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SEW Eurodrive
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DFE24B
service manual
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SEW Eurodrive DFE24B service manual

Gearmotors \ Industrial Gear U nits \ Dri ve Ele ctroni cs \ Dr ive Aut omat ion \ Servi ces
Fieldbus Interface DFE24B EtherCAT
Edition 05/2007
11571810 / EN
M
anual
SEW-EURODRIVE – Driving the world
1 Important Notes...................................................................................................... 6
1.1 Explanation of symbols.................................................................... ... .... ... ... . 6
1.2 Integral part of the product............................................................................. 6
1.3 Note on the documentation........................................ ... ... ... .... ... .................... 6
1.4 Liability for defects .... ... .... ... ............................................. .............................. 7
1.5 Product names and trademarks.................................... ... ... .... ... ... ................. 7
1.6 Waste disposal............................................................................................... 7
2 Safety Notes ................ ... ... ... .... ............................................. ................................. 8
2.1 Preliminary information .................................................................................. 8
2.2 General safety notes...................................................................................... 8
2.2.1 General safety notes for bus systems.................................................. 8
2.3 Transportation / putting into storage .............................................................. 8
2.4 Assembly / installation.................................................................................... 9
2.5 Startup / operation ......................................................................................... 9
3 Introduction .......................................................................................................... 10
3.1 Content of this manual ................................................................................. 10
3.2 Additional documentation.................... ... .... ... ... ... ......................................... 10
3.3 Features....................................................................................................... 10
3.3.1 MOVIDRIVE
®
, MOVITRAC®B and EtherCAT .................................. 10
3.3.2 Access to all information.................................................................... 11
3.3.3 Cyclic data exchange via EtherCAT ................................................. 11
3.3.4 Acyclic data exchange via EtherCAT ................................................ 11
3.3.5 Configuration of the EtherCAT option card........................................ 11
3.3.6 Monitoring functions........................................................................... 12
3.3.7 Diagnostics ........................................................................................ 12
3.3.8 Fieldbus monitor ................................................................................ 12
4 Assembly and Installation Notes........................................................................ 13
®
4.1 Installing option card DFE24B in MOVIDRIVE
MDX61B........................... 13
4.1.1 Before you begin................................................................................ 13
4.1.2 Basic procedure for installing and removing an option card .............. 14
4.2 Installing option card DFE24B in MOVITRAC
®
B........................................ 15
4.2.1 SBus connection................................................................................ 15
4.2.2 System bus connection...................................................................... 16
4.3 Installing the UOH11B gateway housing...................................................... 18
4.4 Connection and terminal description of the DFE24B option ........................ 19
4.5 Pin assignment ............................................................................................ 20
4.6 Shielding and routing bus cables................................................................. 21
4.7 Bus termination............................................................................................ 21
4.8 Setting the station address . ... ... .... ............................................. .................. 21
4.9 Operating displays of the DFE24B option..................................... ... ... ......... 2 2
4.9.1 EtherCAT LEDs ................................................................................. 22
4.9.2 Gateway LED..................................................................................... 24
Manual – Fieldbus Interface DFE24B EtherCAT
3
5 Configuration and Startup................................. ... ... ... ......................................... 25
5.1 Validity of the XML files for DFE24B............................................................ 25
5.2 Configuring the EtherCAT master for MOVIDRIVE
5.2.1 XML for operation in MOVIDRIVE
®
B................................................ 25
®
B with the XML file..... 25
5.2.2 Configuration procedure .................................................................... 26
®
5.2.3 PDO configuration for operation in MOVIDRIVE
5.3 Configuring the EtherCAT master for MOVITRAC
............................. 27
®
B / gateway
with XML file................................................................................................. 35
5.3.1 XML files for operation in MOVITRAC
®
B and
gateway housing UOH11B ................................................................ 35
5.3.2 Configuration procedure .................................................................... 35
®
5.3.3 PDO configuration for DFE24B gateway for MOVITRAC
B............. 36
5.3.4 Auto setup for gateway operation ...................................................... 41
®
5.4 Setting the MOVIDRIVE
5.5 Setting the MOVITRAC
MDX61B drive inverter ....................................... 42
®
frequency inverter................................................ 43
6 EtherCAT Operating Characteristics.................................................................. 45
6.1 Controlling the MOVIDRIVE
6.1.1 Control example in TwinCAT with MOVIDRIVE
6.1.2 EtherCAT timeout (MOVIDRIVE
6.1.3 Fieldbus timeout response (MOVIDRIVE
