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Fieldbus Interface DFE24B EtherCAT

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1. eee 13 4 1 Installing option card DFE24B in MOVIDRIVE MDX61B 13 4 1 1 Before you begin anne ns 13 4 1 2 Basic procedure for installing and removing an option card 14 4 2 Installing option card DFE24B in MOVITRAG EE 15 4 2 4 SBUS C nnettioN er eid ene sede debbie a E e di 15 4 2 2 System bus Connechon enne 16 4 3 Installing the UOH11B gateway bousing 18 4 4 Connection and terminal description of the DFE24B option 19 4 5 Pin ssignment EE 20 4 6 Shielding and routing bus cables seeeseeeseeeseeesieesiresintsintstintsrrnsrnnnsrenee 21 AT BusterminatiOn ect ee EEN dee 21 4 8 Setting the station address ssssssssseseeeeeneeneeeennenns 21 4 9 Operating displays of the DFE24B option cccceceeseeeeeeeeeeeeeeeeeneeeeenees 22 4 9 1 EtherCAT LEEDS wenn ea n a ler durs 22 4 9 2 Gateway LED 2 na al 24 Manual Fieldbus Interface DFE24B EtherCAT 5 Configuration and Startup uessssnnannnnananennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnannnnnnnnnnnanen 25 5 1 Validity of the XML files for DFE24B uuennsnnnnnnnsnnnnnnnnnnnnnnnnnnnnn nenn 25 5 2 Configuring the EtherCAT master for MOVIDRIVE B with the XML file 25 5 2 1 XML for operation in MEDER ed EE 25 5 2 2 Configuration Procedure me 26 5 2 3 PDO configuration for operation in MOVIDRIVES nenne 27 5 3 Configuring
2. o1 ASE FAUT EtherCAT z 8 x E 2 o 2 x 61212AXX 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 15 4 Assembly and Installation Notes Installing option card DFE24B in MOVITRAC B For simple cabling the DFE24B opti from X46 7 of MOVITRAC B When powering option DFE24B thro on can be provided with DC 24 V voltage at X26 7 ugh MOVITRAC B MOVITRAC B itself must be provided with DC 24 V voltage at terminals X12 8 and X12 9 4 2 2 System bus connection MOVITRAC B DFE 24B Cem Om oa XT EI EtherCAT IN 8 z E 5 o H DC 24 V MOVITRAC B S1 FSC11B HT TERRE Figure 3 System bus connection DFE24B GND System bus referen
3. Gearmolor Industrial Gear Units Drive Electronics Drive Automation Services LITT EN STI X r Y Ca Fieldbus Interface DFE24B EtherCAT Edition 05 2007 M 11571810 EN anual SEW EURODRIVE Driving the world 1 Important Notes u nen 6 1 1 Explanation of symbols enanas asninn uina nennen 6 1 2 Integral part of the product sssssssssseeeeennn eene 6 1 8 Note on the documentation 6 1 4 Liability tele Ee CEET 7 1 5 Product names and trademarks AAA 7 1 6 Waste disposal oneri eter ee ages 7 PAESE ID 8 2 1 Preliminary information eene 8 2 2 General safety notes 8 2 2 1 General safety notes for bus svsiems 8 2 3 Transportation putting into storage c ceeeeeeeseeeeeeeeeeeteeeeeteeeeeaeeeteneeetaes 8 2 4 Assembly installation enne nnns 9 2 5 Startup operation Nun 9 KEMeujmmm 10 3 1 Content of this manuel 10 3 2 Additional documentation 10 3 9 E 10 3 3 1 MOVIDRIVES MOVITRAC B and EtherCAT siieieeeeeen 10 3 3 2 Access to all miormaton nn 11 3 3 3 Cyclic data exchange via EtherCAT ssse 11 3 3 4 Acyclic data exchange via Ebert AT 11 3 3 5 Configuration of the EtherCAT option Card 11 3 3 6 Monitoring Tunchons emn 12 3 9 f DIAQNOSHICS om ottiene tee ma Mine ee 12 3 3 8 Fieldbus Monto EE 12 4 Assembly and Installation Notes
4. Address List L Australia Assembly Melbourne SEW EURODRIVE PTY LTD Tel 61 3 9933 1000 Sales 27 Beverage Drive Fax 61 3 9933 1003 Service Tullamarine Victoria 3043 http www sew eurodrive com au enquires sew eurodrive com au Sydney SEW EURODRIVE PTY LTD Tel 61 2 9725 9900 9 Sleigh Place Wetherill Park Fax 61 2 9725 9905 New South Wales 2164 enquires sew eurodrive com au Townsville SEW EURODRIVE PTY LTD Tel 61 7 4779 4333 12 Leyland Street Fax 61 7 4779 5333 Garbutt QLD 4814 enquires sew eurodrive com au Austria Assembly Wien SEW EURODRIVE Ges m b H Tel 43 1 617 55 00 0 Sales Richard Strauss Strasse 24 Fax 43 1 617 55 00 30 Service A 1230 Wien http sew eurodrive at sew sew eurodrive at Belgium Assembly Br ssel SEW Caron Vector S A Tel 32 10 231 311 Sales Avenue Eiffel 5 Fax 32 10 231 336 Service B 1300 Wavre http www sew eurodrive be info caron vector be Brazil Production Sao Paulo SEW EURODRIVE Brasil Ltda Tel 55 11 6489 9133 Sales Avenida Am ncio Gaiolli 50 Fax 55 11 6480 3328 Service Caixa Postal 201 07111 970 http www sew com br Guarulhos SP Cep 07251 250 sew sew com br Additional addresses for service in Brazil provided on request Bulgaria Sales Sofia BEVER DRIVE GmbH Tel 359 2 9151160 Bogdanovetz Str 1 Fax 359 2 9151166 BG 1606 Sofia bever fastbg net Cameroon Sales Douala Electro Services Tel 23
5. on Manual Fieldbus Interface DFE24B EtherCAT Configuration and Startup ago Setting the MOVITRACO frequency inverter Activation of the control signal source and setpoint source FIELDBUS is signaled to the machine controller using the Fieldbus mode active bit in the status word For safety reasons you must also enable the MOVIDRIVE B drive inverter at the terminals for control via the fieldbus system Consequently you must wire and program the terminals in such a way that the inverter is enabled via the input terminals The simplest way of enabling the inverter on the terminal side is to set the DI input terminal Function CONTROLLER INHIBIT to a 24 V signal and to program the input terminals DI 1 DIO7 to NO FUNCTION The whole procedure for starting up the MOVIDRIVE B drive inverter with EtherCAT connection is described in sections 6 and 7 5 5 Setting the MOVITRAC frequency inverter HParameter tree 1 MCO7B Jl 9 MOVITRACeB Parameters ECH Fixed setpoint z ned 1120222 107 sj 2 5 1 Setponts ramp generators EI 10 Setpoint selection 102 Frequenoyseaing IkHz 10 00 E 11 Analog input 1 0 10V 55 12 FBG Setpoint generator option 13 Speed ramps 1 601 Binay input 0102 T E Enable Stop z zz 14 Speed ramps 2 E 15 Mas potenlioniets funoln 602 Binary input DIO3 T No function E 16 Fired setpoints 1 603 Binay input DIO4 Notcion m 17 Feed setpoints 2 ab 2
6. 15908 0dec 3E25 0hex 18 0 P110 Drive 4 P11 15909 0dec 3E26 0hex 20 0 PI11 Drive 4 PI2 15910 0dec 3E27 0hex 22 0 PI12 Drive 4 PI3 15911 0dec 3E28 0hex 24 0 PI13 Drive 5 PI1 15912 0dec 3E29 0hex 26 0 PI14 Drive 5 PI2 15913 0dec 3E2A Ohex 28 0 PI15 Drive 5 PI3 15914 0dec Manual Fieldbus Interface DFE24B EtherCAT 5 40 ago o Configuration and Startup Configuring the EtherCAT master for MOVITRAC B gateway with XML file Index Subindex Offset in PDO Name Assignment Data type Size in bytes 3E2B 0hex 30 0 PI16 Drive 6 PI1 UINT 2 15915 0dec 3E2C Ohex 32 0 PI17 Drive 6 PI2 15916 0dec 3E2D Ohex 34 0 PI18 Drive 6 PI3 15917 0dec 3E2E 0hex 36 0 PI19 Drive 7 PI1 15918 0dec 3E2F 0hex 38 0 PI20 Drive 7 PI2 15919 0dec 3E30 0hex 40 0 PI21 Drive 7 PI3 15920 0dec 3E31 0hex 42 0 PI22 Drive 8 PI1 15921 0dec 3E32 0hex 44 0 PI23 Drive 8 PI2 15922 0dec 3E33 0hex 46 0 PI24 Drive 8 PI3 15923 0dec Manual Fieldbus Interface DFE24B EtherCAT Configuration and Startup go 5 Configuring the EtherCAT master for MOVITRACO B gateway with XML file 5 3 4 Auto setup for gateway operation The auto setup function can be used to startup DFE24B as a gateway without a PC The function is activated using the DIP switch Auto Setup see section 4 4 on page 19 Setting the DIP switch Auto Set
7. 15909 0dec PI10 Manual Fieldbus Interface DFE24B EtherCAT 9 33 5 34 go Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE B with the XML file Plausibility of the configuration of process data objects In the freely configurable process data objects OutputData2 and InputData2 cyclical process output data PO1 10 cannot be inserted when OutputData1 or InputData1 is configured at the same time Multiple configuration of process data objects is not possible Only standard process data objects PO1 PO10 PI P110 or IPOSPIUS variables indices 11000 0 12023 0 can be configured as process data Manual Fieldbus Interface DFE24B EtherCAT Configuration and Startup go 5 Configuring the EtherCAT master for MOVITRAC B gateway with XML file 5 3 Configuring the EtherCAT master for MOVITRA C B gateway with XML file This section describes the configuration of the EtherCAT master with MOVITRAC B and the DFE24B gateway UOH11B 5 3 1 XML files for operation in MOVITRAC B and gateway housing UOH11B 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 EtherC
8. Fieldbus Interface DFE24B EtherCAT Assembly and Installation Notes Installing option card DFE24B in MOVIDRIVE MDX61B 4 Assembly and Installation Notes This section provides you with information on assembly and installation for the DFE24B option card in MOVIDRIVE MDX61B MOVITRAC B and the UOH11B gateway housing 4 1 Installing option card DFE24B in MOVIDRIVE MDX61B Only SEW EURODRIVE personnel may install or remove option cards for MOVIDRIVE MDX61B size 0 Users may only install and remove options cards for MOVIDRIVE MDX61B sizes 1 to 6 The DFE24B option is powered with voltage via MOVIDRIVE B A separate voltage 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 gt MOVIDRIVE MDX60B 61B operating instructions Sec Installation After installing the option card replace the front cover and the keypad gt MOVIDRIVE MDX60B 61B operating instructions Sec Installation Keep the option card in its original packaging until immediately before you are ready to install it
9. Hold the option card by its edges only Do not touch any subassemblies Manual Fieldbus Interface DFE24B EtherCAT 13 14 Assembly and Installation Notes Installing option card DFE24B in MOVIDRIVE MDX61B 4 1 2 Basic procedure for installing and removing an option card 60039AXX Figure 2 Installing an option card in MOVIDRI VE 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 retain ing screws 5 To remove the option card follow the instructions in reverse order Manual Fieldbus Interface DFE24B EtherCAT Assembly and Installation Notes 4 Installing option card DFE24B in MOVITRAC B 42 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 B 4 2 1 SBus connection MOVITRAC B DFE 24B Orun 4 Cem 2
10. 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 InputDataT 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 B 2 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 Manual Fieldbus Interface DFE24B EtherCAT 5 27 go Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE B with the XML file List of the possible process data objects PDO for DFE24B MOVIDRIVE B Index Size Name Mapping Sync manager Sync unit 1600hex 20 bytes OutputData1 Standard 10 PDO Fixed 2 0 5632dec content 1602hex 2 52 bytes OutputData2 Configurable PO 2 0 6656dec 1A00hex 20 bytes InputData1 Standard 10 PI Fixed 3 0 5632dec content 1A02hex 2 52 bytes InputData2 Configurable PI 3 0 6658dec Ethernet Frame EtherCAT Header Header Header EtherCAT Master 1 acycl Mailbox H Communication cycl InputData1 acycl Mailb Standard 10 PI Communicatioi EtherCAT 61221AXX Figure 5 U
11. CANopen over EtherCAT VoE Simple MOVILINK Protocol over EtherCAT Firmware status MOVIDRIVE B No special firmware is required Tools for startup PC program MOVITOOLS MotionStudio from version 5 40 FBG60B keypad Manual Fieldbus Interface DFE24B EtherCAT 10 87 11 88 Index 11 Index A F Additional code 1 4 u a 57 Fieldbus MONITO teie inian ata eaa 12 Auto setup for gateway operation 41 Functions B EtherCAT iiem RR 58 EG 17 G Bus cable GSD UE 86 ROUINO it teet 21 Validity for DFE24B e 25 shielding serisinin dettes 21 l Bus termination sess 21 86 87 Installation c Installing and removing option cards 14 Configuration Option card DFE24B in MOVITRACQ B 15 EtherCAT master for MOVIDRIVEG B Option card DFE24B in With XME file TER 25 MOVIDRIVEG MDX61B sss 13 EtherCAT master for MOVITRAC or UOH11B gateway housing 18 gateway with XML file esses 35 L Proced ras 2325 Rie eine ert bh 26 35 E 56 LEDs EtherC AT nennen 22 Vale CAT se Seri die fei 52 Liability for defects 7 Configuration of the EtherCAT option card 11 M Configuration of the mailbox gateway 76 Mailbox gateway Configuration return Codes 0 2 56 EE Ee 76 Connection geha ee EE Ce A course se 16 Monitoring functions es 12 Option DEE24B bauen i
12. Tel 58 241 832 9804 Sales Av Norte Sur No 3 Galpon 84 319 Fax 58 241 838 6275 Service Zona Industrial Municipal Norte http www sew eurodrive com ve Valencia Estado Carabobo sewventas cantv net sewfinanzas cantv net 97 EURODRIVE SEW EURODRIVE Driving the world Gearmotors Industrial Gear Units Drive Electronics Drive Automation Services How we re driving the world With people who think fast and With a worldwide With drives and controls develop the service network that is that automatically future with you always close at hand improve your productivity TN With a global presence With innovative that offers responsive technology that solves and reliable solutions tomorrow s problems Anywhere today With comprehensive With uncompromising knowledge in virtually quality that reduces the every branch of cost and complexity of industry today daily operations d SEW EURODRIVE e Driving the world L With online information and software updates via the Internet available around the clock SEW EURODRIVE GmbH amp Co KG P O Box 3023 D 76642 Bruchsal Germany Phone 49 7251 75 0 F
13. 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 6 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 param eters which give rise to changes in the inverter behavior This may result in unex pected not uncontrolled system behavior ki 23 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 immediately 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 Manual Fieldbus Interface DFE24B EtherCAT Safety Notes Assembly installation 24 Assembly installation Follow the instructions in section 4 Assembly and Installation Notes 2 5 Startup operation Follow the instruc
