EtherCAT SoE Interface - LinMot e
Contents
1. n General NC Drive Parameter Time Compensation Sercos od Solution TwinCAT C1100 SoE 1ms 1 project E a E TwinCAT_C1100_S0E_1ms Parameter Offline Value Online Value Type unit a SYSTEM Output Setti 4 MOTION ba eal ach a Bi NC Task 1 SAF Invert Motor Polarity FALSE zl B S NC Task 1 SVB Reference Velocity 2200 0 F mm s AT NC Task 1 Image at Output Ratio 0 0 1 0 1 0 F a dale Position and Velocity Scaling 4 am Axes Em 4 ab Ais 1 Output Scaling Factor Position 1 0 F 6 Enc Output Scaling Factor Velocity F 4 Drive Output Delay Velocity 0 0 F 5 po E Inputs Minimum Drive Output Limitation 1 0 1 0 1 0 F b M Sus Maximum Drive Output Limitation 1 0 1 0 1 0 F t Ctrl aximum Drive Output Limitation 1 0 1 0 i E Inputs Torque and Acceleration Scaling Wl Outputs Optional Position Command Output Smoothing Filter amp PLC Sercos Behavior SAFETY Other Settings fa C 4 io a TR Devices Download Upload Expand All CollapsAll Select All a 8 Device 2 EtherCAT om T Solution Explorer E MESES TwinCAT C1100 SoE 1ms x General NC Controller Parameter Online lod Solution TwinCAT C1100 SoE 1ms 1 project 4 E TwinCAT C1100 SoE 1ms EEEEEES g system MOTION Monitoring 4 8i NC Task 1 SAF Position Lag Monitoring TRUE xl TRUE B B NC Task 1 SVB Maximum Position Lag Value 5 0 5 0 F mm i NC Task 1 Image Maximum Position Lag Filter Time 02. LinMot EUN EtherCAT Documentation of the EtherCAT SoE Interface of the following Drives C1150 SE XC 0S 1S C1250 SE XC 0S 1S E1250 SE UC E1450 SE QN 0S 1S EtherCAT SoE Interface User Manual SoE LinMot EtherCAT 2015 NTIAG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording microfilm storing in an information retrieval system not even for didactical use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement Document version 6 4 Whp October 2015 Page 2 19 User Manual EtherCAT Interface NTI AG LinMot Ehercar EAE 4 ASYNCHRONOUS CONFIGURATION PROTOCOL SOE eee eene ene ooo nnn nuuun 14 4 1 ComMuUNICATION Phorm e AngA 1000n 1 FFFzg eee tItrtttiiIi 14 4 2 iruin LouMor Sob PARAMETER MAPPING ite ii ceci id auus cede dada an cbe o adipe eese caue di rna one adno dp End aan 1 SEFHERCAT SOE PARAMETERS iinikdiziniiteikitie iie e bb Rock EE
3. a WMDTI Bg Master control word S Position command value Ty WeState Error List ra lE D Frears l A OWarinns LCG D Meccanec I Clear Add the Velocity command value by selecting it from the dictionary Page 8 19 User Manual EtherCAT Interface NTI AG LinMot SoE EtherCAT LinMot Solution Explorer A XB TwinCAT C1100 SoE 1ms X General EtherCAT DC Process Data Startup SoE Online Online lod Solution TwinCAT C1100 SoE 1ms 1 project 4 a TwinCAT C1100 SoE 1ms Sync Manager PDO List 2 DON SM Size Type Flags Index Size Name Flags SM Su 4 8i NC Task 1 SAF 128 MbxOut 5 0 0016 60 AT1 M 3 0 E NC Task 1 SVB 1 128 Mbsln 0 0024 10 0 MDT 1 M 2 0 H NC Task 1 Image 2 it a E Tables 3 B Inputs 4 mme Axes ep Axis 1 Gj pic E sarety lt gt C PDO Assignment SM 2 PDO Content 5 0 0024 H NN 5 0 0024 Index Size Offs Name Type Default hex a 9 Device 2 EtherCAT 0 0134 20 0 0 Master control word UINT on Image 0 0047 40 20 Position command value DINT rj 5 0 0038 40 60 Velocity command value DINT Se Image Info 100 Z SyncUnits E Inputs Wi Outputs Download Predefined PDO Assignment none E InfoData PDL ignment 4 PDO Configuration Lond POU info fom device 4 AT1 Sync Unit Assignment g Drive status word 39 Position feedback value 1 4 Wh MDT Bg Master control word Error List Mir Position command value OErrors A OWarnings