6.2 Controlling the MOVITRAC
6.2.1 Control example in TwinCAT with MOVITRAC
®
MDX61B drive inverter ..................... ... .... ... .. 45
®
MDX61B) ..................................... 48
®
B (Gateway) frequency inverter..................... 49
®
MDX61B ............... 46
®
MDX61B)........................ 48
®
B (gateway) ........... 50
6.2.2 SBus timeout ..................................................................................... 51
6.2.3 Unit faults........................................................................................... 51
6.2.4 DFE24B fieldbus timeout in gateway operation ................................. 52
6.3 Configuration via EtherCAT ........................................................................ 52
6.3.1 SDO READ and WRITE services ...................................................... 52
6.3.2 Example of reading a parameter in TwinCAT via EtherCAT.............. 53
6.3.3 Example of writing a parameter in TwinCAT via EtherCAT ............... 55
6.4 Configuration return codes........................................................................... 56
6.4.1 Elements............................................................................................ 56
6.4.2 Error class.......................................................................................... 56
6.4.3 Error code .......................................................................................... 56
6.4.4 Additional code .................................................................................. 57
6.4.5 List of the error codes for SDO services ............................................ 57
7 Motion Control via EtherCAT ............................................................................. 58
7.1 Introduction to EtherCAT .... ... ... .... ... ............................................. ............... 58
7.1.1 Velocity mode .................................................................................... 61
7.1.2 Position mode .................................................................................... 62
®
7.2 Settings in MOVIDRIVE
B with MOVITOOLS® MotionStudio.................... 63
7.2.1 Settings for velocity mode.................................................................. 63
7.2.2 Settings for position mode ................................................................. 65
7.3 Settings in EtherCAT master........................................................................ 67
7.3.1 Settings for velocity mode.................................................................. 67
7.3.2 Settings for position mode ................................................................. 68
7.4 Example in TwinCAT.................................................................................... 69
7.4.1 Velocity mode .................................................................................... 71
4
Manual – Fieldbus Interface DFE24B EtherCAT
8 Operating MOVITOOLS® MotionStudio via EtherCAT...................................... 74
8.1 Introduction .................................................................................................. 74
8.2 Required hardware ...................................................................................... 75
8.3 Required software........................................................................................ 75
8.4 Installation.................................................................................................... 75
8.5 Configuring the mailbox gateway................................................................. 76
8.6 Network settings on the engineering PC...................................................... 76
8.7 Configuring the SEW communication server ............................................... 78
8.7.1 Establishing communication .............................................................. 78
8.7.2 Procedure .......................................................................................... 78
8.8 Automatic search for connected units (unit scan)........................................ 80
8.9 Activating online mode................................................................................. 81
8.10 Familiar problems during the operation of MOVITOOLS
®
MotionStudio..... 81
9 Error Diagnostics................................................................................................. 82
9.1 Diagnostic procedures ................................................................................. 82
9.2 List of errors................................................................................................. 85
10 Technical Data...................................................................................................... 86
10.1 Option DFE24B for MOVIDRIVE
10.2 Option DFE24B for MOVITRAC
®
MDX61B................................................ 86
®
B and
Universal Gateway Housing UOH11B ......................................................... 87
11 Index...................................................................................................................... 88
Manual – Fieldbus Interface DFE24B EtherCAT
5
1
Important Notes
Explanation of symbols
1 Important Notes
Manual
1.1 Explanation of symbols
Always observe the safety and warning information in this documentation.
Electrical hazard
Possible consequences: Severe or fatal injuries.
Hazard.
Possible consequences: Severe or fatal injuries.
Hazardous situation.
Possible consequences: Slight or minor injuries.
Harmful situation.
Possible consequences: Damage to the unit and the environment.
Tips and useful information.
1.2 Integral part of the product
This manual is an integral part of the DFE24B EtherCAT fieldbus interface and contains important notes on operation and service.
1.3 Note on the documentation
• You must adhere to the documentation to ensure: – Fault-free operation
– Fulfillment of any rights to claim under limited warranty
• Therefore, make sure you read this manual carefully before you install and startup frequency inverters with the DFE24B EtherCAT option card.
• This manual assumes that the user has access to and is familiar with the MOVIDRIVE MDX60B/61B and MOVITRAC® B system manuals.
®
and MOVITRAC® documentation, in particular the MOVIDRIVE
®
6
Manual – Fieldbus Interface DFE24B EtherCAT
1.4 Liability for defects
Incorrect handling or any action performed that is not specified in this manual could impair the properties of the product. In this case, you lose any right to claim under limited warranty against SEW-EURODRIVE GmbH & Co KG.
