EtherCAT

Not fitted

Different

module

fault

fitted

Description

The drive has detected that a Solutions Module is present, but is unable to communicate with it. If this occurs, please contact your supplier or local Control Techniques Drive Centre.

This trip will occur if a drive slot is configured for an option module, but no module is fitted in the slot.

The slot configuration parameters stored in the drive are not valid SMEtherCAT configuration parameters. This trip will also occur when an SM-EtherCAT is fitted to a previously un-used slot.

9.5 SM-EtherCAT module temperature

Table 9.10 SM-EtherCAT module temperature

SM-EtherCAT module temperature

Default N/A

Pr MM.44

This parameter shows the option module temperature reading in degrees celcius.

Range 0 - 255

Access RO

Information

Safety

Introduction

Mechanical

Installation

Electrical

Getting

Star ted

Protocols

Drive profile (DSP-402)

support

9.6 SM-EtherCAT serial number

Table 9.11 SM-EtherCAT serial number

SM-EtherCAT serial number

Default N/A

Pr MM.35

The serial number is loaded into the SM-EtherCAT during manufacture and cannot be changed. It contains the last eight digits of the 10-digit serial number of the label.

SM-EtherCAT User Guide 59 Issue Number: 2 www.controltechniques.com

Range 0 - 16777215

Access RO

Advanced

features

Diagnostics

Reference

Quick

Glossary Of

Ter m s

Index

Page 60

9.7 SM-EtherCAT error codes

Table 9.12 SM-EtherCAT error codes

SM-EtherCAT error codes

Default N/A

Pr MM.50

If an error is detected during operation the module will force a trip on the drive and update the error code parameter (Pr MM.50). Table 9.13 shows the SM-EtherCAT error

codes.

Table 9.13 SM-EtherCAT error codes

Error code Fault

1 No fieldbus mode has been selected.

2 Critical task over-run.

3 Invalid feedback source

4 Unknown drive type

5 Unsupported drive type

10 Invalid or missing application

62 Database initialisation error.

63 File system initialisation error.

64 Error initialising fieldbus stack.

74 The option module has overheated.

75 The drive is not responding.

76 The Modbus connection has timed out.

80 Inter-option communication failure.

81 Inter-option communication to slot 1 timeout.

82 Inter-option communication to slot 2 timeout.

83 Inter-option communication to slot 3 timeout.

84 Memory allocation error.

85 File system error.

86 Configuration file error.

99 Software fault.

Range 0 to 255

Access RO

The option module background task has not been

completed.

60 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 61

9.8 Critical task % free

Table 9.14 SM-EtherCAT critical task % free

SM-EtherCAT critical task % free

Default N/A

Pr MM.46

Range 0 to 100

Access RO

9.9 Worst case critical task % free

Table 9.15 Worst case critical task % free

SM-EtherCAT worst case critical task % free

Default N/A

Pr MM.47

Range 0 to 100

Access RO

Parameters Pr MM.46 and Pr MM.47 indicate how much of the cycle time allocated to the critical task is remaining and available for other module tasks.

9.10 FLASH file system % free

Table 9.16 SM-EtherCAT FLASH file system % free

SM-EtherCAT FLASH file system % free

Default N/A

Pr MM.48

Range 0 to 100

Access RO

Indicates what percentage of the flash based file system is unused and still available.

9.11 Updating SM-EtherCAT firmware

The SM-EtherCAT firmware is available from your local Control Techniques Drive Centre or supplier and can also be downloaded from CTSupport.com. To upload firmware to the SM-EtherCAT module the use of Winflasher is required, this application is also available from your local Control Techniques Drive Centre or supplier.

NOTE

It is important that the filename of the SM-EtherCAT firmware application file is not altered, doing so may result in problems with the firmware upload process.

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

Information

Safety

Introduction

Mechanical

Installation

Electrical

Getting

Star ted

Protocols

Drive profile (DSP-402)

support

Advanced

features

Diagnostics

NOTE

The minimum Winflasher firmware version with SM-EtherCAT support is V03.07.00.

SM-EtherCAT User Guide 61 Issue Number: 2 www.controltechniques.com

Reference

Quick

Glossary Of

Ter m s

Index

Page 62

10 Quick Reference

Table 10.1 and Table 10.2 list of all the SM-EtherCAT set-up objects and parameters that are required to configure the module.