4. i OMessages Clear Bg Velocity command value Description MDT1 telegram with added Velocity command value Solution Explorer MEE dE TwinCAT_C1100_CiA402_1ms X od Solution TwinCAT C1100 SoE 1ms 1 project 4 a TwinCAT C1100 SoE 1ms Modulo Scale g system A MOTION Download Upload 4 NC Task 1 SAF B NC Task 1 SVB 28 NC Task 1 Image 73 Tables 4 Se Axes 4 Bp Axis 1 4 amp amp Enc E Inputs Wl Outputs al Drive t s Ctrl E Inputs Wi Outputs General NC Encoder Parameter Sercos Time Compensation Online Calculate HINT Calculation only suitable if SERCOS is in phase 3 or 4 Now the NC encoder has to be set to the correct value push the calulate button for this Solution Explorer MEE dE TwinCAT C1100 CiA402 1ms X me General NC Encoder Parameter Sercos Time Compensation Online od Solution TwinCAT C1100 SoE 1ms 1 project 4 il TwinCAT C1100 SoE 1ms Modulo Scale Calculate g system 4 MOTION Download Upload 4 NC Task 1 SAF B NC Task 1 SVB am NC Task 1 Image HINT Calculation only suitable if SERCOS is in phase 3 or 4 7 Tables 4 Sa Axes 4 Bap Axis 1 4 Enc E Inputs Wh Outputs Drive las Ctrl Inputs gt mh Outputs After this action the value should stand at this value 2 32 NTI AG LinMot User Manual EtherCAT Interface Page 9 19 A 5 EtherCAT MESES TwinCAT C1100 SoE 1ms x Solution Explorer
5. 580 Output 0 nCtill Out Outputs Drive Axis 1 Axis 1 Axes NC Task 1 SAF SR Position comma X 0x00000000 0 DINT 40 600 Output 0 nDataOut Out Outputs Drive Axis 1 Axis 1 Axes NC Task 1 SAF i NC Task 1 SAF Device 2 EtherCAT Info These steps add the servo drive and its NC axis to the project NTI AG LinMot User Manual EtherCAT Interface Page 7 19 Solution Explorer lod Solution TwinCAT C1100 SoE 1ms 1 project 4 TwinCAT C1100 SoE 1ms g system 4 MOTION 4 NC Task 1 SAF amp NC Task 1 SVB Fd NC Task 1 Image E Tables 4 m Axes Bap Axis 1 Bil pic IB sarety ld c 4 Vo 4 E Devices 4 SS Device 2 EtherCAT an Image 8 Image Info 2 SyncUnits E Inputs Wl Outputs Illy InfoData 4 Drive 1 C1150 SE XC 0 V1 2 ati 4 Wh MDT Bg Master control word B Position command value B WcState E InfoData 4 g Mappings If the master also supports also the mapping Velocity command value SoE MESES TwinCAT C1100 SoE 1ms X General EtherCAT DC FtherCAT Process Data Startup SoE Online Online Sync Manager PDO List SM Size Type Flags Index Size Name Flags SM su 0 128 MbxOut S O0 0016 6 0 AT1 M 3 0 1 128 Mbxin 5 0 0024 6 0 MDT 1 M 2 0 2 6 Outputs 3 6 Inputs gt PDO Assignment SM 2 PDO Content 5 0 0024 5 0 0024 Index Size Offs Name Type Default hex S 0 0134 20 0 0 Master control word UINT 5
6. X18 ETHERCAT Connector Pin se EtherCAT 6 Connecting to the EtherCAT Network 6 1 Pin Assignment of the Connectors X17 X18 The ETHERCAT connector is a standard RJ45 female connector with a pin assignment as Wire color code 1 2 case WHT ORG ORG WHT GRN BLU WHT BLU GRN WHT BRN BRN RJ 45 Use standard patch cables twisted pair S UTP AWG26 for wiring This type of cable is usually referred to as a Cat5e Cable Page 18 19 User Manual EtherCAT Interface NTI AG LinMot EtherCAT T T Contact Addresses SWITZERLAND NTI AG LinMot Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration Tech Support Tech Support Skype Fax Web LinMot 41 0 56 419 91 91 office linmot com 41 0 56 544 71 00 support linmot com skype support linmot 41 0 56 419 91 92 http www linmot com LinMot Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration Tech Support 877 546 3270 262 743 2555 877 804 0718 262 743 1284 Fax 800 463 8708 262 723 6688 E Mail us sales linmot com Web http www linmot usa com Please visit http www linmot com to find the distributor nearest to you Smart solutions are www LinMot com NTI AG LinMot User Manual EtherCAT Interface Page 19 19