1.5 Product names and trademarks
The brands and product names in this manual are trademarks or registered trademarks of the titleholders.
1.6 Waste disposal
Please follow the current national regulations.
Dispose of the following materials separately in accordance with the country-specific regulations in force:
• Electronics scrap
• Plastics
• Sheet metal
• Copper etc.
Important Notes
Liability for defects
1
Manual – Fieldbus Interface DFE24B EtherCAT
7
2
2 Safety Notes
Safety Notes
Preliminary information
Only install and startup the DFE24B EtherCAT fieldbus interface in accordance with the relevant accident prevention regulations and the MOVIDRIVE MDX60B/61B and MOVITRAC® B operating instructions.
2.1 Preliminary information
The following safety notes refer to the use of the DFE24B EtherCAT fieldbus interface.
Please also observe the supplementary safety notes in the individual sections of this manual.
2.2 General safety notes
Never install damaged products or take them into operation.
Submit a complaint to the shipping company immediately in the event of damage.
®
2.2.1 General safety notes for bus systems
This communication system allows you to adjust the MOVIDRIVE® drive inverter to your specific application very accurately. As with all bus systems, there is a danger of
invisible, external (as far as the inverter is concerned ) modifications to the param­eters which give rise to changes in the inverter behavior . This may result in unex­pected (not uncontrolled) system behavior.
2.3 Transportation / putting into storage
Inspect the shipment for any damage that may have occurred in transit as soon as you receive the delivery. Inform the shipping company immediat ely. Do not operate the product if it is damaged.
Use suitable, sufficiently rated handling equipment if necessary.
Possible damage caused by incorrect storage!
Store the unit in a dry, dust-free room if it is not to be installed straight away.
8
Manual – Fieldbus Interface DFE24B EtherCAT
2.4 Assembly / installation
Follow the instructions in section 4, "Assembly and Installation Notes."
2.5 Startup / operation
Follow the instructions in section 5, "Configuration and Startup."
Safety Notes
Assembly / installation
2
Manual – Fieldbus Interface DFE24B EtherCAT
9
3
Introduction
Content of this manual
3 Introduction
3.1 Content of this manual
This user manual describes how to:
• install the DFE24B EtherCAT option card in the MOVIDRIVE inverter
• use the DFE24B EtherCAT option card in the MOVITRAC in the UOH11B gateway housing
• startup MOVIDRIVE
• startup MOVITRAC
• configure the EtherCAT master using XML files
• operate MOVITOOLS
3.2 Additional documentation
®
®
MDX61B on the EtherCAT fieldbus system
®
B on the EtherCAT gateway
®
MotionStudio via EtherCAT.
®
MDX61B drive
B frequency inverter and
3.3 Features
3.3.1 MOVIDRIVE
For information on how to connect MOVIDRIVE® simply and effectively to the EtherCAT fieldbus system, in addition to this user manual on the EtherCAT option, you should request the following documentation on fieldbus technology:
•"MOVIDRIVE
•MOVITRAC
The "MOVIDRIVE manual describe the fieldbus parameters and their coding, and explains the whole range of control concepts and application options in the form of brief examples.
The "MOVIDRIVE parameters that can be read or written via the various communication interfaces, such as system bus, RS485 and also via the fieldbus interface.
The MOVIDRIVE® MDX61B drive inverter and the MOVITRAC®B frequency inverter enable you to use the DFE24B option to connect to higher-level automation systems via EtherCAT using its powerful, universal fieldbus interface.
®
, MOVITRAC®B and EtherCAT
®
Fieldbus Unit Profile" manual
®
B system manual
®
Fieldbus Unit Profile" manual and the MOVITRAC®B system
®
Fieldbus Unit Profile" manual contains a list of all drive inverter
The unit behavior of the inverter that forms the basis of EtherCAT operation is referred to as the unit profile. It is independent of any particular fieldbus and is therefore a uniform feature. This feature allows the user to develop drive applications independent of the fieldbus in operation. This makes it much easier to change to other bus systems, such as DeviceNet (option DFD).
10
Manual – Fieldbus Interface DFE24B EtherCAT
3.3.2 Access to all information
Introduction
Features
3
MOVIDRIVE the EtherCAT interface. The drive inverter is controlled via fast, cyclic process data. You can use this process data channel to enter setpoints (e.g. setpoint speed, ramp gener­ator time for acceleration/deceleration, etc.) and to trigger various drive functions such as enable, controller inhibit, normal stop, rapid stop, etc. At the same time you can use this channel to read back actual values from the drive inverter, such as the actual speed, current, unit status, fault number and reference signals.