14. e 42 D 76646 Bruchsal Fax 49 7251 75 1769 sc elektronik sew eurodrive de Drive Service Hotline 24 Hour Service 49 180 5 SEWHELP 49 180 5 7394357 Additional addresses for service in Germany provided on request France Production Haguenau SEW USOCOME Tel 33 3 88 73 67 00 Sales 48 54 route de Soufflenheim Fax 33 3 88 73 66 00 Service B P 20185 http www usocome com F 67506 Haguenau Cedex sew usocome com Production Forbach SEW EUROCOME Tel 33 3 87 29 38 00 Zone Industrielle Technop le Forbach Sud B P 30269 F 57604 Forbach Cedex Assembly Bordeaux SEW USOCOME Tel 33 5 57 26 39 00 Sales Parc d activit s de Magellan Fax 33 5 57 26 39 09 Service 62 avenue de Magellan B P 182 F 33607 Pessac Cedex Lyon SEW USOCOME Tel 33 4 72 15 37 00 Parc d Affaires Roosevelt Fax 33 4 72 15 37 15 Rue Jacques Tati F 69120 Vaulx en Velin Paris SEW USOCOME Tel 33 1 64 42 40 80 Zone industrielle Fax 33 1 64 42 40 88 2 rue Denis Papin F 77390 Verneuil l Etang Additional addresses for service in France provided on request Algeria Sales Alger R ducom Tel 213 21 8222 84 16 rue des Fr res Zaghnoun Fax 213 21 8222 84 Bellevue El Harrach 16200 Alger Argentina Assembly Buenos Aires SEW EURODRIVE ARGENTINA S A Tel 54 3327 4572 84 Sales Centro Industrial Garin Lote 35 Fax 54 3327 4572 21 Service Ruta Panamericana Km 37 5 sewar sew eurodrive com ar 1619 Garin
15. error must be set to a value other than O for the drive inverter to stop The timeout response can be defined via parameter P836 Gateways detect a series of hardware defects automatically and lock out as a result The exact error responses and remedies can be found in the list of errors If an error occurs during a self test the fault F111 System error is displayed on the fieldbus process input data for status words 1 of all drive inverters In this case LED H1 system error flashes at regular intervals on the DFE24B The exact error code is displayed in the status of the gateway with MOVITOOLS MotionStudio using diagnostics interface X24 Manual Fieldbus Interface DFE24B EtherCAT 6 51 orm rCAT Operating Characteristics Configuration via EtherCAT 6 2 4 DFE24B fieldbus timeout in gateway operation You can use the parameter P831 Fieldbus timeout response to set how the gateway should respond when EtherCAT communication times out P831 Fieldbus timeout response Description No response The drives connected via SBus continue to work with the last setpoint The drives cannot be controlled any longer when EtherCAT commu nication is interrupted PO_DATA 0 When an EtherCAT timeout is detected a rapid stop is activated for all drives that have process data configuration with control word 1 or 2 To do so the gateway sets bits O 2 of the control word to 0 The drives are brought to a standstill
16. if necessary via additional EtherCAT slaves to X30 IN connection 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 Assembly and Installation Notes Shielding and routing bus cables 46 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 alon
17. 0 PO21 Drive 7 PO3 15820 0dec 3DCD Ohex 18 0 PO22 Drive 8 PO1 15821 0dec 3DCE Ohex 18 0 PO23 Drive 8 PO2 15822 0dec 3DCF Ohex 18 0 PO24 Drive 8 PO3 15823 0dec Manual Fieldbus Interface DFE24B EtherCAT Configuration and Startup go Configuring the EtherCAT master for MOVITRAC B gateway with XML file Assignment of the fixed configured process input data PDO 1 Drive 1 Drive 2 Drive 8 PI PI3 PI PI3 PI PI3 Y A Y cycl InputData1 acycl Mailbox Standard 10 PI Communicationi 61240AXX Figure 13 Assignment of the standard process input data for InputData1 The process input data transferred with InputData1 are assigned according to the following table The process input data P11 PI3 can be connected with various process data status words actual values using the process data configuration in the MOVITRAC B drive inverter gt MOVITRAC B operating instructions Index Subindex Offset in PDO Name Assignment Data type Size in bytes 3E1C Ohex 0 0 DI Drive 1 PI1 15900 0dec 3E1D Ohex 2 0 PI2 Drive 1 PI2 15901 0dec 3E1E Ohex 4 0 PI3 Drive 1 PI3 15902 0dec 3E1F 0hex 6 0 PI4 Drive 2 PI1 15903 0dec 3E20 0hex 8 0 PI5 Drive 2 PI2 15904 0dec 3E21 0hex 10 0 PI6 Drive 2 PI3 15905 0dec 3E22 0hex 12 0 PI7 Drive 3 PI1 15906 0dec 3E23 0hex 14 0 PI8 Drive 3 PI2 15907 0dec VINT 2 3E24 0hex 16 0 PI9 Drive 3 PI3
18. 1 Establishing communication see 78 9 2 tee HIE 78 8 8 Automatic search for connected units unit SCAN n se 80 8 9 Activating online mode eene nene 81 8 10 Familiar problems during the operation of MOVITOOLS MotionStudio 81 9 Error DiaQnOStie EE 82 9 1 Diagnostic procedures nn 82 922 LSO GITOIS iui n e ue ex de ETT M RM i eee 85 10 Technical Data geess eege 86 10 1 Option DFE24B for MOVIDRIVE M xeIp 86 10 2 Option DFE24B for MOVITRAC B and Universal Gateway Housing UOH11B ssesseseeeseeesieesrserirsrrrrsrireerrrsrrnens 87 T1 Index uui see dL EE EEN 88 Manual Fieldbus Interface DFE24B EtherCAT Important Notes Explanation of symbols 1 Important Notes 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 OOP eD 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
19. P831 monitoring Extend the fieldbus timeout inter val response monitoring in the master configuration or deactivate monitoring 37 Watchdog error SBus communication Error during execution of system soft Contact SEW Service is stopped ware 45 Initialization SBus communication Error after self test during reset Perform a reset Consult SEW error is stopped Service if the error occurs again 111 Device Timeout No Check the red system error LED LED Check voltage supply SBus cabling System error H1 of DFx If this LED lights up red or flashes one or more stations on the SBus were not addressed within the timeout time If the red system error LED H1 is flashing the error is in the DFx itself In this case error F111 was only reported to the controller via field bus and SBus terminating resistors Switch DFx off and on again If the error is still present query the error via diagnostic interface and perform the action described in this table Manual Fieldbus Interface DFE24B EtherCAT 85 Technical Data Option DFE24B for MOVIDRIVE MDX61B 10 Technical Data 10 1 Option DFE24B for MOVIDRIVE MDX61B Option DFE24B MOVIDRIVE MDX61B Part number 1821 126 7 Power consumption P 3W Standards IEC 61158 IEC 61784 2 Baud rate 100 MBaud full duplex Connection technology 2 x RJ45 8x8 modularJack Bus termination Not integrated because bus ter
20. Type field and select the system unit e g in the Unit field On the Global tab page set the maximum speed and lag error monitoring On the Dynamics tab page set the ramp times The settings you make must suit the mechanical components and match the settings made in the inverter Manual Fieldbus Interface DFE24B EtherCAT Motion Control via EtherCAT go 7 Example in TwinCAT Configuring the CANopen DS402 is defined as the encoder under Axis x_Enc and configured as encoder follows following figure General NC Encoder Global Incremental Online ENCODER Mode Invert Encoder Counting Direction era Scaling Factor F 0 087890625 AN ine Position Bias Modulo Factor e g 360 0 F 360 0 2 Tolerance Window for Modulo Start F 0 0 7 ENABLE Min Soft Position Limit B FALSE Software Position Limit Min F 0 0 ENABLE Max Soft Position Limit B FALSE Software Position Limit Max F 0 0 E Filter Time for Actual Position P T1 F 0 0 E Filter Time for Actual Velocity P T1 F 0 01 S Filter Time for Actual Acceleration P T 1 F 01 Encoder Mask Maximal Yalue r D OxFFFFFFFF ENABLE Actual Position Correction B FALSE Filter Time Actual Position Correction P T1 F 00 s 61461AXX The scaling factor is calculated using the following formula 360 4096 inc revolution 0 087890625 inc 7 4 4 Velocity mode Drive connected to KLXXX is selected as the drive under Axis x D
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22. error and start the bus in the master again Activate OPERATIONAL state in the slave Start process data communication Manual Fieldbus Interface DFE24B EtherCAT Error Diagnostics SS List of errors lt 9 2 List of errors The following error list applies to option DFE24B in gateway operation When operating option DFE24B in MOVIDRIVE B the corresponding error codes can be found in the MOVIDRIVE MDX60B 61B operating instructions Error Designation Response Cause Measure code 17 Stack overflow SBus communication is stopped 18 Stack underflow SBus communication is stopped 19 NMI SBus communication is stopped Check ground connections and 20 Undefined SBus communication Malfunction of inverter electronics shielding and correct if necessary Opcode is stopped possibly due to EMC influence Contact SEW service if this error ET occurs again 21 Protection fault SBus communication is stopped 22 Illegal word SBus communication operand access is stopped 23 Illegal instruc SBus communication tion access is stopped 25 Eeprom SBus communication Error while accessing EEPROM Activate factory settings perform is stopped reset and reconfigure DFE Contact SEW service if the error occurs again 28 Fieldbus timeout Default PO data 0 No communication between master e Check communication routine of Error response and slave within the projected response the master adjustable via
23. speed setpoint directly MOVIDRIVE B uses linear interpola tion This means that for a setpoint cycle of 5 ms the controller in MOVIDRIVE B does not activate the required speed change every 5 ms in a single step but rather in 5 small steps of 1 ms each Manual Fieldbus Interface DFE24B EtherCAT 61 7 62 ago Motion Control via EtherCAT Introduction to EtherCAT 7 1 2 Position mode E 3 H Vref N Let LC Le m N va B Figure 18 Position mode cascade with bus interface 61479AXX A Control B Fieldbus interface C Inverter Xref Position setpoint 1 Position controller Xact Actual position value 2 Speed controller Vref Speed setpoint 3 Output stage of the inverter Vact Actual speed value 4 Driven machine tef Torque setpoint 5 Encoder V speed X position 6 Optional synchronous encoder In position mode a position setpoint is transferred cyclically from the controller to the inverter and the actual position value is returned by the inverter or the separate position sensor In position mode the inverter follows the changing position setpoint and generates the required speed setpoint for the speed controller 2 itself out of the actual position Xact from 5 or 6 The control time slices of the controller bus transfer the internal process ing cycles of the inverter and the encoder must be synchron
24. the EtherCAT line you can use the symbol Find devices to search the EtherCAT line for connected MOVIDRIVE units gt following figure Getting Started tsm TwinCAT System Manager Fle Edit Actions View Options Help K NC Configuration a D I NC Task 1 SAF ES PLC Configuration uo Configuration B9 1 0 Devices s EtherCAT Master EtherCAT whe EtherCAT Master Image 11642AXX For simple fieldbus functionality NC axes do not necessarily have to be created for each device that is found 46 Manual Fieldbus Interface DFE24B EtherCAT EtherCAT Operating Characteristics ago 6 Controlling the MOVIDRIVE amp MDX61B drive inverter For the simplest form of process data transport only the two PDOs nputData1 and OutputData1 are required You can deactivate the configurable PDOs by deleting the marker for both PDOs Input and Output following figure Fle Edk Actions View Options Heb D SSW zi Ber 6A Bal CHE KSE LEQ ek SYSTEM Configuration Real Time Settings BF Additional Tasks By Route Settings Wy PLC Configuration WW cam Configuration General EtheCAT OC Process Data Startup CoE Onine Onine InputDatal f ER 1 0 Configuration InputD ata2 t NS 1 0 Devices OuputDatal SB EtherCAT Master EtherCAT OutputData2 oh EtherCAT Master Image fe EtherCAT Master Image I S Inputs e Frm State QT Fre WcState ST SiaveCount on w QO DevSt
25. using the rapid stop ramp 6 3 Configuration via EtherCAT With EtherCAT the drive parameters are accessed via the standard SDO READ and WRITE services in CoE CANopen over EtherCAT Inverter configuration using the EtherCAT parameter channel is only possible for MOVIDRIVE MDX61B and the parameters of the DFE24B gateway At present the EtherCAT SDO parameter channel does not enable access to parame ters on inverters connected via SBus to the gateway Via VoE Vendor specific over EtherCAT MOVITOOLS MotionStudio can also access MOVITRAC B inverters connected to the gateway via SBus Sec 8 6 3 1 SDO READ and WRITE services The user interface is displayed differently depending on the EtherCAT master or configuration environment However the following parameters are always required to execute the SDO command SDO READ Description Slave address 16 bit EtherCAT address of the inverter from which data is to be read Index 16 bit Address in the object dictionary that is to be read Subindex 8 bit Data Structure to store received data and its length Data length SDO WRITE Description Slave address 16 bit EtherCAT address of the inverter to which data is to be written Index 16 bit Address in the object dictionary that is to be written Subindex 8 bit Data Structure in which the data to be written is stored Data length Additional flags and parameters may also