7. 0 1108 0 0000 B NC Task 1 SVB Override 4 Total Control Output Error 2s NC Task 1 Image 100 0000 0 00 0 00 D 0x0 E Tables Status log Status phys Enabling 4 ate Axes v Ready VINOT Moving Coupled Mode Controller Set 4 Bet Axis 1 Calibrated Moving Fw v In Target Pos v Feed Fw 4 Enc Has Job Moving Bw In Pos Range V Feed Bw E Inputs Bi Outputs Controller Kv Factor mm s mm Reference Velocity mms al Drive 4 2200 t s Ctrl Target Position mm Target Velocity mm s E Inputs 50 4 100 Wy Outputs Bos T ele VE EE 8 e SAFETY C 4 yo 4 E Devices Name Online Type Size Addr In Out User IC dL MN Device 2 Etherc AT 39 Drive status word X OxC008 49160 UINT 20 580 Input 0 ue ER i amp Position feedba X 0x00079E07 499207 DINT 40 600 Input O us ice 37 WeState x 0 BIT 01 15222 Input 0 a imus 3 InputToggle X 1 BIT 0 1 1524 2 Input 0 Wi Outputs F State 0x0008 8 UINT 2 0 15480 Input 0 E InfoData 5 AdsAddr Ox03E90103080A03 AMSADDR 8 0 1550 0 Input 0 a ml Drive 1 C1150 SE XC 0S V1 2 F AoeNetld 00 00 00 00 00 00 AMSNETID 60 15580 Input 0 a BATI F Chn 0x00 0 USINT 1 0 15640 Input 0 39 Drive status word DcOutputShift X 0x00048834 309300 DINT 4 0 1565 0 Input 0 3 Position feedback value 1 3 DelnputShift X Ok0019CC4C 1690 DINT 4 0 1569 0 Input 0 4 Wi MDT Mir Master control X OxE400 58368 UINT 2 0 58 0 Output 0 Mir Master control word Mir Position
8. manuals 5 1 14 EtherCAT SoE Dis Enable With the Dis Enable parameter the LinMot Servo Drive can be run without the Ethernet EtherCAT Interface going online So in a first step the system can be configured and run without any bus connection ETHERCAT SoE Dis Enable Disable Servo Drive runs without ETHERCAT Enable Servo Drive runs with ETHERCAT connection IMPORTANT If the ETHERCAT Interface is disabled the integrated ETHERCAT ASIC rests in reset state No messages will be sent to other devices connected to the ETHERCAT Network via the servo drive 5 1 2 EtherCAT SoE Station Alias Alias Address Source With this parameter the station alias address source is defined If a station alias address is defined in the ET1100 Eeprom could be programmed from the master over the Network this alias address is taken ETHERCAT SoE Station Alias Alias Address Source None No station alias address is generated The ID switches defines the station alias address The lowest 2 bytes of the device MAC address are used as station alias address The Station alias address parameter value defines the Alias Address ID Switches RT MAC Parameter The station alias address is defined by the Masked RT MAC and Parameter masked parameter ored with the RT MAC masked with the inverse mask Page 16 19 User Manual EtherCAT Interface NTI AG LinMot Ehecar EAM 5 1 3 EtherCAT SoE St