3.3.3 Cyclic data exchange via EtherCAT
Process data is usually exchanged cyclically between the EtherCAT master and the MOVIDRIVE configuration of the EtherCAT master.
3.3.4 Acyclic data exchange via EtherCAT
The EtherCAT specification defines acyclical READ/WRITE services that are trans­ferred together with the telegrams during ongoing cyclical bus operation without impact­ing on the performance of the process data communication via EtherCAT.
Read and write access to the drive parameters is enabled via SDO (Service Data Object) services that are implemented according to CoE (CANopen over EtherCAT) or VoE (Vendor-specific over EtherCAT) services.
This parameter data exchange enables you to implement applications in which all the important drive parameters are stored in the higher-level programmable controller, so that there is no need to make parameter settings manually on the drive inverter itself.
®
MDX61B offers digital access to all drive parameters and functions via
®
B and MOVITRAC® B inverters. The cycle time is specified during the
3.3.5 Configuration of the EtherCAT option card
The EtherCAT option card is designed so that all fieldbus-specific settings are made during startup of the EtherCAT system. This process enables the drive inverter to be integrated and operated in the EtherCAT environment within a very short period of time.
EtherCAT
Master
Ethernet
Header
Frame
Header
EtherCAT
SEW
Drive
Header
EtherCAT
Figure 1: EtherCAT with MOVIDRIVE
Data
®
Drive
Drive 1
SEW
Drive 2 Drive 3
SEW
Drive
I/O
...
FCS
61211AXX
Manual – Fieldbus Interface DFE24B EtherCAT
11
3
3.3.6 Monitoring functions
3.3.7 Diagnostics
Introduction
Features
Using a fieldbus system requires additional monitoring functions for the drive technology, for example, cycle time monitoring of the fieldbus (fieldbus timeout) or rapid stop concepts. You can, for example, adapt the monitoring functions of MOVIDRIVE /MOVITRAC of the drive inverter’s fault responses should be triggered in the event of a bus error. It is a good idea to use a rapid stop function for many applications. However you can also freeze the last setpoints so that the drive continues to operate with the most recently valid setpoints (for example, conveyor belt). As the functions of the control terminals are still active in fieldbus operation, you can still implement fieldbus-independent emergency stop concepts via the drive inverter terminals.
The MOVIDRIVE number of diagnostic options for startup and service. For example, you can use the integrated fieldbus monitor to control setpoint values sent from the higher-level controller and the actual values.
®
B specifically to your application. You can determine, for instance, which
®
B drive inverter and MOVITRAC®B frequency inverter both offer a
®
B
3.3.8 Fieldbus monitor
Furthermore, you are supplied with a variety of additional information about the status of the fieldbus option card. In conjunction with the MOVITOOLS ware, the fieldbus monitor function offers you an easy-to-use diagnostic tool for setting all drive parameters (including the fieldbus parameters) and for displaying the fieldbus and device status information in detail.
®
MotionStudio PC soft-
12
Manual – Fieldbus Interface DFE24B EtherCAT
Assembly and Installation Notes
Installing option card DFE24B in MOVIDRIVE® MDX61B
4 Assembly and Installation Notes
4
This section provides you with information on assembly and installation for the DFE24B option card in MOVIDRIVE housing.
®
MDX61B, MOVITRAC® B and the UOH11B gateway
4.1 Installing option card DFE24B in MOVIDRIVE® MDX61B
Only SEW-EURODRIVE personnel may install or remove option cards for MOVIDRIVE
• Users may only install and remove options cards for MOVIDRIVE to 6.
• The DFE24B option is powered with voltage via MOVIDRIVE supply is not required.
4.1.1 Before you begin
The DFE24B option card must be installed in the fieldbus slot.
Read the following notes before installing or removing the option card:
• Disconnect the inverter from the power. Switch off the DC 24 V and the supply voltage.
• Take appropriate measures (discharge strap, conductive shoes, etc.) to protect the option card from electrostatic charge before touching it.
• Before installing the option card, remove the keypad and the front cover (→ MOVIDRIVE
• After installing the option card, replace the front cover and the keypad (→ MOVIDRIVE
• Keep the option card in its original packaging until immediately before you are ready to install it.
• Hold the option card by its edges only. Do not touch any subassemblies.
®
MDX61B size 0.
®
MDX60B/61B operating instructions, Sec. "Installation").
®
MDX60B/61B operating instructions, Sec. "Installation").