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27. 11482 0dec H482 2CDB Ohex InputLevel Status of the digital inputs 11483 0dec H483 2CDC Ohex ControlWord IPOSplus9 control word 11484 0dec H484 2CE4 0hex TargetPos Target position 11492 0dec H492 2CE7 0hex LagDistance Lag distance 11495 0dec H495 2CEB Ohex SetpPosBus Bus position setpoint 11499 0dec H499 2CEC Ohex TpPos2_VE Touch probe position 2 virtual 11500 0dec H500 encoder 2CED Ohex TpPos1_VE Touch probe position 1 virtual 11501 0dec H501 encoder 2CEE Ohex TpPos2 Abs Touch probe position 2 11502 0dec H502 2CEF Ohex TpPos1_Abs Touch probe position 1 11503dec H503 Manual Fieldbus Interface DFE24B EtherCAT Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE B with the XML file ago Index Subindex Name Data Size in Read Access attribute type bytes Write 2CF0 Ohex TpPos2_Ext Touch probe position 2 external 11504 0dec H504 2CF1 0hex TpPos2 Mot Touch probe position 2 motor 11505 0dec H505 encoder 2CF2 0hex TpPos1 Ext Touch probe position 1 external 11506 0dec H506 2CF3 ohex TpPos1 Mot Touch probe position 1 motor 11507 0dec H507 DINT 4 4 2CF4 0hex ActPos Mot16 Actual position motor 16 Bit 11508 0dec bit H508 2CF5 0hex ActPos Abs Actual position absolute enco
28. 4 cyclical process input data words that are connected in fixed configuration with the process data of a maximum of 8 MOVITRAC B connected to the gateway List of the possible PDO for the DFE24B gateway Index Size Name Mapping Sync manager Sync unit 1601hex 48 bytes OutputData1 Standard 24 PO Fixed 2 0 5633dec content 1A01hex 48 bytes InputData1 Standard 24 PI Fixed 3 0 5633dec content EtherCAT Master EtherCAT cycl InputData1 acycl Mailbox Standard 24 PI Communication Unit SBus Address MOVITRAC B 61242AXX Figure 11 Data exchange PDO OutputData1 InputData1 with EtherCAT master 36 Manual Fieldbus Interface DFE24B EtherCAT Configuration and Startup g 5 Configuring the EtherCAT master for MOVITRAC B gateway with XML file Assignment of the fixed configured process output data PDO 1 cycl OutputData1 Communication Standard 10 PO pot Po2 Pos Pos Pos Pos __ ro22 poz Poza uuu BR Zus Drive 1 Drive 2 Drive 8 PO1 PO3 PO1 PO3 PO1 PO3 61239AXX Figure 12 Assignment of standard process output data for OutputData1 The process output data transferred with OutputData1 are assigned according to the fol lowing table For each inverter the process output data PO1 PO3 can be connected with various process data control words setpoints using the process data configura tio
29. 6 1 Controlling the MOVIDRIVE MDX61B drive inverter The MOVIDRIVE B drive inverter is controlled using the fixed PDO which are 10 I O words long These process data words are mapped directly in the process image when using an EtherCAT master which means they can be addressed directly by the control program EtherCAT Master X I 61375AXX Ethernet Frame EtherCAT Header Header Header EtherCAT Data Drive 1 Drive 2 Drive 3 _ Figure 14 EtherCAT with SEW Drives For more information on controlling via the process data channel in particular the coding of the control and status words refer to the Fieldbus Unit Profile manual Manual Fieldbus Interface DFE24B EtherCAT 45 6 go EtherCAT Operating Characteristics Controlling the MOVIDRIVE amp MDX61B drive inverter 6 1 1 Control example in TwinCAT with MOVIDRIVE MDX61B Once the SEW DFE24B xml file has been copied to the TwinCAT subdirectory IO EtherCAT you can use the function Append box to insert a MOVIDRIVE B unit in the EtherCAT structure following figure _ moviaxis tsm TwinCAT System Manager File Edit Actions View Options Help D c uw bi Gals SBE HHS S ae EB SYSTEM Configuration o RV Configuration Bl PLC Configuration Mama Axis B Bl 1 0 Configuration 1 0 Devices T E Ger t 1 Ethercami ght moupe lic z Ger t sabbild Be a 11641AXX In online mode i e when connected with
30. 6Frt i S OC S 2 4 Reference signals 5 Control functions 884 SBus 1 baud rate 500 kbaud D i a 6 Terminal assignment 885 SBus 1 synchronization ID E s A i9 7 Control functions 8 Unit functions 886 CANopen 1 address 60 IEND Ke 887 Synchronization ext controller 1 2 81 Serial communication 82 Braking operation 888 Synchronization time SBus 1 2 83 Fault responses B4 Reset behavior 85 Scaling speed actual value 86 Modulation 87 Process data parameter settir E 0 Gain X controller Incr F 7 52 z 88 Serial communication SBus 1 911 Positioning ramp1 s fio n B8 Serial communication SBus 2 o E 9 IPOS parameters 912 Positioning ramp 2 s 1 00 90 IPOS reference travel 913 Travel speed D 1 min 1500 00 883 Parameter channel 2 FA 31 IPOS travel prameters 92 IPOS monitoring 914 Travel speed CDA 1 min fi 500 00 93 IPOS special functions 915 Speed feedforward 94 IPOS encoder 95 DIP 316 Ramp type 96 IPOS Modulo function g 97 IPOS synchronization Applications GA 97 IPOS synchronization 9 ApplicationBuild licati Adieu 870 DPRAM synchronization Manual operation f S 317 Ramp mode 971 Synchronization phase 61451AXX P887 Synchronization ext controller ON P888 Synchronization time SBus ms 1 The synchronization time must correspond exactly with the bus cycle P916 Ramp type Interpolation veloc
31. 7 4322 99 Rue Drouot Akwa Fax 237 4277 03 B P 2024 Douala Canada Assembly Toronto SEW EURODRIVE CO OF CANADALTD Tel 1 905 791 1553 Sales 210 Walker Drive Fax 1 905 791 2999 Service Bramalea Ontario L6T3W1 http www sew eurodrive ca l reynolds sew eurodrive ca Vancouver SEW EURODRIVE CO OF CANADALTD Tel 1 604 946 5535 7188 Honeyman Street Fax 1 604 946 2513 Delta B C VAG 1 E2 b wake sew eurodrive ca Montreal SEW EURODRIVE CO OF CANADALTD Tel 1 514 367 1124 2555 Rue Leger Fax 1 514 367 3677 LaSalle Quebec H8N 2V9 a peluso sew eurodrive ca Additional addresses for service in Canada provided on request Chile Assembly Santiago de SEW EURODRIVE CHILE LTDA Tel 56 2 75770 00 Sales Chile Las Encinas 1295 Fax 56 2 75770 01 Service Parque Industrial Valle Grande http www sew eurodrive cl LAMPA RCH Santiago de Chile P O Box Casilla 23 Correo Quilicura Santiago Chile ventas sew eurodrive cl 91 i Address List P O Box 80136 GR 18545 Piraeus China Production Tianjin SEW EURODRIVE Tianjin Co Ltd Tel 86 22 25322612 Assembly No 46 7th Avenue TEDA Fax 86 22 25322611 Sales Tianjin 300457 gm tianjin sew eurodrive cn Service http www sew eurodrive com cn Assembly Suzhou SEW EURODRIVE Suzhou Co Ltd Tel 86 512 62581781 Sales 333 Suhong Middle Road Fax 86 512 62581783 Service Suzhou Indu
32. 8 0dec 3DC1 0hex 18 0 PO10 UINT 15809 0dec Manual Fieldbus Interface DFE24B EtherCAT 5 29 5 go Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE B with the XML file Fixed assignment of the configured process input data MOVIDRIVE for PDO Process Data 1 3 or MOVIDRIVE InputData1 IPOSP s Process Data 1 3 IPOSP4s Process Data 4 10 pri riz pis ra pis pie Piz ro Pro Pi 10 61226AXX Figure 7 Assignment of the standard process input data for PDO InputData1 The process input data transferred with InputData1 are assigned according to the following table The process input data PI1 PI3 can be connected with various process data status words actual values using the process data configuration in the MOVIDRIVE B drive inverter 2 MOVIDRIVE Fieldbus Unit Profile manual The process input data P14 P110 are only available in IPOSPIUS Index Subindex Offset in PDO Name Data type Size in bytes 3E1C 0hex 0 0 DI UINT 15900 0dec 3E1D Ohex 2 0 PI2 UINT 15901 0dec 3E1E Ohex 4 0 PI3 UINT 15902 0dec 3E1F 0hex 6 0 Pl4 UINT 15903 0dec 3E20 0hex 8 0 PI5 UINT 15904 0dec 2 3E21 0hex 10 0 PI6 UINT 15905 0dec 3E22 0hex 12 0 PI7 UINT 15906 0dec 3E23 0hex 14 0 PI8 UINT 15907 0dec 3E24 0hex 16 0 PI9 UINT 15908 0dec 3E25 0hex 18 0 PI10 U
33. AT masters 5 3 2 Configuration procedure Proceed as follows to configure MOVITRAC gateways with the EtherCAT interface 1 Install copy the XML file according to the specifications of your configuration soft ware Once the file has been installed correctly the device appears next to the slave stations under SEW EURODRIVE Drives with the designation DFE24B Gateway 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 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 Manual Fieldbus Interface DFE24B EtherCAT 35 5 go Configuration and Startup Configuring the EtherCAT master for MOVITRACO B gateway with XML file 5 3 3 PDO configuration for DFE24B gateway for MOVITRAC B In the DFE24B gateway operating mode for MOVITRAC B one PDO each is used for cyclical process input and output data OutputData1 Standard 24 PO Static PDO with 24 cyclical process output data words that are connected in fixed configuration with the process data of a maximum of 8 MOVITRAC B connected to the gateway e InputData7 Standard 24 PI Static PDO with 2
34. AT timeout MOVIDRIVE MDX61B If data transfer via EtherCAT is disturbed or interrupted the fieldbus monitoring time standard value 100 ms configured in the master elapses in MOVIDRIVE MDX61B The DFE24B ERR LED signals that no new user data can be received At the same time MOVIDRIVE MDX61B performs the fault response selected with P831 Fieldbus timeout response P819 Fieldbus timeout displays the monitoring time specified by the master during the EtherCAT startup The duration of the timeout can only be changed via the master Mod ifications made using the keypad or MOVITOOLS do not have any effect and are over written during the next startup of the PLC 6 1 3 Fieldbus timeout response MOVIDRIVE MDX61B Parameter P831 Fieldbus timeout delay is used to set the fault response that is triggered via the fieldbus timeout monitoring function The setting made here must match the con figuration of the master system 48 Manual Fieldbus Interface DFE24B EtherCAT EtherCAT Operating Characteristics ago Controlling the MOVITRAC B Gateway frequency inverter 6 2 Controlling the MOVITRAC B Gateway frequency inverter The frequency inverters connected to the gateway are controlled via the process data channel which is 3 I O data words for each connected inverter These process data words are mapped directly in the process image when using an EtherCAT master which means they can be addressed immediately by the control pr
35. ATA_CANNOT_BE_READ_OR_STORED_ Data access error due to local BECAUSE_OF_LOCAL_CONTROL control 0x08000022 8 0 22 DATA CANNOT BE READ OR STORED Data access error due to unit state IN THIS STATE 0x08000023 8 0 23 NO OBJECT DICTIONARY IS PRESENT There is no object dictionary Manual Fieldbus Interface DFE24B EtherCAT 9 57 7 58 g Motion Control via EtherCAT Introduction to EtherCAT 7 Motion Control via EtherCAT This section contains information on the EtherCAT functions that enable MOVIDRIVE B to be operated synchronously on an EtherCAT master for motion control applications 7 1 Introduction to EtherCAT This section describes the functions and terms used for running SEW drive inverters on EtherCAT in synchronous operation More technical and comprehensive information on EtherCAT is available from the EtherCAT User Organization at www EtherCAT org and from the manufacturers of EtherCAT master systems The following section describes the basic mechanisms required for motion control appli cations starting with cascade control a typical feature of drive engineering 1 2 N 4 Xref t Xact Vact gt m Cay Sch Gen Q 61477AXX Xref Position setpoint 1 Position controller Xact Actual position value 2 Speed controller Vref Speed setpoint 3 Output stage of the inverter Vact Act
36. AXX A Control interval dts C Inverter of encoder time slice dte B Bus cycle dx Position difference distance covered As the inverter or encoder and controller are not synchronized in this example the quartz oscillators in both units which are not ideal cause the time slices to drift slowly past one another This causes discontinuity in the transferred position value Manual Fieldbus Interface DFE24B EtherCAT 59 7 60 ago o Motion Control via EtherCAT Introduction to EtherCAT Whereas the speed v dx dts dx dtg in control intervals 1 to 3 is only slightly inaccurate there is considerable error in the speed calculation in the fourth control in terval v 2dx dtS An inaccurate speed value of this magnitude in one interval can cause strong responses in the controller s control algorithms and can even trigger error messages The problem described above that results from discrete scanning in different systems usually only causes problems in motion control applications when the cycle time in the controller is short or when it occurs on the same scale as the internal processing cycle of the inverter and external encoder EtherCAT is designed so that the bus and control cycle operate synchronously The Distributed Clock mechanism also makes sure that the internal processing time slice of the inverter is synchronized to the controller too In MOVIDRIVE B the time slices and data transfers are synchron
37. Bl pcc Configuration Name is 1 gl 110 Configuration 1 0 Devices zi E 5 Beckhoff Automation GmbH SEN SEW Eurodrive u EtherCAT Bg Dives r cL EtherCAT Master E 7 mmm B MOVIDRIVE DFE24 M Pat Bi DFE 24 Gateweay InfoData Xo GB Mappings Online Reset s Online Reload Config Mode only Online Delete Config Mode only p Export Device 11645AXX In online mode i e when connected with the EtherCAT line you can use the symbol Find devices to search the EtherCAT line for connected DFE24B gateways gt following figure Getting_Started tsm TwinCAT System Manager Fle Edi Actions View Options Help Dee 4 Aar MS Bao 3 949 SYSTEM Configuration EB NC Configuration Ba NC Task 1 SAF Bl PLC Configuration 1 0 Configuration B9 1 0 Devices EtherCAT Master EtherCAT whe EtherCAT Master Image 11642AXX Itis not a good idea to create an NC axis for each DFE24B gateway that is found In this case an axis would have to be created for every MOVITRAC B inverter connected to the DFE24B gateway For simple fieldbus functionality NC axes do not necessarily have to be created for each device that is found 50 Manual Fieldbus Interface DFE24B EtherCAT EtherCAT Operating Characteristics ago Controlling the MOVITRAC B Gateway frequency inverter The first 3 process data words are exchanged with the first MOVITRAC B unit on the DF