9. xtni ua teta Lebe Ebo ute 16 D DARAMETERS aiii o s ec e cb Sb o a e Fee scia a aa o Ee oic rl e caeca 16 QIJ dM NODIS BEN cet ip coo pt ce E c e Exerc Eoo Pere Lee 16 5 1 2 EtherCAT SoE Station Alias Alias Address Source i sis 16 3 1 3 EtherCAT SoE Station Alias Alias Address Parameter ees IZ 3 1 4 EtherCAT SoE Station Alias Alias Address Parameter Mask sse Lr 5 1 5 EtherCAT SoE NC Configuration Velocity Scale Numerator Denominator Zr 3 I 6 EtherCAT SoE Connection Timeout Timeout Behavior esses i 6 CONNECTING TO THE ETHERCAT NETWORRK eere eere eene nennen nnns nnna nnn 18 G IPN ASSIGNMENT OF THE CONNECTORS ATEN L8 uineis esa cie id RE cepi Pii p E CE EE pid 18 AI UNTACT ADDRESSES i ntn Rua aiu ia ux pore detar bd uirium Rex S MU M MM EEEER AE SERERE 19 NTI AG LinMot User Manual EtherCAT Interface Page 3 19 a 0 EtherCAT 1 System overview EtherCAT is the open real time Ethernet network originally developed by Beckhoff The LinMot act as Slave in this network and is implemented with the standard ASIC ET1100 from Beckhoff With the SoE Sercos over Ethernet Protocol it is possible to use the Sercos functionality over the EtherCAT bus the drive behaves as a Sercos drive For further information on the EtherCAT fieldbus please visit http www ethercat org 1 1 References All user manuals are distributed with the LinMot Tal
10. 0 0047 40 2 0 Position command value DINT Download PDO A v PDO Configuration Error List Qu oir 0Wamings D omesages le Description recommended to add this to MDT1 data Solution Explorer J Solution TwinCAT C1100 SoE 1ms 1 project Ed TwinCAT C1100 SoE 1ms x Predefined PDO Assignment none Load PDO info from device Syne Unit Assignment it is strongly General EtherCAT DC Process Data Startup SoE Onli ine Online 4 HU TwinCAT C110 SoE 1ms Sync Manager PDD List SYSTEM T a MOTION SM Size Type Flags Index Sie Name Name Velocity command value B NC Task 1 SAF 0 108 MbsDut 0008 60 ATI Index ther 24 36 1 128 Mbsin 00024 60 MDT1 NC Task 1 SVB amp 27 g Outputs SubIndex 0 2E NC Task 1 Image DG pem 7 Tables is Data Type E dia mic Bit Lentgh Bj ric ks lt gt From Dictionary SAFETY a 5 0 0036 Velocity command value lid c PDO Assignment SM 2 PDO Content S 0 0024 Vo pe 4 ur ere v 5 0 0024 Index Sge Offs Name 4 FR Device 2 EtherCAT 00134 20 00 Master control word H Image 0004 40 20 Position command value 2E Image Info 60 2 SyncUnits E Inputs Wl Outputs Download Predefined PDO Assignment none E InfoData PDO Assignment vus Load PDO info from device a 3 Drive 1 C1150 SE XC 0S V1 2 F PDO Configuration ome Q ATI Sync Unit Assignment
11. 02 0 02 F 5 m THIS Position Control Loop 4 am Axes 4 Wa Axis 1 Position control Proportional Factor Kv 10 1 0 F mm s mm Enc Feedforward Velocity Pre Control Weighting 0 0 1 0 1 0 1 0 4 Drive Other Settings gt Eh Inputs Controller Mode STANDARD STANDARD E gt Wh Outputs m P SES Auto Offset FALSE rase B m Inputs Offset Timer 1 0 1 0 F 5 Wl Outputs Offset Limit of Calibration Velocity 0 01 0 01 F al PLC Slave coupling control Proportional Factor Kep 0 0 0 0 F mm s mm L d Controller Outputlimit 0 0 1 0 0 0 F T 4 lvo 4 Devices r 4 FE Device 2 EtherCAT Download Upload Expandall Collaps AII Select All PN Though the position controlling is done in the drive the controller output has to be set to O If this is forgotten the behaviour could be noisy To set these NC parameters they have to be downloaded Page 10 19 User Manual EtherCAT Interface NTI AG LinMot EtherCAT LinMot SoE Solution Explorer MESE SE TwinCAT C1100 CiA402 1ms X General EtherCAT DC Process Data Startup SoE Online Online NC Online NC Functions od Solution TwinCAT C1100 SoE 1ms 1 project 4 TwinCAT C1100 SoE 1ms Setpoint Position mm 3 C 49 9188 h In 4 MOTION Lag Distance min max mm Actual Velocity mm s Setpoint Velocity mms 4 B NC Task 1 SAF 0 0812 0 002 0 635