®
MDX61B sizes 1
®
B. A separate voltage
Manual – Fieldbus Interface DFE24B EtherCAT
13
4
4.1.2 Basic procedure for installing and removing an option card
Assembly and Installation Notes
Installing option card DFE24B in MOVIDRIVE® MDX61B
1.
1.
2.
2.
3.
3.
3.
4.
4.
Figure 2: Installing an option card in MOVIDRIVE® MDX61B sizes 1 to 6
1. Remove the two retaining screws holding the card retaining bracket. Pull the card retaining bracket out evenly from the slot (do not twist!).
2. Remove the 2 retaining screws from the black cover plate on the card retaining bracket. Remove the black cover plate.
3. Position the option card onto the retaining bracket so that the 3 retaining screws fit into the corresponding holes on the card retaining bracket.
4. Insert the retaining bracket with the installed option card into the slot, pressing slightly so it is seated properly. Secure the card retaining bracket with the two retain­ing screws.
5. To remove the option card, follow the instructions in reverse order.
60039AXX
14
Manual – Fieldbus Interface DFE24B EtherCAT
Assembly and Installation Notes
Installing option card DFE24B in MOVITRAC® B
4.2 Installing option card DFE24B in MOVITRAC® B
•MOVITRAC® B does not require any special firmware status.
• Only SEW-EURODRIVE personnel may install or remove options cards into MOVITRAC
4.2.1 SBus connection
®
B.
4
DC 24 V
[1] [2]
MOVITRAC® B
DFE 24B
RUN
ERR
X44
S1
S2
ON OFF
FSC11B
X46
X45
7
23456HL ⊥
1
X12
1 2 3
+
=
24V IO
–
GND
4 5 6 7 8 9
01
AS F1
EtherCAT
INX30OUTX31
OUTX31
H1
H2
X24
X26
1234567
[1] Terminating resistor activated, S1 = ON [2] DIP switch S2 (reserved), S2 = OFF
• DFE24B has an integrated SBus terminating resistor and must always be installed at the start of the SBus line.
• DFE24B always has the address 0.
X46 X26
X46:1 X26:1 SC11 SBus +, CAN high
X46:2 X26:2 SC12 SBus –, CAN low
X46:3 X26:3 GND, CAN GND
X46:7 X26:7 DC 24 V
X12
X12:8 DC 24 V input
X12:9 GND reference potential for binary inputs
Manual – Fieldbus Interface DFE24B EtherCAT
61212AXX
15
4
Assembly and Installation Notes
Installing option card DFE24B in MOVITRAC® B
For simple cabling, the DFE24B option can be provided with DC 24 V voltage at X26.7 from X46.7 of MOVITRAC
When powering option DFE24B through MOVITRAC provided with DC 24 V voltage at terminals X12.8 and X12.9.
4.2.2 System bus connection
S1
ON OFF
X44
FSC11B
X46
X45
23456HL⊥
1
MOVITRAC® B
S2
7
DFE 24B
RUN
ERR
01
AS F1
EtherCAT
INX30OUTX31
OUTX31
®
B.
®
B, MOVITRAC®B itself must be
X12
1 2 3 4 5 6 7 8 9
DC 24 V
+
=
-
24V IO GND
Figure 3: System bus connection
DFE24B
GND = System bus reference SC11 = System bus high SC12 = System bus low
H1
H2
X24
X26
1234567
MOVITRAC® B
S1
S2
ON OFF
X44
FSC11B
X46
X45
23456HL ⊥
1
7
MOVITRAC® B
GND = System bus reference SC22 = System bus low, outgoing SC21 = System bus high, outgoing SC12 = System bus low, incoming SC11 = System bus high, incoming S12 = System bus terminating resistor
MOVITRAC® B
S1
ON OFF
X44
FSC11B
X46
X45
23456HL ⊥
1
61073AXX
S2
7
16
Manual – Fieldbus Interface DFE24B EtherCAT
Assembly and Installation Notes
Installing option card DFE24B in MOVITRAC® B
Please note:
• If available, use a 2 x 2 core twisted and shielded copper cable (data transmission cable with braided copper shield). Apply the shield at both ends to the electronics shield clamp of MOVITRAC the shield ends additionally to GND. The cable must meet the following specifica­tions:
– Core cross section 0.25 ... 0.75 mm – Line resistance 120 Ω at 1 MHz – Capacitance per unit length ≤ 40 pF/m at 1 kHz
Suitable would be CAN bus or DeviceNet cable.
• The permitted total cable length depends on the baud rate setting of the SBus: – 250 kBaud: 160 m
– 500 kBaud: 80 m – 1000 kBaud:40 m
• Connect the system bus terminating resistor (S1 = ON) at the end of the system bus connection. Switch off the terminating resistor on the other units (S1 = OFF). The DFE24B gateway has a permanently installed terminating resistor and must always be located at the beginning or end of the system bus line.