38. CAT master gt following figure The configuration services of MOVITOOLS MotionStudio are inserted in EtherCAT telegrams via the mailbox gateway in the EtherCAT master The drives feedback is transferred in the same way from DFE24B to the mailbox gateway and on to the MOVITOOLS MotionStudio EtherCAT Master EtherCAT cycl InputData1 acycl Mailbox Standard 24 PI Communication Unit SBus Address 1 2 3 4 5 6 7 8 Dips Cie Dips Cie Can Dips Cen Dips Ce Ce Ca Ce o E e E lt E E E E EE CH E E gt O a E ER EB EB ER ER E a E or ung gr ns ge ug ug 61242AXX VoE Vendor specific over EtherCAT is activated and the EtherCAT mailbox set up on the EtherCAT master VoE can then be used to establish a connection with the drive and operate MOVITOOLS MotionStudio online 74 Manual Fieldbus Interface DFE24B EtherCAT Operating MOVITOOLS MotionStudio via EtherCAT go 8 Required hardware 82 Required hardware If an operating system that is compatible with MOVITOOLS MotionStudio is available on the EtherCAT master no additional hardware is required If a compatible operating system is not installed or if MOVITOOLS MotionStudio is to be operated from another PC the EtherCAT master requires a second Ethernet interface with MOVITOOLS MotionStudio that is connected to the PC via LAN gt fol lowing figure Engineering LAN Ethernet TCP IP Et
39. Controller parameters 504 Binary input DIOS T No function D 3 Motor parameters 608 Bi pion rf n d 4 Reference signals dede ATI D Mantonng functions 87 Pio iste parameter assignment 6 Terminal assignment 5 60 Binary inputs 870 Setpoint description POT conira word 1 Binary outputs 871 SelporidesciplionPO2 Set speed E 64 Analog outputs option E E 7 Control functions 872 Setpoint description P03 No function E e 873 Actual valus description P status word 1 4 up E gt Serial Communication 874 Actual value description Pi2 factual speed D 82 Brake operation SE el EES Faik responses 875 Actual value description PIJ fAppaient output curent EE 84 Reset behavior 876 FO dala enabled x 86 Modulation EB 87 Process data parameter assignment D 88 Serial communication SBus 880 SBus protocol Manual operation 881 SBus address B82 SBusgoupaddess D 883 SBus times delay unn 884 SBus baud rate kba zl BBECANopenaddress 11639AXX Manual Fieldbus Interface DFE24B EtherCAT 5 43 5 44 ago o Configuration and Startup Setting the MOVITRAC frequency inverter To control the MOVITRAC B frequency inverter via EtherCAT you must first switch the inverter to Control signal source P101 and Setpoint source P100 SBus The SBus setting means the MOVITRAC B frequency inverter parameters are set for setpoint transfer from the gateway The MOVITRAC B frequency inver
40. E 10 Setpont preselection 100 Setpoint source 101 Control source Fieldbus v Fieldbus DI 102 Frequency scaling GEI 00 SG 0 Binary inputs basic unit 600 Binary input Dm V etn 801 Binay input DIO2 Notncin d 602 Binary input DIO3 Nonton d GO3BinayinputDI04 Ja Asch d 604 Binary inputDI05 Nonton 605 Binary input DIOS Notunction ej 606 Binary input DIO7 No function D BB 97 Process data p 870 Setpoint description PO1 871 Setpont descnption PO2 872 Setpoint description POS rameter setting x Contra word 1 5 No funcion zl 873 Actual value description PIT Status word 1 874 Actual value description PI2 Actual speed D 875 Actual value description PI3 Ap Apparent output current j 876 PO data enable Yes 11638AXX However to control the MOVIDRIVE B drive inverter via EtherCAT you must first switch the drive inverter to control signal source P101 and setpoint source P100 FIELDBUS The FIELDBUS setting means the drive inverter parameters are set for control and setpoint entry via EtherCAT The MOVIDRIVE B drive inverter now responds to the process output data transmitted from the PLC The parameters of the MOVIDRIVE B drive inverter can be set straight away via Ether CAT without any further settings once the EtherCAT option card has been installed For example all parameters can be set by the master programmable controller after power
41. E24B EtherCAT 31 5 32 ago Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE B with the XML file Assignment of the configurable process input and output data for PDO OutputData2 and InputData2 The maximum amount of configurable PDO OutputData2 and InputData2 data is 10 process data words type UINT 8 IPOSPIUS variables type DINT Index Subindex Name Data Size in Read Access attribute type bytes Write 2AF8 0hex Template Ipos Template for IPOSPIUS variables 11000 0dec Var 0 1023 2CBD Ohex ModuloCtrl Control word of the Modulo function 11453 0dec H453 2CBE Ohex ModTagPos Modulo target position 11454 0dec H454 2CBF Ohex ModActPos Modulo actual position 11455 0dec H455 2CC0 0hex ModCount Modulo counter value 11456 0dec H456 2CD1 0hex StatusWord IPOS status word 11473 0dec H473 2CD2 0hex Scope474 Direct Scope variable 11474dec 2CD3 0hex Scope475 Direct Scope variable 11475 0dec H475 2CD6 0hex AnaOutIPOS2 Analog output 2 option DIO11B 11478 0dec H478 2CD7 0hex AnaOutlPOS Analog output option DIO11B 11478 0dec H479 2CD8 0hex OptOutlPOS Optional digital outputs 11480 0dec H480 DINT 4 4 2CD9 0hex StdOutIPOS Standard digital outputs 11481 0dec H481 2CDA Ohex OutputLevel Status of the digital outputs
42. E24B gateway They can be connected to the PLC program or written for manual testing following figure Actions View Options Heb ai ES AD Seege ebe FAQ EEE oe OO m D ap EtherCAT Gateway a WI Inputoetal xandard 24 PT WK OutputDatel Rarderd 24 PO rot amp roc e Poo LM FO i POS i roe ur ei roe ro i Poi Set Value Dial x d pe ood xj Se ERC o ei POt4 Hex fo wODDE Cancel l pors E 4 PO16 Float gt ro pd i Fou ei rc Bool 0 1 Hew Edit 2 e c re 06 00 H m gp ze Cica ci C ie te pce SG POH 11646AXX First select process output data PO1 In the window that appears choose the tab page Online Click Write The Set Value Dialog window opens Enter your data in the Dec or Hex field Repeat the procedure for process output data PO2 The 3 process input and output data words are assigned and scaled in MOVITRAC B in the 87 parameter group or defined via an IPOSPluse program For more information refer to the MOVITRAC B system manual and the MOVITRAC Communication manual 6 2 2 SBus timeout 6 2 3 Unit faults If one or several drive inverters on the SBus can no longer be addressed by the DFE24B the gateway displays error code F111 System error on status word 1 of the respective drive inverter LED H1 system fault lights up The fault is also displayed via diagnostics interface X24 The SBus timeout time P883 of the MOVITRAC B system
43. IDRIVE 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 MOVIDRIVE MOVITRAC B and EtherCAT 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 Manual Fieldbus Interface DFE24B EtherCAT Introduction Features 3 3 2 Access to all information MOVIDRIVE MDX61B offers digital access to all drive parameters and functions via 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 gener ator 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 MOVID
44. INT 15909 0dec If fewer than 10 process data words are to be transferred or if the PDO mapping is to be adjusted the configurable PDOs are to be used instead of the static PDO 30 Manual Fieldbus Interface DFE24B EtherCAT Configuration and Startup go 5 Configuring the EtherCAT master for MOVIDRIVE B with the XML file Configurable PDO for up to 8 IPOS plus variables and 10 process data words The process data transferred with OutputData2 and InputData2 can be configured as re quired with process data information according to the following table 32 bit variables of type DINT and standard process data PO1 PO10 and PI1 PI10 can be configured In this way the PDO can be configured to suit any application Ethernet EtherCAT Header Header Header EtherCAT Master f acycl Mailbox cycl OutputData2 Communication Configurable PO cycl InputData2 acycl Mailbox Configurable PI Communication EtherCAT 61230AXX Figure 8 Use of the configurable PDO OutputData2 InputData2 Pot 1 variable PO2 6 Variable 7 Variable P010 8 Variable max 10 Process Data PO1 10 UINT A max 8 IPOSPlus Variables DINT 61232AXX Figure 9 Configurable PDO mapping for OutputData2 max 10 Process Data PI1 10 UINT max 8 IPOspPlus Variables DINT 61237AXX Figure 10 Configurable PDO mapping for InputData2 Manual Fieldbus Interface DF
45. RIVE B and MOVITRAC B inverters The cycle time is specified during the configuration of the EtherCAT master 3 3 4 Acyclic data exchange via EtherCAT The EtherCAT specification defines acyclical READ WRITE services that are trans ferred together with the telegrams during ongoing cyclical bus operation without impact ing 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 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 EtherCAT 61211AXX Figure 1 EtherCAT with MOVIDRIVE Manual Fieldbus Interface DFE24B EtherCAT 11 12 Introduction Features 3 3 6 Monitoring functions 3 3 7 Diagnostics Using a fieldbus system requires additional monitoring functions for the d
46. STANBUL sew sew eurodrive com tr Ukraine Sales Dnepropetrovsk SEW EURODRIVE Tel 380 56 370 3211 Service Str Rabochaja 23 B Office 409 Fax 380 56 372 2078 49008 Dnepropetrovsk http www sew eurodrive ua sew sew eurodrive ua Sales Kiev SEW EURODRIVE GmbH Tel 380 44 503 95 77 S Oleynika str 21 Fax 380 44 503 95 78 02068 Kiev kso sew eurodrive ua USA Production Greenville SEW EURODRIVE INC Tel 1 864 439 7537 Assembly 1295 Old Spartanburg Highway Fax Sales 1 864 439 7830 Sales P O Box 518 Fax Manuf 1 864 439 9948 Service Lyman S C 29365 Fax Ass 1 864 439 0566 Telex 805 550 http www seweurodrive com cslyman seweurodrive com Address List L USA Assembly San Francisco SEW EURODRIVE INC Tel 1 510 487 3560 Sales 30599 San Antonio St Fax 1 510 487 6381 Service Hayward California 94544 7101 cshayward seweurodrive com Philadelphia PA SEW EURODRIVE INC Tel 1 856 467 2277 Pureland Ind Complex Fax 1 856 845 3179 2107 High Hill Road P O Box 481 csbridgeport seweurodrive com Bridgeport New Jersey 08014 Dayton SEW EURODRIVE INC Tel 1 937 335 0036 2001 West Main Street Fax 1 937 440 3799 Troy Ohio 45373 cstroy seweurodrive com Dallas SEW EURODRIVE INC Tel 1 214 330 4824 3950 Platinum Way Fax 1 214 330 4724 Dallas Texas 75237 csdallas seweurodrive com Additional addresses for service in the USA provided on request Venezuela Assembly Valencia SEW EURODRIVE Venezuela S A
47. T 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 5 25 5 26 go Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE B with the XML file 5 2 2 Configuration procedure Proceed as follows to configure MOVIDRIVE B with EtherCAT fieldbus interface 1 Install copy the XML file according to the specifications of your configuration soft ware Once the file has been installed correctly the device appears next to the slave stations under SEW EURODRIVE Drives with the designation MOVIDRIVE DFE24B 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 Select the process data configuration required for your application see section 5 2 3 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 communicatio
48. T via EtherCAT 55 6 4 Configuration return Codes eene nnne 56 6 4 1 Elements ledit ule eile cured dense se e tidie 56 6 42 Eror Class dei eee td eot e rir nee 56 6 4 3 Error COGO i iie ecce eA ati pb alae 56 6 4 4 Additional code ce nina 57 6 4 5 List of the error codes for SDO services 57 7 Motion Control via EtherCAT eseeseeeeesees seen nennen nnnm n nnn nn annt rnt nnn 58 7 1 Introduction to Ebert AT 58 7 1 1 Velocity Mode nennen 61 71 2 Position mode etd bib e GRE 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 sss 65 7 3 Settings in EtherCAT master nennen 67 7 3 1 Settings for velocity mode 67 7 3 2 Settings for position mode 2 eee eeteeee teeter tees ee eteeeeeeettaeeeeeee 68 7 4 Example in TwinCAT 69 7 4 1 Velocity mode nnns 71 Manual Fieldbus Interface DFE24B EtherCAT 8 Operating MOVITOOLS MotionStudio via EtherCAT een 74 8 1 IntrodUctlOnu coni er m e e ae eve dini dus 74 8 2 Required hardware kk 75 8 39 Reguired software Lege eder ni te ie een 75 84 E ET a EE 75 8 5 Configuring the mailbox gateway sssesssseeeseessreerirsrrtsrirsernrsinnsrnnsrrnnena 76 8 6 Network settings on the engineering PC 76 8 7 Configuring the SEW communication server sssssseeeees 78 8 7
49. ad Telex 576 062 Montague Gardens dswanepoel sew co za Cape Town P O Box 36556 Chempet 7442 Cape Town Durban SEW EURODRIVE PROPRIETARY LIMITED Tel 27 31 700 3451 2 Monaceo Place Fax 27 31 700 3847 Pinetown dtait sew co za Durban P O Box 10433 Ashwood 3605 Spain Assembly Bilbao SEW EURODRIVE ESPANA S L Tel 34 94 43184 70 Sales Parque Tecnol gico Edificio 302 Fax 34 94 43184 71 Service E 48170 Zamudio Vizcaya http www sew eurodrive es sew spain sew eurodrive es Sweden Assembly J nk ping SEW EURODRIVE AB Tel 46 36 3442 00 Sales Gnejsv gen 6 8 Fax 46 36 3442 80 Service S 55303 J nk ping http www sew eurodrive se Box 3100 S 55003 J nk ping info sew eurodrive se Switzerland Assembly Basel Alfred Imhof A G Tel 41 61 417 1717 Sales Jurastrasse 10 Fax 41 61 417 1700 Service CH 4142 M nchenstein bei Basel http www imhof sew ch info imhof sew ch Thailand Assembly Chonburi SEW EURODRIVE Thailand Ltd Tel 66 38 454281 Sales 700 456 Moo 7 Donhuaroh Fax 66 38 454288 Service Muang sewthailand sew eurodrive com Chonburi 20000 Tunisia Sales Tunis T M S Technic Marketing Service Tel 216 71 4340 64 71 4320 29 5 Rue El Houdaibiah Fax 216 71 4329 76 1000 Tunis tms tms com tn Turkey Assembly Istanbul SEW EURODRIVE Tel 90 216 4419163 164 3838014 15 Sales Hareket Sistemleri San ve Tic Ltd Sti Fax 90 216 3055867 Service Bagdat Cad Koruma Cikmazi No 3 http www sew eurodrive com tr TR 34846 Maltepe I