12. 4 Master Control Word D E 000 5 0 0135 Drive Status Word OxCO08 5 0 0148 Drive Controlled Homing 00000000 Ooo00000 5 0 0187 IDN list of IDNs in AT list 5 0 0188 IDN list of IDNs in MDT list 5 0 0183 Following distance mm D 0733 5 0 0380 DC bus Voltage V 80 40 5 0 0403 Position feedback status 0 0000 P 1 2914 State Var 0 0820 P 1 0964 Homing Mode 0x0001 P 1 0967 Home Position mm 10 0000 P 1 0970 Slider Home Position mm 10 0000 P 1 3205 4 inputs 0x0030 LinMot SoE Object Dictionary Page 14 19 User Manual EtherCAT Interface NTI AG LinMot Ehercar EAE 4 2 Generic LinMot SoE Parameter Mapping Apart from the above described parameters with the LinMot servo drives there exists a generic parameter mapping of the LinMot parameters by UPID to the SoE parameter index by adding the UPID to 0x8000h Reading and writing the value accesses the RAM value of the UPID Writing to the default value accesses the ROM value of the UPID NTI AG LinMot User Manual EtherCAT Interface Page 15 19 a 0 EtherCAT 5 EtherCAT SoE Parameters 5 1 Parameters The EtherCAT SoE Interface has an additional parameter tree branch Parameters gt EtherCAT SoE which can be configured with the distributed LinMot Talk software With these parameters the EtherCAT interface can be enabled or disabled The LinMot Talk software can be downloaded from http www linmot com under the section download software amp
13. T 4 Asynchronous Configuration Protocol SoE For configuration purpose Parameter Handling the standard Sercos over EtherCAT SoE Protocol is used 4 1 Communication Profile Area 1000h 1FFFh General EtherCAT DC Process Data Startup SoE Online Online NC Online NC Functions Diagnosis Id 95 W aming Motor not homed Reset Id 99 Update List Auto Update IDN Name Unit Value 5 0 0001 NC cycle time TNeyc us 0 5 0 0002 Communication cycle time TScyc us 0 5 0 0011 Class 1 diagnostic 00000000 00000000 5 0 0012 Class 2 diagnostic 00000000 00000000 5 0 0015 Telegram Type Parameter 00000000 00000111 5 0 0016 AT List list 5 0 0017 Operation Data List list 5 0 0024 MDT List list 5 0 0032 Primary Operation Mode 00000000 O0000000 5 0 0036 Velocity command value m s 0 000000 5 0 0041 Homing velocity m s 0 010000 5 0 0043 Velocity polarity parameter 00000000 00000000 5 0 0044 Velocity scaling type 00000000 00101001 5 0 0045 Velocity scaling type 1 5 0 0046 velocity scaling exponent 6 5 0 0047 Position command value mm 50 0000 5 0 0049 Positive Position Limit mm 0 0000 5 0 0050 Negative Position Limit mm 0 0000 5 0 0051 Position feedback value 1 mm 43 3207 5 0 0055 Position polarity parameter 00000000 o0000000 5 0 0076 Position Data Scaling Type 00000000 00000010 5 0 0095 Diagnose Message Warning Motor not homed 5 0 0099 Reset class 1 diagnostic 00000000 00000000 5 0 013