• Star like bus structure is not permitted.
®
B over a large area. When using a 2-core cable connect
2
(AWG23 ... AWG18)
4
• There must not be any potential displacement between the units connected with the SBus. Take suitable measures to avoid potential displacement, e.g. by connecting the unit ground connectors using a separate lead.
Manual – Fieldbus Interface DFE24B EtherCAT
17
4
V
Assembly and Installation Notes
Installing the UOH11B gateway housing
4.3 Installing the UOH11B gateway housing
SC11 Systembus +, CAN high
SC12 Systembus -, CAN low
GND, CAN GND
SEW Drive
UOH11B
DFE 24B
RUN
ERR
01
AS F1
EtherCAT
INX30OUTX31
OUTX31
X24
X26
23456
1
H1
H2
7
DC+24 GND
X26
X26:1 SC11 System bus +, CAN high
X26:2 SC12 System bus -, CAN low
X26:3 GND, CAN GND
X26:6 GND, CAN GND
X26:7 DC 24 V
The gateway housing is powered with DC 24 V at X26.
61074AXX
18
Manual – Fieldbus Interface DFE24B EtherCAT
Assembly and Installation Notes
Connection and terminal description of the DFE24B option
4.4 Connection and terminal description of the DFE24B option
Part number EtherCAT interface type DFE24B: 1821 126 7
4
The option "EtherCAT interface type DFE24B" is only possible in conjunction with MOVIDRIVE
Plug the DFE24B option into the fieldbus slot.
Front view of DFE24B Description
DFE 24B
RUN: EtherCAT operation LED
RUN
ERR
01
AS F1
(orange/green) ERR: EtherCAT error LED (red)
DIP switch AS
®
MDX61B, not with MDX60B.
DIP switches Terminal
F1
Function
Shows the operating status of bus electronics and communication.
Displays EtherCAT errors.
Auto setup for gateway operation Reserved
EtherCAT
INX30OUTX31
OUTX31
Front view in MOVITRAC UOH11B
®
H1
H2
X24
58083AXX
B and
LED Link/Activity (green) X30 IN: Incoming EtherCAT
connection
LED Link/Activity (green) X31 OUT: Outgoing EtherCAT
connection
Description Function
LED H1 (red) LED H2 (green)
X24 X terminal
Shows that the EtherCAT connection with the preced­ing unit is available/active.
Shows that the EtherCAT connection with the follow­ing unit is available/active.
System error (only for gateway functionality)
Reserved
RS485 interface for diagnostics via PC and MOVITOOLS
®
MotionStudio
58129AXX
Manual – Fieldbus Interface DFE24B EtherCAT
19
4
4.5 Pin assignment
Assembly and Installation Notes
Pin assignment
Use prefabricated, shielded RJ45 plug connectors to IEC11801 edition 2.0, category 5.
[1]
[2]
[3]
[6]
AB
Figure 4: Pin assignment of an RJ45 plug connector
A = Front view B = View from back [1] Pin 1 TX+ Transmit Plus [2] Pin 2 TX– Transmit Minus [3] Pin 3 RX+ Receive Plus [6] Pin 6 RX– Receive Minus
6
3
2
1
54174AXX
DFE24B ­EtherCAT connection
Option DFE24B is equipped with two RJ45 connectors for a linear bus structure. The EtherCAT master is connected (if necessary, via additional EtherCAT slaves) to X30 IN (RJ45) with a shielded, twisted-pair cable. Additional EtherCAT units are then connected via X31 OUT (RJ45).
In accordance with IEC 802.3, the maximum permitted cable length for 100 MBaud Ethernet (100BaseT), e.g. between two DFE24B units, is 100 m.
20
Manual – Fieldbus Interface DFE24B EtherCAT
4.6 Shielding and routing bus cables
Only use shielded cables and connection elements that also meet the requirements of category 5, class D according to IEC 11801 edition 2.0.
Correct shielding of the bus cable attenuates electrical interference that can occur in industrial environments. The following measures ensure the best possible shielding:
• Manually tighten the mounting screws on the connectors, modules, and equipotential bonding conductors.
• Use only connectors with a metal housing or a metallized housing.
• Connect the shielding in the connector over a wide surface area.
• Apply the shielding of the bus line on both ends.
• Route signal and bus cables in separate cable ducts. Do not route them parallel to power cables (motor leads).