50. ate 00 Outputs 20 H Infoosta 40 B Anis 1 MDX61B mk DFE24 E NR troutDatart Standard g 2222223233 1 Pit 120 ei Piz EEE 140 1 PIS QGDCoo00 20 160 QT Pi 043DC1 00 20 18 0 1 PIs 20 0 t Pie si PI Q1 PIB e PIs ei Pito 11643AXX Manual Fieldbus Interface DFE24B EtherCAT 47 6 go EtherCAT Operating Characteristics Controlling the MOVIDRIVE amp MDX61B drive inverter Now you can either connect up to 10 process data words with the PLC program or as shown in the following figure write them for manual testing y getting started MX Velocity tsm TwinCAT System M File Edit Actions View Options Help IDeebHleizliSeelanls o SYSTEM Configuration FR NC Configuration EE PLC Configuration ER I O Configuration zB I O Devices zs EtherCAT Master EtherCAT T Ea Ger t 1 Prozessabbild a Ger t 1 Prozessabbild Info Ft Fina nae 11644AXX First select process output data PO1 In the window that appears choose the tab page Online Click Write The Set Value Dialog window opens Enter your data in the Dec or Hex field Repeat the procedure for process output data PO2 The 10 process input and output data words are assigned and scaled in MOVIDRIVE B in the 87 parameter group or defined via an IPOSPluse program or application module For more information refer to the MOVIDRIVE9 MDX60B 61B System manual and the Fieldbus Unit Profile manual 6 1 2 EtherC
51. ate timeout monitoring for Sync Manager 0x1000 To do so in the Edit Sync Manager window activate the Trigger checkbox in the Watchdog group box following figure Advanced Settings x E General Type Buffer pen E Timeout Settings C 1 Cancel FMMU SM Ox00010000 0 4 Start Address Init Commands 0x00010000 0 20 be E Mailbox V Access Distributed Clock Length C Read ESC Access po Write Interrupts IV Enable T to EtherCAT Iv toPDI 0x0001 0026 Dei 8FA 250 0x00010022 7 Watchdog 041000 4 000010064 0x1200 20 0400010022 Value o aj Time ms Append Delete Edit OK Abbrechen 61457AXX Next configure the NC axis following figure EtherCAT Doku tsm TwinCAT System Manager File Edit Actions View Options Help Dee zi 8e maiis FAR AH e le xb SYSTEM Configuration ci ABI Nc Configuration E E NC Task 1 SAF Bi NC Task 1 SYB Axis Type e Standard Mapping via Encoder and Drive Ta NC Task 1 Prozessabbild Link To E Tables Sta Achsen gei ESET 2 it Display Onl H S PLC Configuration Unit T 5 3 isplay Only 4 1 0 Configuration Position M m Modulo Velocity I min EA General Settings Global Dynamics Online Functions Coupling Compensation IO 61458AXX On the Settings tab page choose the option Standard in the Axis
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53. be required for the READ and WRITE SDO services D D 52 to activate the function to display in process messages or error messages to monitor timeout times to report errors in the execution Manual Fieldbus Interface DFE24B EtherCAT EtherCAT Operating Characteristics go 6 Configuration via EtherCAT 6 3 2 Example of reading a parameter in TwinCAT via EtherCAT The function SDO READ is available for reading parameters The index of the parameter to be read is required You can display the parameter index in the SHELL program or in the parameter tree using the key combination CTRL F1 The function module FB EcCoESdoRead is required for implementation in TwinCAT This function module is included in the TcEtherCAT lib library This function module can be integrated in two steps 1 Create an instance of the FB EcCoESdoRead function module 2 The inputs of the function modules are assigned as follows SNetlD Net ID of the EtherCAT master nSlaveAddr EtherCAT address of the SEW device from which data is to be read nindex Index of the parameter to be read nSublndex Subindex of the parameter to be read pDstBuf Pointer to the data range in which the read parameter is to be stored cbBufLen Maximum memory size in bytes for the parameter that is to be read bExecute A positive edge starts the reading process tTimeout Timeout time of the function module The output flags bB
54. bols n 6 B Part number un ee 86 Manual Fieldbus Interface DFE24B EtherCAT Index Pin assignment of an RJ45 plug connector 20 Position mode aided eid 62 Process data object PDO configuration For cyclical EtherCAT operation of MOVIDRIVEG MDX 61B een 27 Putting into storage sse 8 S Safety Noles scuer iaa nitens 8 Assembly installation esses 9 Bus systems sss eme 8 Startup operation n se 9 Transportation putting into storage 8 SBus Timeout i e a ie ee deett ee dettes 51 SDO services READ and WRITE sene 52 Setting MOVIDRIVE MDX61B drive inverter 42 MOVITRAC B frequency inverter 43 Settings in MOVIDRIVE with MOVITOOLS MotionStudio 63 SEW communication server seeen 78 Station address oo ccccccececeeseseaeeeeeeeeseeees 86 87 Settings un ni in land 21 Synchronization 59 System BUS nisse naeh 16 T Technical data Option DFE24B for gateway housing OHTIB ce eet 87 Option DFE24B for MOVIDRIVE MDX61B 86 Option DFE24B for MOVITRAC B 87 Terminal description Option DFE24B 1 see 19 Timeout EtherCAT iun ERU ERE 48 BUS iiit iem desti enu 51 Transportation sssssssssssse 8 TWINGAT aut bete in se ded pi edita s 46 U Unit SCan nee MIS 80 V Velocity mode
55. ce SC11 System bus high SC12 System bus low 16 le Se elsi 61073AXX MOVITRACG 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 12 7 System bus terminating resistor Manual Fieldbus Interface DFE24B EtherCAT Assembly and Installation Notes Installing option card DFE24B in MOVITRAC B Please note D If available use a2 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 B overa large area When using a 2 core cable connect the shield ends additionally to GND The cable must meet the following specifica tions Core cross section 0 25 0 75 mm AWG23 AWG18 Line resistance 120 at 1 MHz Capacitance per unit length lt 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 250kBaud 160m 500 kBaud 80m 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 81 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 permi
56. ce execution 0x06010000 1 0 UNSUPPORTED_ACCESS Unauthorized access to an index 0x06010001 1 1 WRITE_ONLY_ENTRY The index can be written but not read 0x06010002 6 1 2 READ_ONLY_ENTRY Index can be read but not written Parameter lock is active 0x06020000 6 2 0 OBJECT_NOT_EXISTING Object does not exist incorrect index An option card is not available for this index 0x06040041 6 4 41 OBJECT_CANT_BE_PDOMAPPED Index cannot be mapped in a PDO 0x06040042 6 4 42 MAPPED_OBJECTS_EXCEED_PDO Too many mapped objects for PDO 0x06040043 6 4 43 PARAM_IS_INCOMPATIBLE Incompatible data format for index 0x06040047 6 4 47 INTERNAL DEVICE INCOMPATIBILITY Internal device error 0x06060000 6 6 0 HARDWARE ERROR Internal device error 0x06070010 6 7 10 PARAM_LENGTH_ERROR Data format for the index is the wrong size 0x06070012 6 7 12 PARAM_LENGTH_TOO_LONG Data format for the index is too long 0x06070013 13 PARAM_LENGTH_TOO_SHORT Data format for the index is too short 0x06090011 6 9 11 SUBINDEX_NOT_EXISTING Subindex has not been imple mented 0x06090030 6 9 30 VALUE_EXCEEDED Invalid value 0x06090031 6 9 31 VALUE_TOO_GREAT Value too high 0x06090032 6 9 32 VALUE_TOO_SMALL Value too low 0x06090036 6 9 36 MAX_VALUE_IS_LESS_THAN_MIN_VALUE Upper limit for the value is smaller than the lower limit 0x08000000 0 0 GENERAL_ERROR General error 0x08000020 20 DATA_CANNOT_BE_READ_OR_STORED Data access error 0x08000021 21 D
57. chronization vp I Enable Sync Unit Cycle ps 1000 SYNC O pamm Sync Unit Cycle vi w Cycle Time us 1000 C User Defined Shift Time us 0 Enable SYNC 0 61455AXX For synchronous operation select the option DC for synchronization on the DC Distributed Clock tab page Make sure that the cycle time in the Cycle time field is the same as the synchronization time specified in P888 Advanced Settings Behavior i Timeout Settings r Startup Checking FMMU SM IV Check Vendor Id Init Commands E Mailbox M Check Product Code Distributed Clock Check Revision Number H ESC Access v Check Serial Number r Process Data UseLRD LWR instead of LAW IV Include WC State Bit s General TE No Autoline Use 2 Address r State Machine IV Auto Restore States IV Relnit after Communication Error IV Log Communication Changes r Final State C op SAFEOP in Config Mode C SAFEOP C PREOP C INIT r Info Data M Include State M Include Ads Address T Include AcE Netld IV Include Drive Channels r Watchdog IV Set Multiplier Reg 400h VW Set PDI Watchdog Reg 410h IV Set SM Watchdog Reg 420h Manual Fieldbus Interface DFE24B EtherCAT OK Abbrechen 61456AXX 9 69 7 WC Motion Control via EtherCAT Example in TwinCAT Configuring the NC axis 70 Activ
58. der 11509dec H509 2CF6 0hex ActPos Ext Actual position external encoder 11510 0dec H510 X14 2CF7 0hex ActPos_Mot Actual position motor encoder 11511 0dec H511 3DB8 0hex PO1 Standard process output data word 15800 0dec PO1 3DB9 0hex PO2 Standard process output data word 15801 0dec PO2 3DBA Ohex PO3 Standard process output data word 15802 0dec PO3 3DBB Ohex PO4 Standard process output data word 15803 0dec PO4 3DBC Ohex PO5 Standard process output data word 15804 0dec PO5 3DBD Ohex PO6 Standard process output data word 15805 0dec DAG 3DBE Ohex PO7 Standard process output data word 15806 0dec PO7 3DBF Ohex PO8 Standard process output data word 15807 0dec PO8 3DC0 0hex POY Standard process output data word 15808 0dec PO9 3DC1 0hex PO10 Standard process output data word 15801 0dec PO10 UINT 2 2 3E1C Ohex PI Standard process input data word 15900 0dec PI1 3E1D 0hex PI2 Standard process input data word 1590010dec PI2 3E1E 0hex PI3 Standard process input data word 15902 0dec PI3 3E1F 0hex PI4 Standard process input data word 15903 0dec PI4 3E20 0hex PI5 Standard process input data word 15904 0dec PI5 3E21 0hex PI6 Standard process input data word 15905 0dec PI6 3E22 0hex PI7 Standard process input data word 15906 0dec PI7 3E23 0hex DIS Standard process input data word 15907 0dec PI8 3E24 0hex PI9 Standard process input data word 15908 0dec PI9 3E25 0hex PI10 Standard process input data word
59. e Communi cation connection symbol in the toolbar following figure or by selecting the Network communication connections menu 2 Configure an Ethernet interface To do so choose the option Ethernet from the drop down list 1 In the Protocols section select the Activate EtherCAT check box 2 Click the button Setup EtherCAT 3 61932AXX 1 2 Configure communication plugs m x 1 1 Ethernet Protocols M Activate M Activate Ethercat Default value No VW Activate SMLP Default value Yes ees w r Configure ethercat 3 Configure SMLP Y Expand Cancel 61936AXX Manual Fieldbus Interface DFE24B EtherCAT Operating MOVITOOLS MotionStudio via EtherCAT C xD Configuring the SEW communication server 3 The Set up Ethercat window opens Click the button 1 and add the IP address of the mailbox gateway to the EtherCAT master Basic settings Timeout 120 4 Default 120 Scanrange start 1001 Default 1001 Scanrange end 101 0 Default 1010 Show scan durance Default No Ethercat master IP address list I e 61937AXX Observe the specified unit scan range in the basic settings Fields Scan range from to EtherCAT addresses 1001 to 1010 are scanned as standard You must adjust this unit scan range accordingly for large EtherCAT networks 4 In the Setting Options menu select the menu
60. e co uk GB Normanton West Yorkshire WEG 1QR info sew eurodrive co uk Greece Sales Athen Christ Boznos amp Son S A Tel 30 2 1042 251 34 Service 12 Mavromichali Street Fax 30 2 1042 251 59 http www boznos gr info boznos gr 92 Address List L Hong Kong Assembly Hong Kong SEW EURODRIVE LTD Tel 852 2 7960477 79604654 Sales Unit No 801 806 8th Floor Fax 852 2 7959129 Service Hong Leong Industrial Complex contact sew eurodrive hk No 4 Wang Kwong Road Kowloon Hong Kong Hungary Sales Budapest SEW EURODRIVE Kft Tel 36 1 437 06 58 Service H 1037 Budapest Fax 36 1 437 06 50 Kunigunda u 18 office sew eurodrive hu India Assembly Baroda SEW EURODRIVE India Pvt Ltd Tel 91 265 2831086 Sales Plot No 4 Gidc Fax 91 265 2831087 Service Por Ramangamdi Baroda 391 243 http www seweurodriveindia com Gujarat mdoffice seweurodriveindia com Technical Offices Bangalore SEW EURODRIVE India Private Limited Tel 91 80 22266565 308 Prestige Centre Point Fax 91 80 22266569 7 Edward Road salesbang seweurodriveinindia com Bangalore Ireland Sales Dublin Alperton Engineering Ltd Tel 353 1 830 6277 Service 48 Moyle Road Fax 353 1 830 6458 Dublin Industrial Estate info alperton ie Glasnevin Dublin 11 Israel Sales Tel Aviv Liraz Handasa Ltd Tel 972 3 5599511 Ahofer Str 34B 228 Fax 972 3 5599512 58858 Holon office li
61. g Auto Setup At the same time the process data assignments of the connected drive inverters may not be changed dynamically after Auto Setup Manual Fieldbus Interface DFE24B EtherCAT 41 5 42 ago 5 4 Configuration and Startup Setting the MOVIDRIVE MDX61B drive inverter Setting the MOVIDRIVE MDX61B drive inverter The following settings must be made for simple fieldbus operation E423 MOYIDRIVE B parameters ai Bg lag Display values 1 Setponts integrators ES 10 Setpoint preselection S 11 Analog input 1 0 10V E 12 Analog inputs option 13 Speed ramps 1 14 Speed ramps 2 15 Motor potentiometer function 16 Fred setpoints 1 17 Fixed setpoints 2 5 2 Controller parameters 3 Motor parameters amp 4 Reference signals amp 5 Control functions By 6 Terminal assignment B5 60 Binary inputs basic unit 61 Binary inputs option EI 62 Binary outputs basic unit 63 Binary outputs option suando k E E RDD oe 8 UX m 2 7 Control functions 8 Unit functions 80 Setup 81 Serial communication 82 Braking operation E 83 Fault responses 84 Reset behavior 85 Scaling speed actual value 86 Modulation ES 87 Process data parameter settir 88 Serial communication SBus 1 89 Serial communication SBus 2 5 9 IPOS parameters H E Applications 5 ApplicationBuilder applications Manual operation m I