Table 10.1 SM-EtherCAT objects reference

Object Name Description Cross reference

0x10000

0x1018

0x1600

0x1601

0x1605

0x1621

0x1A00

0x1A01

0x1A02

0x1A05

0x1A21

0x1C00

0x1C10

0x1C11

0x1C12

0x1C13

0x2813

0x6040

0x6041

0x6042

0x6043

Device type

Identity object

Receive PDO

mapping 1

Receive PDO

mapping 2

Receive PDO

mapping 6

Receive PDO

mapping 22

Transmit PD O

mapping 1

Transmit PD O

mapping 2

Transmit PD O

mapping 3

Transmit PD O

mapping 6

Transmit PD O

mapping 22

Sync manager

communication

type

Sync manager 0

PDO

assignment

Sync manager 1

PDO

assignment

Sync manager 2

PDO

assignment

Sync manager 3

PDO

assignment

Network loss

behavior object

Controlword

Statusword

vl_target_velocity

vl_velocity

demand

Specifies the device profile being used (DSP-402).

Contains SM-EtherCAT specific identity information.

Contains the mapping information for receive PDO mapping 1.

Contains the mapping information for receive PDO mapping 2.

Contains the mapping information for receive PDO mapping 6.

Contains the mapping information for receive PDO mapping 22.

Contains the mapping information for transmit PDO mapping 1.

Contains the mapping information for transmit PDO mapping 2.

Contains the mapping information for transmit PDO mapping 3.

Contains the mapping information for transmit PDO mapping 6.

Contains the mapping information for transmit PDO mapping 22.

This read-only object provides sync manager usage details.

This read-only object contains information relating to the non-cyclic receive mailbox.

This read-only object contains information relating to the non-cyclic send mailbox.

Contains the currently in use receive PDOs.

Contains the currently in use transmit PDOs.

Used to configure the network loss trip behavior (watchdog).

Provides the primary method of controlling the behavior of the drive.

This provides feedback about the current operating state of the drive.

Used to set the required velocity of the system.

Provides the instantaneous velocity demand generated by the drive ramp function.

Section 6.1.1 on page 20

Section 6.1.2 on page 21

Section 6.1.3 on page 23

Section 6.1.4 on page 26

Section 9.2.1 on page 57

Section 7.1 on page 28

Section 7.2 on page 29

Section 7.5.1 on page 41

Section 7.5.2 on page 42

62 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 63

Table 10.1 SM-EtherCAT objects reference

Object Name Description Cross reference

0x6044

0x6046

0x6047

0x6048

0x6049

0x604A

0x604B

0x605A

0x605B

0x605C

0x605E

0x6060

0x6061

0x6062

0x6064

0x6085

0x608F

0x6091

0x6092

0x60F4

0x60FB

vl_velocity_actual

value

vl_velocity_min

max_amount

vl_velocity_min

max

vl_velocity

acceleration

vl_velocity

deceleration

vl_velocity_quick

stop

vl_setpoint

factor

Quick_stop

option_code

Shutdown_option

code

Disable

operation_option

code

Fault_reaction

option_code

Modes_of

operation

Modes of opera-

tion display

Position_demand

value

Position_actual

value

Quick_stop

deceleration

Position_encoder

resolution

Gear_ratio This object is used to apply scaling. Section 7.3.11 on page 36

Feed_constant This is used to configure a feed constant. Section 7.3.12 on page 37

Following_error

actual_value

Position_control

parameter_set

object

Provides the velocity at the motor spindle or load.

This object is used to configure the minimum and maximum velocity.

This object is used to configure the delta speed and delta time of the slope of the acceleration ramp.

This object is used to configure the delta speed and delta time of the slope of the deceleration ramp.

This object is used to configure the delta speed and delta time of the slope of the deceleration ramp for quick stop.

This object is used to configure the numerator and denominator of the vl_setpoint_factor.

Specifies what action is performed in the event of a quick stop function

Used to control what action is performed if there is a transition from the Operation Enabled state to the Ready To Switch On state.

This object is used to control what action is performed if there is a transition from the Operation Enabled state to the Switched On state.

This object is used to control what action is performed when a fault is detected.

This object is used to request a change in the mode of operation.

This read only object is used to provide the active mode of operation.

Used to provide the currently demanded position value.

This read only object provides the actual value of the position feedback device.

This object is used to configure the deceleration rate used to stop the motor when the quickstop function is activated and the quick stop code object (0x605A) is set to 2 or 6.

This read only object indicates the configured encoder increments per number of motor revolutions.

This read only object provides the actual value of the following error.

Used to configure the positional control gains.