• Use metallic, grounded cable racks in industrial environments.
• Route the signal cable and the corresponding equipotential bonding close to each other using the shortest possible route.
• Avoid using plug connectors to extend bus cables.
• Route the bus cables closely along existing grounding surfaces.
Assembly and Installation Notes
Shielding and routing bus cables
4
In case of fluctuations in the ground potential, a compensating current may flow via the bilaterally connected shield that is also connected to the protective earth (PE). Make sure you supply adequate equipotential bonding according in accordance with relevant VDE regulations in such a case.
4.7 Bus termination
Bus termination (e.g. with bus terminating resistors) is not necessary. If no further device is connected to an EtherCAT slave, it recognizes this automatically.
4.8 Setting the station address
EtherCAT devices from SEW-EURODRIVE do not have an address that can be set on the unit. The units are detected by their position in the bus structure and are assigned an address by the EtherCAT master. The addresses can be displayed, for example, using the DBG60B keypad (parameter P093).
Manual – Fieldbus Interface DFE24B EtherCAT
21
4
Assembly and Installation Notes
Operating displays of the DFE24B option
4.9 Operating displays of the DFE24B option
4.9.1 EtherCAT LEDs
There are two LEDs on the DFE24B EtherCAT option card that display the current status of the DFE24B option and the EtherCAT system.
DFE24B
RUN
ERR
61070AXX
LED RUN (green/orange)
The RUN LED (green/orange) signals the status of option DFE24B.
Status State Description Off INIT Option DFE24B is in the state INIT. Flashing
green Lights up
once (green) Green OPERATIONAL Option DFE24B is in the state OPERATIONAL. Flickering
green
Flashing orange
PRE-OPERATIONAL Option DFE24B is in the state PRE-OPERATIONAL.
SAFE-OPERATIONAL Option DFE24B is in the state SAFE-OPERATIONAL.
INITIALISATION or BOOTSTRAP
NOT CONNECTED Option DFE24B has been switched on but has not yet been
• Option DFE24B is booting and has not yet reached the state INIT.
• Option DFE24B is in the state BOOTSTRAP. The firmware is being downloaded.
addressed by an EtherCAT master.
LED ERR (red) The ERR LED (red) signals an error on EtherCAT.
Status Error Description Off No error EtherCAT communication of the DFE24B option is in the
Flickering Boot error A boot error has been detected. The state INIT was achieved,
Flashing Invalid configuration General configuration error. Lights up
once
Lights up twice
Lights up three times
Lights up four times
On PDI watchdog timeout A PDI watchdog timeout occurs.
Unrequested change in status
Application watchdog timeout
Reserved -
Reserved -
operating state.
but the "Change" parameter in the AL status register has been set to "0x01:change/error".
The slave application has changed the EtherCAT state automat­ically. The "Change" parameter in the AL status register has been set to "0x01:change/error".
A watchdog timeout occurred in the application.
22
Manual – Fieldbus Interface DFE24B EtherCAT
Assembly and Installation Notes
Operating displays of the DFE24B option
Definition of the display statuses
Display Definition Time profile On Display is always switched on. Off Display is always switched off. Flickering Display switches on and off at a
frequency of 10 Hz.
Lights up briefly once
The display lights up briefly, followed by on off phase.
Flashing Display switches on and off at a
frequency of 2.5 Hz (200 ms on, 200 ms off).
Lights up once The display lights up once (200 ms),
followed by a longer off phase (1000 ms).
Lights up twice The display lights up twice in succes-
sion, followed by on off phase.
Lights up three times
Lights up four times
The display lights up three times in succession, followed by on off phase.
The display lights up four times in succession, followed by on off phase.
50ms
on
off
50ms
50ms
on
off
on
200ms 200ms
off
on
200ms 1s
off
on
200ms 1s
off
on
200ms
off
on
200ms
off
200ms 200ms
200ms 200ms
200ms 200ms
4
58094AXX
58095AXX
58096AXX
58097AXX
58100AXX
1s200ms 200ms
58101AXX
1s200ms 200ms 200ms 200ms
58102AXX
Manual – Fieldbus Interface DFE24B EtherCAT
23
4
Assembly and Installation Notes
Operating displays of the DFE24B option
LED Link/Activity (green)
4.9.2 Gateway LED
LEDs for the gateway commu­nication status
Each EtherCAT connection has a "Link/Activity" LED for the incoming EtherCAT cable (X30) and the outgoing EtherCAT cable (X31). They signal whether the EtherCAT connection to the preceding (X30) or following (X31) unit is available / active.