62. g existing grounding surfaces 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 47 Bustermination 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 48 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 49 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 e RUN ERR 61070AXX LED RUN The RUN LED green orange signals the status of option DFE24B reen orange g ge Status State Description Off INIT Option DFE24B is in the state INIT Flashing PRE OPERATIONAL Option DFE24B is in
63. he 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 Pd frequency of 10 Hz n off 50ms 58094AXX Lights up briefly The display lights up briefly followed Sea once by on off phase on JL occ 58095AXX Flashing Display switches on and off at a an frequency of 2 5 Hz 200 ms on 200 ms off 200ms 200ms off 58096AXX Lights up once The display lights up once 200 ms followed by a longer off phase 1000 ms 200ms 1s 58097AXX Lights up twice The display lights up twice in succes sion followed by on off phase omel Sonne ET atis of jJ o O TTo 58100AXX Lights up three The display lights up three times in on times succession followed by on off phase Sons ae anos zm of 1 JL 4 luxum 58101AXX Lights up four times The display lights up four times in succession followed by on off phase on 200ms 200ms 200ms 200ms 200ms 200ms off 200ms lt 1s 58102AXX Manual Fieldbus Interface DFE24B EtherCAT 23 4 Assembly and Installation Notes Operating displays of the DFE24B option LED Link Activity Each EtherCAT connection has a Link Activity LED for the incoming EtherCAT cable green X30 and the outgoing EtherCAT cable X31 They signal whether the E
64. he status machine has to be optimized The application specific adjustment of the status machine is then executed as an IPOSPIUS program or a PLC program in the motion controller The position that is transferred to the controller is read directly from system variable H5068 via the configurable PDO2 The position is scaled as follows 1 revolution of the motor shaft 218 The position that is read in must then be scaled to the parameters used in the controller The status word can either be transferred via PI1 together with the position setpoint in PDO2 or if the status machine is adapted for a particular application in IPOSPluse read in directly from a system variable in IPOSPIUS Manual Fieldbus Interface DFE24B EtherCAT Motion Control via EtherCAT ago Example in TwinCAT 74 Example in TwinCAT Configure Make the settings shown in the following figures synchronous SYSTEM Configuration oper ation NC Configuration General EtherCAT DC PLC Configuration 1 O Configuration B 1 0 Devices s EtherCAT Master EtherCAT Ta EtherCAT Master Image Ta EtherCAT Master Image Info t Inputs e Wi Outputs InfoData B Axis 1 MDX61B mit DFE248 SE Mappings Operation Mode Distributed Clock Advanced Settings P Process Data Startup CoE Online Online DC for synchronization v Advanced Settings Distributed Clock r Cyclic Mode Operation Mode DC for syn
65. herCAT 61475AXX MMS MOVITOOLS MotionStudio MBX Mailbox gateway 8 3 Required software MOVITOOLS MotionStudio from version 5 40 8 4 Installation Install MOVITOOLS MotionStudio If you are using MOVIDRIVE B you must also install the MOVITOOLS package Manual Fieldbus Interface DFE24B EtherCAT 75 8 go Operating MOVITOOLS MotionStudio via EtherCAT Configuring the mailbox gateway 8 5 Configuring the mailbox gateway Activate VoE EoE support on the EtherCAT master Specify the IP address of the EtherCAT mailbox gateway The IP address is usually assigned by the TwinCAT program and may not be changed The settings look as follows in Beckhoff s TwinCAT program Erweiterte Einstellungen x Status Maschine Eol E Supp or Zyklische Frames Distributed Clocks Yirtueller Ethemet Switch Windows Netzwerk EoE Support IV Enable I Verbinde mit TCP IP Stack Emergency Diagnose Max Ports 2 x Windows IP Routing Max Frames 100 IV IP Enable Router Max MAC Ids 100 4 nderungen erfordem ein Reboot EtherCAT Mailbox Gateway IV Enable 10 3 64 254 Virtuelle MAC 02 01 05100000 Verbindungen 16 OK Abbrechen 61284AXX Figure 19 Set the IP address of the EtherCAT mailbox gateway 8 6 Network settings on the engineering PC If MOVITOOLS MotionStudio is running on the EtherCAT master you do not have to make any additional network settings If the EtherCAT master i
66. ion via EtherCAT 9 6 3 3 Example of writing a parameter in TwinCAT via EtherCAT The function SDO WRITE is available for writing parameters The index of the parame ter to be written is required You can display the parameter index in the SHELL program or in the parameter tree using the key combination CTRL F1 The function module FB EcCoESdoWrite is required for implementation in TwinCAT This function module is included in the TcEtherCAT lib library This function module can be integrated in two steps 1 Create an instance of the FB EcCoESdoWrite function module 2 The inputs of the function modules are assigned as follows sNetlD Net ID of the EtherCAT master nSlaveAddr EtherCAT address of the SEW device from which data is to be written nIndex Index of the parameter to be written nSubIndex Subindex of the parameter to be written pDstBuf Pointer to the data range in which the data to be written is located cbBufLen Amount of data to be sent in bytes bExecute A positive edge starts the writing process tTimeout Timeout time of the function module The output flags bBusy and bError indicate the status of the service nErrld shows the error number when the bError flag is set if an error occurs The figure below shows the process of integrating the function module in TwinCAT TwinCAT PLC Control WriteSDO pro MAIN PRG ST i ell xi WR Fie Edit Project Insert Extras Online Window Help BEIEN A
67. it Profile manual and the MOVIDRIVE parameter list Step 1 Check the connection between the inverter and EtherCAT Is the bus connected plugged into the master inverter NO gt A YES i How is the Link activity LED reacting on option DFE24B OFF gt A ON i Is the physical connection between the inverter and EtherCAT OK Make sure EtherCAT is connected correctly at X30 IN incoming EtherCAT con NO gt A nection X31 OUT outgoing EtherCAT connection YES i Continue with 2 Response of the RUN LED A Check the bus cabling Step 2 Response of the RUN LED Has the master switched the slave to the INIT state Flashing orange Bus in the master has not started gt C Flashing green Slave is the the state PRE OPERATIONAL C Lights up green Slave is the the state SAFE OPERATIONAL ic once Lights up green Slave is the the state OPERATIONAL C Startup the bus in the master Option DFE24B is defective C Continue with 3 Response of the ERR LED 82 Manual Fieldbus Interface DFE24B EtherCAT Error Diagnostics Ss ea 9 Diagnostic procedures lt gt Step 3 Status ofthe ERR LED OFF Flickering Flashes red twice Lights up red once Example 1 LED RUN lights up green slave is in the state OPERATIONAL D EtherCAT communication of the DFE24B option is in the operating state Example 2 LED RUN fla
68. item Online mods Check that the option Do not perform automatically 1 is selected in the Cyclic availability test field f xj Application start Online mode View Cyclic accessibility test Online made eene TREE Never execute automatically Communication C Execute automatically Request interval in ms 100 y Help Miscellaneous 61938AXX Manual Fieldbus Interface DFE24B EtherCAT 8 80 go Operating MOVITOOLS MotionStudio via EtherCAT Automatic search for connected units unit scan 8 8 Automatic search for connected units unit scan Press the lt F5 gt function key or the Online scan symbol 4 to perform an automatic search through all communication channels and display the connected units in the unit tree Bjmov TOOLS MotionStudio EtherCAT_doku Ioj xj Project Edit Network Yew Pluon Settings Window Help Dei OB SMe aie gt t x 4 Online scan Total F5 B e 169 254 36 20 SMLP Ethercat Gateway El Ce Ethercat ECAT d Overview E Remote MOC ts 11651AXX Manual Fieldbus Interface DFE24B EtherCAT Operating MOVITOOLS MotionStudio via EtherCAT go Activating online mode 8 9 Activating online mode Perform the unit scan see section 8 7 Usethe mouse to highlight the required unit Switch MOVITOOLS MotionStudio to online mode by pressing the Online Mode button following figure B Mmov
69. ity P970 DPRAM Synchronization YES P971 Synchronization phase 0 P971 can be used to optimize the synchronization phase if aliasing occurs Set a sycn phase of 0 ms as standard Manual Fieldbus Interface DFE24B EtherCAT Motion Control via EtherCAT go 7 Settings in MOVIDRIVEG B with MOVITOOLS MotionStudio 7 2 2 Settings for position mode You must make the following parameter settings in MOVITOOLS MotionStudio to control a MOVIDRIVE B unit in motion control with synchronous position specification following figure IONS d H MOVIDRIVE GD parameters D cf ad 2 3 a as 26 a 7 rT ER E n F Display values Setpoints integrators Controller parameters Motor parameters Reference signals Control functions Terminal assignment Control functions Lint funchions IPOS parameters Applications ApplicationBuilder applications Manual operation ke 100 Setpoint source 101 Control source 102 Frequency scaling kHz 10 00 33 70 Operating modes 700 Operating mode 1 Ben IPOS 7 DI 701 Operating mode 2 vrc DI 875 Actual value descriptlo No function 876 PO data enable 61452AXX P100 Setpoint source Fieldbus P101 Control signal source Fieldbus P700 Operating mode SERVO IPOS or CFC IPOS P87x Process data description The control word and status word can be
70. ized Once the position in the controller has been referenced to the position in the inverter permitted travel ranges or limit switches can be monitored in the inverter You must check carefully whether the settings for the load dependent ramp specification and lag error monitoring in the inverter are plausible To prevent unwanted excessive acceleration during longer control intervals gt 1 ms instead of adopting the position setpoint directly MOVIDRIVE B uses linear interpola tion This means that for a setpoint cycle of 5 ms the controller in MOVIDRIVE B does not activate the required position change every 5 ms in a single step but rather in 5 small steps of 1 ms each Manual Fieldbus Interface DFE24B EtherCAT Settings in MOVIDRIVE B with MOVITOOLS MotionStudio Motion Control via EtherCAT ago 7 2 7 2 4 Settings for velocity mode Settings in MOVIDRIVE B with MOVITOOLS MotionStudio You must make the following parameter settings in MOVITOOLS MotionStudio to control a MOVIDRIVE B unit in motion control with synchronized speed setpoints following figure Baum 9 MOVIDRIVE 9B parameters 4 0 Display values Setpoints integrators Controller parameters Motor parameters Reference signals Control functions Terminal assignment Control functions Unit functions 80 Setup 81 Serial communication 82 Braking operation 83 Fault responses 84 Reset behavi
71. ized via the dual port RAM of option DFE24B Manual Fieldbus Interface DFE24B EtherCAT Motion Control via EtherCAT go 7 Introduction to EtherCAT 7 1 4 Velocity mode t D B T M Xref ed Vref i ref Xact Vacty fh e 7 OS x 6 Wu B 61478AXX Figure 17 Velocity mode cascade with fieldbus interface A Control B Fieldbus interface C Inverter Xref Position setpoint 1 Position controller Xact Actual position value 2 Speed controller Vref Speed setpoint 3 Output stage of the inverter Vact Actual speed value 4 Driven machine ter Torque setpoint 5 Encoder V speed X position 6 Optional synchronous encoder In velocity mode a speed or velocity setpoint is transferred from the controller to the inverter and the actual position value is read back from the inverter or a separate posi tion sensor In velocity mode the inverter is a simple speed actuator The control time slices of the controller bus transfer the internal processing cycle of the inverter and the encoder must be synchronized Position referencing monitoring of permitted travel ranges or limit switches load dependent ramp specification and lag error monitoring are realized in the higher level controller not in MOVIDRIVE B To prevent unwanted excessive acceleration during longer control intervals gt 1 ms instead of adopting the
72. lculated in the motion controller i e usually the higher level controller The calculated track curve is then used to transfer a setpoint speed Sec 7 1 1 Velocity mode or a setpoint position gt Sec 7 1 2 Position mode to the inverter in very quick cycles The inverter follows this setpoint speed or position and returns the current position The motion controller itself knows when the po sitioning task is completed The motion controller cyclically transfers the setpoints that are calculated factoring in also the given speed ramps Drive internal ramp functions are bypassed The controller reads in the actual position value in each control cycle and calculates the actual speed from the position difference dx and the time difference dt of the last control interval dx dt If necessary additional values such as acceleration and jerk are also calculated from dx and dt values For this purpose the control time slices of the controller the bus transfer the internal processing cycle of the inverter and if necessary external encoders must be synchro nized This example shows how aliasing effects occurs if controller bus inverter or encoder do not operate synchronously following figure Control time slice of the controller 5 ms Bus cycle 5 ms in synch with the controller Processing time in the inverter 5 ms not in synch dts M i i ij dx dx dx dx dx dt 61480