14. ation Alias Alias Address Parameter Parameter value of the station alias address 5 1 4 EtherCAT SoE Station Alias Alias Address Parameter Mask Mask value for the parameter value of the station alias address 5 1 5 EtherCAT SoE NC Configuration Velocity Scale Numerator Denominator This two parameters are taken to Scale the PDO Value of Target velocity Index Ox60FF to the Drive Resolution which is 1um s The Scaling factor is Velocity Scale Numerator divided by Velocity Scale Denominator For the Beckoff this factor is typically 1 60 gt Velocity Scale Numerator 1 and Velocity Scale Denominator 60 5 1 6 EtherCAT SoE Connection Timeout Timeout Behavior With this parameter the drive behavior on an Connection timeout could be set This parameter is also represented in the profile parameter with index 0x6007 ETHERCAT SoE Conection Timeout Timeout Behavior Ignore Nothing happens if an IO timeout occurs Drive goes to Error State and the Voltage is Error with Disable Voltage disabled immediately when the IO timeout occurs Drive goes to Error State before the Voltage is Error with Quick Stop disabled a Quick Stop is performed when the IO timeout occurs Drive goes to Error State before the Voltage is Error with Go To Pos disabled a Go To Position is performed when the IO timeout occurs NTI AG LinMot User Manual EtherCAT Interface Page 17 19 defined by EIA TIA T568B X17
15. comma X 0x00074120 500000 DINT 4 0 60 0 Output 0 Bi Position command value ly WeState Now the servo drive can be used with system manager NC functionality when started NTI AG LinMot User Manual EtherCAT Interface Page 11 19 a 0 EtherCAT 3 Process Data Object PDO Configuration The cyclic process data is configured in the master and transmitted to the slave during startup The default mapping is documented in the tables below The inputs and outputs correspond to the PLC point of view For a detailed description of the exchanged data and its meaning refer to 1 For a detailed description of the PDO data refer to 1 or have a look at the TwinCAT demo program which is included with the LinMot Talk software 3 1 Input PDO Modules 3 1 1 Default Inputs AT 1 S 0 0016 6 Variables S 0 0135 2 Sdrive status word S 0 0051 Position feedback value nt32 1 Default input PDO mapping of 6 Bytes 3 1 2 Input Following distance S 0 0189 S 0 0189 4 Following distance Int32 3 1 3 Input DC bus voltage S 0 0380 S 0 0380 4 DC bus Voltage Int32 3 1 4 Input State Var P 1 2914 P 1 2914 10 State Var Uint16 3 1 5 Input X4 Inputs P 1 3205 P 1 3205 2 0 X4 inputs Uint16 Page 12 19 User Manual EtherCAT Interface NTI AG LinMot EtherCAT T 3 2 Output PDO Modules 3 2 1 Default Outputs MDT 1 S 0 0024 Variables 2 Master control word lUint16 4 2 Position c
16. erCAT NTIL SoE Servos V1 2 xml for TwinCAT version 3 If this is done the PLC should recognize the corresponding LinMot drives on the EtherCAT fieldbus automatically 2 2 Scan the EtherCAT slave devices Connect the EtherCAT LinMot CiA402 Servo Drive to the EtherCAT Master and power on the signal supply Then scan for the connected devices in the System Manager NTI AG LinMot User Manual EtherCAT Interface Page 5 19 a 0 EtherCAT OB File Edit View Project Build Debug TwinCAT PLC Tools Scope Window Help g a Gil Bii cC 3 Release TwinCAT RT x64 Pe EMEN S CR GO 6n ctocal gt i LM DEMO 02 3 Solution Explorer A XM TwinCAT C1100 Ci 402 1ms X General Adapter EtherCAT Online Co lod Solution TwinCAT C1100 SoE 1ms 1 project 4 E TwinCAT C1100 SoE 1ms Name Device 2 EtherCAT system l MOTION Object Id 003010020 a PLC Type EtherCAT Master Il sarETY l Cee Comment 4 a I O 4 Devices 4 gt Device 2 EtherCAT is Image J Add New Item Ctrl Shift A diy Image Info Ez Add Existing Item Shift Alt A SyncUnits x Inputs Remove Del Bh Outputs Change Netld E InfoData f Save Device 2 EtherCAT As 4 2h Mappings wt NC Task 1 SAF Dey Append EtherCAT Cmd g NC Task 1 SAF Dex Append Dynamic Container Online Reset Online Reload Online Delete Scan Change ld Change To gt 43 Copy Ctrl C d Cut Ctrl X i Paste Ctr