Section 7.5.3 on page 42

Section 7.5.4 on page 42

Section 7.5.5 on page 43

Section 7.5.6 on page 43

Section 7.5.7 on page 44

Section 7.5.8 on page 44

Section 7.5.9 on page 45

Section 7.3.2 on page 33

Section 7.3.3 on page 34

Section 7.3.4 on page 34

Section 7.3.5 on page 34

Section 7.3.6 on page 35

Section 7.3.7 on page 35

Section 7.3.14 on page 38

Section 7.3.15 on page 38

Section 7.3.8 on page 35

Section 7.3.10 on page 36

Section 7.3.16 on page 38

Section 7.3.17 on page 39

Information

Installation

Star ted

support

features

Reference

Ter m s

Safety

Introduction

Mechanical

Electrical

Getting

Protocols

Drive profile (DSP-402)

Advanced

Diagnostics

Quick

Glossary Of

Index

SM-EtherCAT User Guide 63 Issue Number: 2 www.controltechniques.com

Page 64

Table 10.1 SM-EtherCAT objects reference

Object Name Description Cross reference

0x60C0

0x60C1

0x60C2

Interpolation

sub-mode_select

Interpolation

data_record

Interpolation

time_period

Specifies the interpolation type. Section 7.4.1 on page 39

This object is used to specify the target position.

The number of time units between interpolator re-starts.

Section 7.4.2 on page 40

Section 7.4.3 on page 40

Table 10.2 SM-EtherCAT parameter reference

Object Description Default Range Cross reference

Pr MM.01

Pr MM.02

Pr MM.06

Pr MM.32

Pr MM.35

Pr MM.44

Pr MM.46

Pr MM.47

Pr MM.48

Pr MM.50

Pr MM.51

SM-EtherCAT

module ID code

SM-EtherCAT

firmware - major

version

SM-EtherCAT

operating status

SM-EtherCAT re-

initialise

SM-EtherCAT serial number

SM-EtherCAT

module

temperature

Critical task %

free

Worst case criti-

cal task % free

Flash file

system % free

SM-EtherCAT

error code

SM-EtherCAT

firmware - minor

version

421 --- Section 9.1.1 on page 56

N/A 00.00 to 99.99 Section 9.1.2 on page 56

N/A -9999 to 9999 Section 9.3 on page 58

0 (OFF) 0 (OFF) to 1 (ON) Section 5.4 on page 18

N/A 0 - 16777215 Section 9.6 on page 59

N/A 0 - 255 Section 9.5 on page 59

N/A 0 to 100 Section 9.8 on page 61

N/A 0 to 100 Section 9.9 on page 61

N/A 0 to 100 Section 9.10 on page 61

N/A 0 to 255 Section 9.7 on page 60

N/A 0 to 99 Section 9.1.2 on page 56

64 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 65

11 Glossary Of Terms

Information

Safety

Address: This is the unique network identification given to a networked device to allow communication on a network. When a device sends or receives data the address is used to determine the source and the destination of the message.

Bit: A binary digit, this may have the value of 1 or 0.

Byte: A collection of eight binary digits that collectively store a value. This may be

signed or unsigned.

Control word: A collection of binary digits that are used to control the drive. Features typically include directional controls, run controls and other similar functions.

Cyclic: Data that is transmitted at regular intervals over the network.

Data rate: Determines the communication speed of the network, the higher the value

the more data can be sent across the network in the same time period.

Device: A piece of equipment connected to a network, this may be any type of equipment including repeaters, hubs, masters or slaves.

Double word: A 32-bit word, this may be signed or unsigned.

Earthing / Grounding: Describes the electrical safety or shielding connections for the

module.

LED: Light emmiting diode.

Long word: A 32-bit data word that may be signed or unsigned.

Introduction

Mechanical

Installation

Electrical

Getting

Star ted

Protocols

Drive profile (DSP-402)

support

Advanced

features

LSB: Least significant bit/byte.

MSB: Most significant bit/byte.

Node: A device on the network. This may be either a device such as a drive or part of

the network such as a repeater.

Non-cyclic data: Data that is requested or sent as required and not on a regular basis.

Octet: A collection of eight binary digits which form a byte.

PC: Personal computer.

PLC: Programmable logic controller.

Poll rate: The rate at which cyclic data is sent and received on the network.

Polled data: See Cyclic data.

SM-EtherCAT User Guide 65 Issue Number: 2 www.controltechniques.com

Diagnostics

Reference

Quick

Glossary Of

Ter ms

Index

Page 66

Scan rate: See Poll rate.

Screening: A connection to provide additional immunity to noise used on a network

cable.

Shielding: A connection to provide additional immunity to noise used on a network cable.

Status word: A value that denotes the status of the drive. Each bit within the word will have a specific meaning.

Word: A collection of sixteen binary digits.