73. line Syne Manager PDO Liste 0x1400 20 0 InputDatal Standard 10 PI 0x1402 8 0 InputD ata2 Configurable PI 0x1600 20 0 OutputDatal Standard 10 PO 0x1602 6 0 OutputD ata2 Configurable PO PDO Inhalt 021602 Leder Size Offs Name x2CEB OO 4 0 0 0 SetpPosBus H499 Ox3E1C 00 2 0 40 PH 6 0 PDO Zuordnung 01012 61464AXX Allgemein EtherCAT DC Prozessdaten Startup CoE Online Online Sync Manager PDO Liste MbxOut 0x1400 InputD atal Standard 10 PI 1 250 Mbxln 0x1402 6 0 InputD ata2 Configurable PI z 6 Outputs 0x1600 20 0 OutputDatal Standard 10 PO 3 Inputs 0x1602 6 0 OutputD ata2 Configurable PO PDO Zuordnung 0x1C12 10x1600 M01602 Ox2CF4 00 4 0 0x3DB8 00 2 0 61465AXX Manual Fieldbus Interface DFE24B EtherCAT Motion Control via EtherCAT go Example in TwinCAT Finally the drive s setpoint speed and actual position are linked with the NC axis and the control word and status word 1 are controlled with the PLC task in accordance with the description in the fieldbus unit profile following figure SYSTEM Configuration ER NC Configuration NC Task 1 SAF NC Task 1 SYB NC Task 1 Prozessabbild 71 Tables Ea Achsen Eie Axis 1 Axis 1 Enc t Inputs E Axis 1_Enc_In nInDatai Si nInData2 7 nStatusi 7 nStatus2 eo nStatus3 e nStatus4 Outputs A
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75. mination is activated automatically OSI layer EtherNet II Station address Set via the EtherCAT master display using P093 Name of the XML file SEW DFE24B xml Vendor ID 0x59 CANopenVendor ID EtherCAT services CoE CANopen over EtherCAT VoE Simple MOVILINK Protocol over EtherCAT Firmware status 824 854 0 18 or above display using P076 MOVIDRIVE B Tools for startup PC program MOVITOOLS MotionStudio from version 5 40 DBG60B keypad Manual Fieldbus Interface DFE24B EtherCAT Option DFE24B for MOVITRAC B and Universal Gateway Housing 7 T PAAZ 4 5 ne in LO 4 x SI Y Gi g N P 30 a gt 257 5 59796AXX Figure 20 Dimensions of the UOH11B gateway housing Option DFE24B MOVITRAC B gateway External voltage supply U DC 24 V 15 20 Imax DC 200 mA Pmax 3 4 W Standards IEC 61158 IEC 61784 2 Baud rate 100 MBaud full duplex Connection technology 2 x RJ45 8x8 modularJack Bus termination Not integrated because bus termination is activated automatically OSI layer EtherNet II Station address Set via the EtherCAT master display using P093 Name of the XML file SEW DFE24B xml Vendor ID 0x59 CANopenVendor ID EtherCAT services CoE
76. mmunication QRUN C ERR ERR EtherCAT error LED red Displays EtherCAT errors 0 1 DIP switch AS Auto setup for gateway operation AG KI F1 Reserved E F1 EtherCAT IN OUT X30 X31 58083AXX LED Link Activity green X30 IN Incoming EtherCAT connection LED Link Activity green X31 OUT Outgoing EtherCAT connection Shows that the EtherCAT connection with the preced ing unit is available active Shows that the EtherCAT connection with the follow ing unit is available active Front view in MOVITRAC B and UOH11B Description Function O H1 C H2 X24 58129AXX LED H1 red LED H2 green X24 X terminal System error only for gateway functionality Reserved RS485 interface for diagnostics via PC and MOVITOOLS MotionStudio Manual Fieldbus Interface DFE24B EtherCAT 19 4 Assembly and Installation Notes Pin assignment 4 5 Pin assignment Use prefabricated shielded RJ45 plug connectors to IEC11801 edition 2 0 category 5 N ixi T EDU WW A B 54174AXX 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 DFE24B Option DFE24B is equipped with two RJ45 connectors for a linear bus structure The EtherCAT EtherCAT master is connected
77. n in the MOVITRAC B drive inverter gt MOVITRAC B operating instructions Index Subindex Offset in PDO Name Assignment Data type Size in bytes 3DB8 0hex 0 0 PO1 Drive 1 PO1 15800 0dec 3DB9 0hex 2 0 PO2 Drive 1 PO2 15801 0dec 3DBA Ohex 4 0 PO3 Drive 1 PO3 15802 0dec 3DBB Ohex 6 0 PO4 Drive 2 PO1 15803 0dec 3DBC Ohex 8 0 PO5 Drive 2 PO2 15804 0dec 3DBD Ohex 10 0 PO6 Drive 2 PO3 15805 0dec 3DBE Ohex 12 0 PO7 Drive 3 PO1 15806 0dec 3DBF Ohex 14 0 PO8 Drive 3 PO2 15807 0dec HINT 2 3DC0 0hex 16 0 PO9 Drive 3 PO3 15808 0dec 3DC1 0hex 18 0 PO10 Drive 4 PO1 15809 0dec 3DC2 0hex 0 0 PO11 Drive 4 PO2 15810 0dec 3DC3 0hex 2 0 PO12 Drive 4 PO3 15811 0dec 3DC4 0hex 4 0 PO13 Drive 5 PO1 15812 0dec 3DC5 0hex 6 0 PO14 Drive 5 PO2 15813 0dec 3DC6 0hex 8 0 PO15 Drive 5 PO3 15814 0dec Manual Fieldbus Interface DFE24B EtherCAT 37 5 38 ago o Configuration and Startup Configuring the EtherCAT master for MOVITRAC B gateway with XML file Index Subindex Offset in PDO Name Assignment Data type Size in bytes 3DC7 0hex 10 0 PO16 Drive 6 PO1 15815 0dec 3DC8 0hex 12 0 PO17 Drive 6 PO2 15816 0dec 3DC9 0hex 14 0 PO18 Drive 6 PO3 15817 0dec 3DCA Ohex 16 0 PO19 Drive 7 PO1 15818 0dec 3DCB Ohex 18 0 PO20 Drive 7 PO2 15819 0dec m 7 3DCC Ohex 18
78. n status of option DFE24B see section 4 9 Operating displays of the DFE24B option Manual Fieldbus Interface DFE24B EtherCAT Configuration and Startup go Configuring the EtherCAT master for MOVIDRIVE B with the XML file 5 2 3 PDO configuration for operation in MOVIDRIVE Rx process data objects Tx process data objects 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 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 Inthe DFE24B operating mode of MOVIDRIVE B two different PDO types can be used 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 B gt MOVIDRIVE Fieldbus Unit Profile manual OutputData2 Configurable PO Configurable PDO with up to 10 cyclical process output data words
79. net 19 Motion control via EtherCAT nn 58 Connection technology sssss 86 87 Example in TWinCAT nn 69 Control Introduction Sn foem us 58 MOVIDRIVE MDX61B en 45 Position mode 2444nen nennen 62 MOVITRAC B iieiaei 49 Settings in EtherCAT master aan 67 Control example Sue Ee URGE INANE 46 Settings in MOVIDRIVE with D MOVITOOLS MotionStudio 63 Data exchange via EtherCAT aan 11 Synchronization KE eh 59 DFE24B Velocity mode sse 61 elei NET 19 MOVIDRIVE MDX61B Operating displays NERONE 22 Control EN Geet D EE 45 Terminal description sssssseee 19 Setting the drive inverter nen 42 DFE24B operating displays sss 22 MOVITOOLS MotionStudio Diagnostics rue eC tee detect ehe Placet 12 Operation via EtherCAT een 74 MOVITRAC B E e EE 49 Error class naar 56 Setting the frequency inverter 43 ErtOr COde un e ee d ette erre 56 N Error diagnostics reene neern 82 EtherCAT Notes l l ee 52 Assembly installation en 13 Data exchange 11 Documentation 6 e 58 Important notes 6 TEDS se ne Ee 22 Sally engine en 8 Operating characteristics cccccccieteee 45 e Option card configuration nee 11 Online mode activation 81 Timeout enteo een 48 Option cards EtherCAT operating characteristics 45 Installation and removal sessssee 14 Explanation of sym
80. ogram EtherCAT Master EtherCAT cycl InputData1 acycl Mailbox Standard 24 PI Communication Unit SBus Address 1 2 3 4 5 6 7 8 Lips Dips Cp Dips Cp Lips Cp Lips LN Ca La Lu eo a gt 9 E L i E Ld ZEN EN EN EN ER EN EN E E gt O i i i PI Gd m og m Gg Gg Ug 61242AXX Figure 15 Mapping EtherCAT data in the PLC address range PO process output data Pl process input data The 24 process input and output data words in the PDO are transmitted from the gate way to up to 8 inverters connected via SBus as follows Words 1 2 and 3 to the inverter with the lowest SBus address e g 1 Words 4 5 and 6 to the inverter with the next highest SBus address e g 2 If fewer than 8 frequency inverters are connected to the gateway the upper words in the PDO have no significance they are not transmitted to any inverter Manual Fieldbus Interface DFE24B EtherCAT 6 49 6 go EtherCAT Operating Characteristics Controlling the MOVITRAC B Gateway frequency inverter 6 2 1 Control example in TwinCAT with MOVITRAC B gateway Once the SEW DFE24B xml file has been copied to the TwinCAT subdirectory IO EtherCAT you can use the function Append box to insert a DFE24B gateway in the EtherCAT structure following figure Fie Edt Actions View Options Help Ogee A Bags MA Si es FAN TEL H SYSTEM Configuration Wl uc Configuration
81. or B5 Scaling speed actual value 86 Modulation PT 88 Serial communication SBus 1 88 Serial communication SBus 2 9 S IPOS parameters im Applications 2 ApplicationBuilder applications Manual operation gt P101 Control signal source Manual Fieldbus Interface DFE24B EtherCAT Process data parameter zeit Fieldbus 100 Setpoint source 101 Control source Fokbi 102 Frequency scaling kHz 1 a be BER 700 Operating mode 1 BweEF03 701 Operating mode 2 wt i 8 KE 87 Process data parameter selling 870 Setpoint description PO1 871 Setpoint description PQ 875 Actual value description PI3 876 PO data enable 61450AXX P100 Setpoint source Fieldbus Fieldbus P700 Operating mode SERVO IPOS or CFC IPOS P870 Setpoint description PO1 Control word 1 P873 Actual value description PI1 Status word 1 7 9 63 C xD Motion Control via EtherCAT Settings in MOVIDRIVE B with MOVITOOLS MotionStudio Next activate controller synchronization in the EtherCAT network To do so make the following parameter settings following figure Baum 4 RE mL nj x z3 MOVIDRIVE B parameters 880 SBus 1 protocol MoviLink D ja a 0 Display values 881 SBus 1 address p 1 Setpoints integrators 2 Controller parameters 882 SBus 1 group address o Tal 3 Motor parameters 883 SBus 1 timeout interval s no 8
82. ou deactivate the fixed PDO InputDataT and OutputData7 7 3 4 Settings for velocity mode The speed setpoint is written directly to system variable H499 via the configured PDO2 and is scaled as follows 1 digit 0 2 rpm that is a value of 5000 rpm The parameters used in the controller must be scaled before they are transferred to the inverter The control word is transferred via PDO1 together with the speed setpoint in PDO2 The position that is transferred to the controller is read directly from system variable H511 via the configurable PDO2 The position is scaled as follows 4096 digits represent one revolution of the motor shaft The position that is read in must then be scaled to the parameters used in the controller The status word is transferred via PI1 together with the actual position value in PDO2 Manual Fieldbus Interface DFE24B EtherCAT 7 67 7 68 C xD Motion Control via EtherCAT Settings in EtherCAT master 7 3 2 Settings for position mode The position setpoint is written directly to system variable H499 via the configured PDO2 and is scaled as follows 1 revolution of the motor shaft 216 The parameters used in the controller must be scaled accordingly before they are transferred to the inverter The control word can be transferred as follows Via PO1 together with the position setpoint in PDO2 Directly to a system variable in IPOSPIUS if t
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84. 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 and MOVITRAC documentation in particular the MOVIDRIVE9 MDX60B 61B and MOVITRAC B System manuals Manual Fieldbus Interface DFE24B EtherCAT Important Notes Liability for defects 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 amp 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 e Copper etc Manual Fieldbus Interface DFE24B EtherCAT Safety Notes Preliminary information gt 2 Safety Notes 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
85. rive in velocity mode The following values are specified in the Analog tab page following figure General NC Drive Global Analog at Output Ratio 0 0 1 0 Drift Compensation DAC Offset Valve Diagram Table Id Valve Diagram Interpolation type Valve Diagram Output offset 1 0 1 0 61463AXX The speed setpoint Reference velocity maximum motor speed X 6 is entered with the conversion factor at Output Ratio 0 0 1 0 maximum motor speed x 5 215 Manual Fieldbus Interface DFE24B EtherCAT 71 72 ago O Motion Control via EtherCAT Example in TwinCAT In the PDO assignment PDO1 is deactivated and the setpoint speed and control word or actual position H511 and status word are defined in PDO2 following figures EB SYSTEM Konfiguration EBA NC Konfiguration H S SPS Konfiguration B Ira E A Konfiguration S EJA Ger te Ger t 1 EtherCAT Ger t 1 Prozessabbild f Ger t 1 Prozessabbild Info QT Eing nge l Ausg nge InfoData Achse 1 MOVIDRIVE DFE24 88 Zuordnungen SYSTEM Konfiguration o ABI NC Konfiguration o BR SPS Konfiguration B i4 E A Konfiguration EJA Ger te 3 79 Ger t 1 EtherCAT Xa Ger t 1 Prozessabbild af Ger t 1 Prozessabbild Info QT Eing nge Ausg nge InfoData e Achse 1 MOVIDRIVE DFE24 H A Zuordnungen EEE Allgemein EtherCAT DC Prozessdaten Startup CoE Online On
86. rive 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 B MOVITRAC B specifically to your application You can determine for instance which 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 B drive inverter and MOVITRAC B frequency inverter both offer a 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 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 MotionStudio PC soft 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 Manual