17. k software the newest versions can be downloaded from the LinMot homepage in the download section 1 User Manual Motion Control SW www linmot com 2 LinMot Drive Configuration over Fieldbus Interfaces SG5 lwww linmot com 1 2 Connecting In and Out In the EtherCAT the cabling is directed due topology support so In and Out is different The real time Ethernet RJ45 connector X17 is the input and the real time RJ45 connector X18 is the output ANNA AAAS ARAN WAR o NNNNNS NNNNNSA pou Page 4 19 User Manual EtherCAT Interface NTI AG LinMot Ehercar ANTE 2 Setup in the PLC In the following steps the integration of a LinMot EtherCAT Sercos Servo Drive in the PLC is described In the example a Beckhoff master PLC is used The easiest way is the online configuration when the device is connected to the EtherCAT network 2 1 Copy Device Description File The LinMot Servo Drive is described with xml device description file distributed with the LinMot Talk software This file is only used when offline configuration is desired Copy this file to PLC so it can access it Example Source path of EtherCAT Device description file C Programme LinMot LinMot Talk 6 2 Build 20140915 Firmware Interfaces EtherCAT XML NTIL SoE Servos V1 2 xml Example Destination path of EtherCAT Device description file C TwinCAT lo EtherCAT NTIL SoE Servos V1 2 xml for TwinCAT version 2 C ATwinCAT 3 1 Config lo Eth
18. l V Paste with Links e Disable Scan for EtherCAT slave devices Page 6 19 User Manual EtherCAT Interface NTI AG LinMot SoE EtherCAT LinMot TwinCAT_C File Edit View Project Build Debug TwinCAT PLC Tools Scope Window Help iai Gia gx Ga 9 S D Release TwinCAT RT x64 ik EA 2 G e lt tocal gt LM_DEMO_02 JI a le Solution Explorer ms od Solution TwinCAT C1100 SoE 1ms 1 project A Xf TwinCAT C1100 CiA402 1ms X General Adapter EtherCAT Online CoE Online 4 9 TwinCAT C1100 SoE 1ms Noms Device 2 EtherCAT ia 2 id system MOTION Object Id 003010020 amp g PLC Type EtherCAT Master I sarETY C Comment 4 Bo a E Devices 4 Device 2 EtherCAT is Image AS Image Info Disabled Create symbols 2 SyncUnits L3 Inputs Bi Outputs E InfoData al Drive 1 C1150 SE XC 0S V1 2 4 ib Mappings uh NC Task 1 SAF Device 2 EtherCAT 1 F4 NC Task 1 SAF Device 2 EtherCAT Info e EtherCAT drive s added Append linked axis to NC Configuration With the question Add drives to NC configuration select yes File Edit View Project Build Debug TwinCAT PLC Tools Scope Window Help Pul l exco EE ee runcerares nl BIETER fey ES gle koca LM_DEMO_02 J gt als um DD Q TwinCAT_C1100_CiA02_1ms x od Solution TwinCAT C1100 SoE 1ms 1 p
19. ommand value nt32 Default output PDO mapping of 6 Bytes The default mapping could be extended with the following value If the master also supports also the mapping Velocity command value it is strongly recommended to add this to MDT1 data S 0 0024 a NIMM CORO CMM encore S 0 013 o Master control word Position command value S 0 0036 7 E Velocity command value Int32 3 2 2 Output Velocity Command value S 0 0036 S 0 0036 4 1D Nelocit command value Int32 If the master supports also the Velocity command value it is strongly recommended to at this part to the MDT 1 telegram With this a much better dynamic could be reached 3 3 Typical