66 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 67

Index

Information

Safety

Address ......................................................................................................65

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

Bit ...............................................................................................................65

Byte ............................................................................................................65

Control word ...............................................................................................65

Cyclic data ..................................................................................................65

Data rate ..................................................................................................... 65

Device ........................................................................................................65

Diagnostics .................................................................................................56

Domain .......................................................................................................65

Earthing ......................................................................................................65

Electrical installation ...................................................................................11

Electrical safety ............................................................................................5

Functional blocks ........................................................................................19

Getting started ............................................................................................13

Glossary of terms .......................................................................................65

Homing mode .............................................................................................47

Index ...........................................................................................................67

Introduction ...................................................................................................8

Long word ................................................................................................... 65

LSB .............................................................................................................65

Mechanical installation ...............................................................................10

MSB ............................................................................................................65

Node ...........................................................................................................65

Non-cyclic data ...........................................................................................65

Octet ...........................................................................................................65

Introduction

Mechanical

Installation

Electrical

Getting Started Protocols

Drive profile (DSP-402)

support

Diagnostics

Advanced

features

Reference

Quick

Glossary Of

Te rm s

Index

SM-EtherCAT User Guide 67 Issue Number: 2 www.controltechniques.com

Page 68

PC ..............................................................................................................65

PLC ............................................................................................................65

Poll rate ......................................................................................................65

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

Safety considerations ...................................................................................7

Safety information ........................................................................................5

SECURE DISABLE ......................................................................................5

Status word ................................................................................................66

Word ...........................................................................................................66

68 SM-EtherCAT User Guide

www.controltechniques.com Issue Number: 2

Page 69

Page 70

0471-0128-02

Emerson SM-ETHERCAT 0471-0128-02 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Safety Information

1.1 Warnings, cautions and notes

1.2 Electrical safety - general warning

1.3 System design and safety of personnel

1.4 Environmental limits

1.5 Compliance with regulations

1.6 Motor

1.7 Adjusting parameters

1.8 General safety considerations for remote operation

2 Introduction

2.1 Features

2.2 Introduction to SM-EtherCAT

2.3 What is EtherCAT?

2.4 Solution module identification

2.4.1 Date code format

2.5 Conventions used in this guide

3 Mechanical Installation

3.1 General Installation

4 Electrical Installation

4.1 SM-EtherCAT module information

4.1.1 Bus media

4.1.2 Cabling considerations

4.1.3 Cable

4.1.4 Maximum network length

4.2 Module grounding

4.3 Network topology

4.4 Minimum node-to-node cable length

5 Getting Started

5.1 Quick start guide

5.1.1 SM-EtherCAT version compatibility

5.1.2 SM-EtherCAT XML file

5.1.3 Configuring the SM-EtherCAT module for cyclic communications

5.1.4 Configuring the Sync Managers

5.2 Quick start flowchart

5.3 Saving parameters to the drive

5.4 Re-initialising the SM-EtherCAT

5.5 Re-initialise all Solutions Modules

6 Protocols

6.1 CANopen over EtherCAT (CoE)

6.1.1 CoE communication area

6.1.2 RxPDO mappings

6.1.3 TxPDO mappings

6.1.4 Sync manager configuration

6.1.5 Feedback encoder source

7 Drive profile (DSP-402) support

7.1 0x6040 Controlword

7.2 0x6041 Statusword

7.3 Common profile features

7.3.1 Sequencing control

7.3.2 0x605A Quick stop option code

7.3.3 0x605B Shutdown_option_code

7.3.4 0x605C Disable_operation_option_code

7.3.5 0x605E Fault_reaction_option_code

7.3.6 0x6060 Modes_of_operation

7.3.7 0x6061 Modes_of_operation_display

7.3.8 0x6085 Quick_stop_deceleration

7.3.9 Profile units

7.3.10 0x608F Position_encoder_resolution

7.3.11 0x6091 Gear_ratio

7.3.12 0x6092 Feed_constant

7.3.13 Basic position control

7.3.14 0x6062 Position_demand_value

7.3.15 0x6064 Position_actual_value

7.3.16 0x60F4 Following_error_actual_value

7.3.17 0x60FB Position_control_parameter_set object

7.4 Interpolated position mode

7.4.1 0x60C0 Interpolation_sub-mode_select

7.4.2 0x60C1 Interpolation_data_record

7.4.3 0x60C2 Interpolation_time_period

7.5 vl velocity mode

7.5.1 0x6042 vl_target_velocity

7.5.2 0x6043 vl_velocity_demand

7.5.3 0x6044 vl_velocity_actual_value

7.5.4 0x6046 vl_velocity_min_max_amount

7.5.5 0x6047 vl_velocity_min_max

7.5.6 0x6048 vl_velocity_acceleration