INX30OUTX31
LED"Link/Activity"
OUTX31
61195AXX
H1
H2
X24
58129axx
LED H1 Sys-Fault (red) Only for gateway function Status State Description Red System error Gateway not configured or one of the drives
Off SBus ok Gateway is configured correctly Flashes Bus scan Bus is being checked by the gateway
is inactive
LED H2 (green) is reserved at present. X terminal X24 is the RS485 interface for diagnostics via PC and MOVITOOLS
®
Motion-
Studio.
24
Manual – Fieldbus Interface DFE24B EtherCAT
Validity of the XML files for DFE24B
5 Configuration and Startup
This section provides you with information on configuration for the EtherCAT master and startup of the drive inverter for fieldbus operation.
The current version of the XML file for the DFE24B control card is available on the SEW homepage under the heading "Software."
5.1 Validity of the XML files for DFE24B
Configuration and Startup
I
5
00
The XML file is needed when DFE24B is used as a fieldbus option in MOVIDRIVE® B and as a gateway in MOVITRAC
Do not change or expand the entries in the XML file. SEW assumes no liability for inverter malfunctions caused by a modified XML file!
®
B or a gateway housing (UOH11B).
5.2 Configuring the EtherCAT master for MOVIDRIVE® B with the XML file
5.2.1 XML for operation in MOVIDRIVE® B
An XML file (SEW_DFE24B.XML) is available for configuring the EtherCAT master. Copy this file to a folder in the configuration software.
Refer to the manuals for the appropriate configuration software for details on this procedure.
The XML files standardized by the EtherCAT Technology Group (ETG) can be read by all EtherCAT masters.
Manual – Fieldbus Interface DFE24B EtherCAT
25
I
5
Configuration and Startup
Configuring the EtherCAT master for MOVIDRIVE® B with the XML file
00
5.2.2 Configuration procedure
Proceed as follows to configure MOVIDRIVE
1. Install (copy) the XML file according to the specifications of your configuration soft­ware. Once the file has been installed correctly, the device appears next to the slave stations (under SEW EURODRIVE → Drives) with the designation MOVIDRIVE+DFE24B.
2. Use the [Insert] menu item to add the device to the EtherCAT structure. The address is assigned automatically. You can give the device a name to make it easier to identify.
3. Select the process data configuration required for your application (see section
5.2.3).
4. Connect the I/O or periphery data to the input and output data of the application program.
Once configuration is complete, you can start EtherCAT communication. The LEDs RUN and ERR indicate the communication status of option DFE24B (see section 4.9 "Operating displays of the DFE24B option").
®
B with EtherCAT fieldbus interface:
26
Manual – Fieldbus Interface DFE24B EtherCAT
Configuration and Startup
Configuring the EtherCAT master for MOVIDRIVE® B with the XML file
I
5
00
5.2.3 PDO configuration for operation in MOVIDRIVE
In the CoE (CANopen over EtherCAT) variant, EtherCAT uses the process data objects (PDO) defined in the CANopen standard for cyclical communication between master and slave. CANopen Standard distinguishes between the process data objects Rx (Receive) and Tx (Transmit).
Rx process data objects
Tx process data objects
Rx process data objects (Rx-PDO) are received by the EtherCAT slave. They transfer process output data (control values, setpoints, digital output signals) from the EtherCAT master to the EtherCAT slave.
Tx process data objects (TX-PDO) are returned from the EtherCAT slave to the EtherCAT master. They transfer process input data (actual values, status, digital input information, etc.).
In the DFE24B operating mode of MOVIDRIVE for cyclical process input and output data.
• OutputData1 (Standard 10 PO) Static PDO with 10 cyclical process output data words that are connected in fixed
configuration with the standard process data of MOVIDRIVE Fieldbus Unit Profile" manual).
®
®
B, two different PDO types can be used
®
B (→ "MOVIDRIVE
®
• OutputData2 (Configurable PO) Configurable PDO with up to 10 cyclical process output data words (16 Bit) and up
to 8 cyclical system variables (32 Bit) that can be configured as required and connected to various process data of the drive inverter.
• InputData1 (Standard 10 PI) Static PDO with 10 cyclical process input data words that are connected in fixed
configuration with the standard process data of MOVIDRIVE Fieldbus Unit Profile" manual).
• InputData2 (Configurable PI) Configurable PDO with up to 10 cyclical process input data words (16 Bit) and up to
8 cyclical system variables (32 Bit) that can be configured as required and connected to various process data of the drive inverter.
®
B (→ "MOVIDRIVE
®
Manual – Fieldbus Interface DFE24B EtherCAT
27
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