Startup Telegrams TwinCAT_C1100_CiA402_Ims x E General EtheCAT DC Process Data Startup ScE Online Onine NC Online NC Functions zd Solution TwinCAT C1100 SoE 1m 1 project Nu eem Transition Protocol Index Data Comment Si lt PS gt Se 0005 0x0007 7 Telegram type a i Mur S PS gt Sc soome 020002003300 AT list S P Sc 5400024 040004002F002400 MDT lst a Miis Name Online Type Size gt Addr In Out UserID Linked to E lm ge ini P Drive status word X C000 49160 UINT 20 580 input 0 nStatel nState2 2 symeUnits 39 Position feedback value 1 X 0 00079E07 499207 DINT 40 600 dpt O nDataln In Inputs Enc Axis 1 Axis 1 Axes NC Task 1 SAF Wi Inputs Fi WeState x 0 BIT 01 15222 In
20. put 0 Stated nStated Wy Outputs F InputToggle x1 BIT 01 15242 Input 0 Stated nStated E InfoData 5 State 0008 8 UINT 20 15480 Input 0 a l Drive 1 C1150 SE XC 0S V1 2 35 AdsAddr Ox03E90103080A0304 281757564218770186 AMSADDR 80 15500 Input 0 4 BAT Fi AoeNetid 0 00 00 00 00 00 AMSNETID 60 15580 Input 0 3 Drive status word P Chno 0 00 0 USINT 10 15640 Input 0 3 Position feedback value 1 38 DcOutput Shift X 00048834 309300 DINT 40 15650 Input 0 nDcOutputTime In Inputs Drive Axis 1 Axis 1 Axes NC Task 1 SAF 4 fort 39 DclnputShift X 0x0019CCAC 1690700 DINT 40 15690 Input 0 nDclnputTime In Inputs Enc Axis 1 Axis 1 Axes NC Task 1 SAF Bj Master control word Sir Master control word X 000 57344 UINT 20 580 Output 0 nCtrll Out Outputs Drive Axis 1 Axis 1 Axes NC Task 1 SAF EP Position command value Sr Position cornmand value X 000074120 500000 DINT AD 600 Output 0 nDataOutl Out Outputs Drive Axis 1 Axis 1 Axes NC Task 1 SAF BP Velocity command value H Velocity command value X 00070000 458752 DINT 40 60 Output 0 nDataOut2 Out Outputs Drive Axis 1 Axis 1 Axes NC Task 1 SAF Tl WcState Th InfoData 4 t Mappings di NC Task 1 SAF Device 2 EtherCAT 1 it NC Task 1 SAF Device 2 EtherCAT Info This figure shows the startup telegram list of LinMot SE servo drive NTI AG LinMot User Manual EtherCAT Interface Page 13 19 SoE EtherCA
21. roject 4 E TwinCAT C1100 SoE 1ms General EtherCAT DC Process Data Startup SoE Online Online Transition Protocol Index Data Comment A a onan S PS gt SoE S 00015 0x07 7 Telegram type Si PS gt Se 0016 020002003300 AT list 4 INC Tesh TRAE Sc5 Sc S00024 020002002 00 MDT lit amp NC Task 1 SVB AT NC Task 1 Image E Tables a Se Axes is Axis 1 Bl e c E sarETY face Name Online Type Size gt Add In Out UserID Linked to 4 Evo fi Drive status word X 0x0000 0 UINT 20 580 Input 0 nStatel nState2 4 Devices Position feedba X 0x00000000 0 DINT 40 600 Input O nDataln1 In Inputs Enc Axis 1 Axis 1 Axes NC Task 1 SAF 4 FR Device 2 EtherCAT WicState x d BIT 01 1522 2 Input 0 nStated nStated 23 Image i InputToggle X BIT 01 1524 2 Input 0 nStated nState4 8 Image Info F State 0002 2 UINT 20 15480 Input 0 Z SyncUnits AdsAddr 0x03E90103080A030A 281757564218770186 AMSADDR 80 1550 0 Input 0 Inputs Pi AoeNetld 00 00 00 00 00 00 AMSNETID 60 15580 Input 0 Eh Outputs A Chn 0x00 0 USINT 10 15640 Input 0 Wi InfoData DcOutputShift X 0x00048834 309300 DINT 40 1565 0 Input 0 nDcOutputTime In Inputs Drive Axis 1 Axis 1 Axes NC Task 1 SAF cf M ROUSE eos 58 DclnputShift X 0x0019CC4C 1690700 DINT 40 15690 Input O nDcInputTime In Inputs Enc Axis 1 Axis 1 Axes NC Task 1 SAF i NC Task 1 SAF Device 2 EtherCAT 1 SR Master control X 0x0000 0 UINT 20
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