87. roo sa MotionStudio EtherCAT_doku Project Edit Network Mem Plugin Settings Window Help DSB DE BB KL rt X CH D4 Remote Remote 2 Ethemet A ea 169 254 36 20 SMLP Ethercat Gateway Cj um Ethercat 1001 MDX61B00 amp Overview a Remote cur Bay 11652AXX Select the unit you want to operate and activate the plug in menu with the right mouse button 8 10 Familiar problems during the operation of MOVITOOLS MotionStudio Check the following points if problems occur during configuration Have you activated the EtherCAT protocol in the MOVITOOLS MotionStudio communication settings sthe correct IP address entered for the mailbox gateway in the EtherCAT master e sit possible to address the EtherCAT mailbox gateway using the ping command sthe setting made for the unit scan range sufficient sthe online cyclic accessibility test activated in MOVITOOLS MotionStudio Manual Fieldbus Interface DFE24B EtherCAT 8 81 9 ES de Error Diagnostics a Diagnostic procedures 9 Error Diagnostics 9 1 Diagnostic procedures The diagnostic procedures described in the following section demonstrate the error analysis methods for the following problems Inverter does not operate on EtherCAT Inverter cannot be controlled using the EtherCAT master For more information dealing specifically with the inverter parameter settings for various fieldbus applications refer to the Fieldbus Un
88. s connected to an Ethernet network PCs in the same subnet can access SEW drives on EtherCAT with MOVITOOLS MotionStudio Sec 8 2 To do so the telegrams from the engineering PC are routed via the Ethernet interface of the EtherCAT master to the mailbox gateway 76 Manual Fieldbus Interface DFE24B EtherCAT Operating MOVITOOLS MotionStudio via EtherCAT Network settings on the engineering PC ago Two variants are available for routing 1 Variant Access to the mailbox gateway by specifying the standard gateway on the engineering PC In this variant the IP address of the EtherCAT master is entered as the standard gateway for TCP IP communication Choose Start Settings Network and DF connections The Network and DF connections window opens Make a right mouse click on a LAN connection From the context menu that opens choose Properties The Properties of LAN connec tion window opens In the selection window select the Internet protocol TCP IP checkbox Next click the Properties button The Properties of Internet protocol TCP IP window opens Select the Use the following IP address checkbox and make the following entry below figure Use the following IP address IP address 10 3 64 60 Subnet mask 255 255 252 0 Standard gateway eT 10 3 64 170 a c aa mu m 61942AXX Variant Access by defining a static route In this variant an entry is added to the routing table of
89. se aak eal MAIN PRG PROGRAM MAIN Write Data DWORD 100000 set internal setpointn11 to 100 1 min WiriteSdo FB EcCoESdoWrite sNetld 192 168 187 1 2 1 AMS NetiD ofthe EtherCAT master nSlaveAddr 1001 EtherCAT Address ofthe SEW device nindex 8489 index of the internal setpoint n11 nSubindex 0 pSrcBuf ADR Write Data pointer to the source vanable cbButLen 4 number of Bytes of the index bExecute FALSE fTimeouts T 500ms 1 Manual Fieldbus Interface DFE24B EtherCAT 11648AXX 55 6 go EtherCAT Operating Characteristics Configuration return codes SEW parameters always have a data length of 4 bytes 1 DWord Refer to the Fieldbus Unit Profile manual for more details and information on scaling In the above example the internal setpoint n11 index 8489 subindex 0 was set to a speed of 100 rpm In accordance with the fieldbus unit profile the required speed must be multiplied by a factor of 1000 6 4 Configuration return codes 6 4 1 Elements 6 4 2 Error class 6 4 3 Error code 56 In the event of incorrect parameter service the drive inverter sends back various return codes to the master that sent the message These codes provide detailed information about what caused the error Generally these return codes are structured into the following elements Error class Error code Additional code The error class element 1 by
90. se of the process data objects OutputData1 and InputData1 Manual Fieldbus Interface DFE24B EtherCAT Configuration and Startup g Configuring the EtherCAT master for MOVIDRIVE B with the XML file Static PDO for 10 cyclic process data words Facycl Mailbox Fixed assign ments ofthe con figured process output data for PDO OutputData1 Communicatio 1 1 Kreesser ee EE os PA FO tg aa CO 2 0 MOVIDRIVE MOVIDRIVE Process Data 1 3 or IPOSPIUS Process Data 4 10 IPOSPIUs Process Data 1 3 61223AXX Figure 6 Assignment of standard process output data for OutputData1 The process output data transferred with OutputData1 are assigned according to the fol lowing table The process output data PO1 PO3 can be connected with various process data control words setpoints using the process data configuration in the MOVIDRIVE B drive inverter gt MOVIDRIVE Fieldbus Unit Profile manual The process output data PO4 PO10 are only available in IPOSPIUS Index Subindex Offset in PDO Name Data type Size in bytes 3DB8 0hex 0 0 PO1 UINT 15800 0dec 3DB9 0hex 2 0 PO2 UINT 15801 0dec 3DBA Ohex 4 0 PO3 UINT 15802 0dec 3DBB Ohex 6 0 PO4 UINT 15803 0dec 3DBC Ohex 8 0 PO5 UINT 15804 0dec 3DBD Ohex 10 0 PO6 UINT 15805 0dec 3DBE Ohex 12 0 PO7 UINT 15806 0dec 3DBF Ohex 14 0 PO8 UINT 15807 0dec 3DC0 0hex 16 0 PO9 UINT 1580
91. shes green slave is in the state PRE OPERATIONAL LED RUN lights up green once slave is in the state SAFE OPERATIONAL J Startup the bus in the master and activate the state OPERATIONAL in the slave L Start process data communication Prerequisite LED RUN flashes green slave is in the state PRE OPERATIONAL LED RUN lights up green once slave is in the state SAFE OPERATIONAL A boot error has been detected Boot option DFE24B Fieldbus timeout activate process output data Example 2 LED RUN flashes green slave is in the state PRE OPERATIONAL LED RUN lights up green once slave is in the state SAFE OPERATIONAL Watchdog timeout start the bus in the master and activate the state OPERATIONAL in the slave Start process data communication Prerequisite LED RUN flashes green slave is in the state PRE OPERATIONAL LED RUN lights up green once slave is in the state SAFE OPERATIONAL The status has changed automatically Repair the configuration error and startup the bus in the master again Activate OPERATIONAL state in the slave Start process data communication Manual Fieldbus Interface DFE24B EtherCAT 83 84 a ra Error Diagnostics Diagnostic procedures Flashing Prerequisite LED RUN flashes green slave is in the state PRE OPERATIONAL LED RUN lights up green once slave is in the state SAFE OPERATIONAL Invalid configuration Repair the configuration
92. ss 883 SBus 1 timeout interval 884 SBus 1 baud rate 885 SBus 1 synchronization ID 886 CANopen 1 address 887 Synchronization ext controller 1 888 Synchronization time SBus 1 2 883 Parameter channel 2 31 IPOS travel pranise FF o 0 Gain X controller Incr I 5 911 Positioning ramp 1 s fico o O i y mo f mn ison 0 DI 100 E 39 Interpolation position 16 Bit Made 1 912 Positioning ramp 2 s 913 Travel speed CW 314 Travel speed CDA 915 Speed feedforward 916 Ramp type 917 Ramp mode kd 37 IPOS synchronization 970 DPRAM synchronizatior 971 Synchronization phase 61453AXX P887 Synchronization ext controller ON P888 Synchronization time SBus ms 1 The synchronization time must correspond exactly with the bus cycle P916 Ramp type P970 DPRAM Synchronization YES P971 Synchronization phase 0 Interpolation position 16 Bit P971 can be used to optimize the sync phase if aliasing occurs Set a sync phase of 0 ms as standard 66 Manual Fieldbus Interface DFE24B EtherCAT Motion Control via EtherCAT go Settings in EtherCAT master 7 3 Settings in EtherCAT master Activate the Distributed Clock function for time slice synchronization The bus cycle must correspond exactly with the synchronization time set in parameter P888 You should also activate the watchdog for timeout monitoring for the Sync Manager 0x1000 Output Data only Make sure y
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94. te provides a more exact classification of the error type Class hex Designation Meaning 1 vfd state Status error of the virtual field device 2 application reference Error in application program 3 definition Definition error 4 resource Resource error 5 service Error during execution of service 6 access Access error 7 ov Error in the object list 8 other Other error The error code element 1 byte provides a means of more precisely identifying the cause of the error within the error class For Error class 8 Other error only Error code 0 Other error code is defined In this case detailed identification is made using the additional code Manual Fieldbus Interface DFE24B EtherCAT EtherCAT Operating Characteristics Configuration return codes ago 6 4 4 Additional code The additional code 2 bytes contains a detailed description of the error 6 4 5 List of the error codes for SDO services Error code Error Error Additional Designation Description class code code 0x00000000 0 0 0 NO ERROR No error 0x05030000 5 3 0 TOGGLE_BIT_NOT_CHANGED Error in toggle bit during segmented transfer 0x05040000 0 SDO_PROTOCOL_TIMEOUT Timeout in the service execution 0x05040001 1 COMMAND SPECIFIER UNKNOWN Unknown SDO service 0x05040005 5 5 OUT_OF_MEMORY Memory overflow during SDO servi
95. ter now responds to the process output data transmitted from the PLC To ensure that the MOVITRAC B frequency inverter stops when SBus communication is interrupted set the SBus1 timeout time P883 to a value other than 0 ms We recommend a value between 50 and 200 ms Activation of the control signal source and setpoint source SBus is signaled to the machine controller using the SBus mode active bit in the status word For safety reasons you must also enable the frequency inverter at the terminals for control via the fieldbus system Consequently you must wire and program the terminals in such a way that the inverter is enabled via the input terminals The simplest way of enabling the frequency inverter on the terminal side is to set the DI input terminal function CW STOP to a 24 V signal and to program the other input terminals to NO FUNCTION Configure the parameter P881 SBus adaress to values 1 8 in ascending order SBus address 0 is used by the DFE24B gateway and so cannot be used here Configure the parameter P883 SBus timeout to values 50 200 ms Manual Fieldbus Interface DFE24B EtherCAT EtherCAT Operating Characteristics ego 6 Controlling the MOVIDRIVE amp MDX61B drive inverter 6 EtherCAT Operating Characteristics This section describes the basic characteristics of the drive inverter on EtherCAT with control via fixed PDO for fieldbus communication motion control applications gt Sec 7
96. the EtherCAT master for MOVITRAC B gateway WITH XML legen Mentee prre eier 35 5 3 1 XML files for operation in MOVITRAC B and gateway housing UOH11B enn 35 5 3 2 Configuration procedure eese eene nnne 35 5 3 3 PDO configuration for DFE24B gateway for MOVITRAC B 36 5 3 4 Auto setup for gateway operation sseee 41 5 4 Setting the MOVIDRIVE MDX61B drive inverter eere 42 5 5 Setting the MOVITRAC frequency inverter eee eeeeeeeeenneeeeeeeenaeeeeeeesaes 43 6 EtherCAT Operating Characteristics ununssnssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 45 6 1 Controlling the MOVIDRIVE MDX61B drive inverter 45 6 1 1 Control example in TwinCAT with MOVIDRIVE MDX61B 46 6 1 2 EtherCAT timeout MOVIDRIVE MDX61B e 48 6 1 3 Fieldbus timeout response MOVIDRIVE MDX61B 48 6 2 Controlling the MOVITRAC B Gateway frequency inverter 49 6 2 1 Control example in TwinCAT with MOVITRAC B gateway 50 6 2 2 SBUS MEOU EE 51 62 3 Unit faults c eno nk 51 6 2 4 DFE24B fieldbus timeout in gateway operation 52 6 3 Configuration via EtherCAT ssssssssseeseeeeeeeneneenee eene nnn 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 TwinCA
97. the engineering PC that routes the engineering data via the EtherCAT master to the mailbox gateway In the DOS box the command for creating a static route is as follows route p add Target MASK Netmask Gateway Target Is the IP address of the EtherCAT mailbox gateway Net mask Is usually set to 255 255 255 255 host routing Gateway Matches the IP address of the EtherCAT master in the TCP IP network Microsoft Windows 2666 Version 5 88 2195 lt C gt Copyright 1985 2666 Microsoft Corp K gt route p add 169 254 61 254 MASK 255 255 255 255 18 3 64 178 ER Manual Fieldbus Interface DFE24B EtherCAT 61941AXX 8 9 77 8 78 go Operating MOVITOOLS MotionStudio via EtherCAT Configuring the SEW communication server 8 7 Configuring the SEW communication server To be able to run MOVITOOLS MotionStudio via EtherCAT you must first configure the SEW communication server 8 7 1 Establishing communication 8 7 2 Procedure MOVITOOLS MotionStudio allows you to communicate with electronics products from SEW EURODRIVE GmbH amp Co KG via different communication paths at the same time When you start MOVITOOLS MotionStudio the SEW communication server is started automatically and an additional symbol will appear in the Windows status bar pi Four steps are involved in configuring communication 1 Open the settings for the SEW communication server by clicking on th
98. the state PRE OPERATIONAL green Lights up SAFE OPERATIONAL Option DFE24B is in the state SAFE OPERATIONAL once green Green OPERATIONAL Option DFE24B is in the state OPERATIONAL Flickering INITIALISATION or Option DFE24B is booting and has not yet reached the state green BOOTSTRAP INIT Option DFE24B is in the state BOOTSTRAP The firmware is being downloaded Flashing NOT CONNECTED Option DFE24B has been switched on but has not yet been orange 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 operating state Flickering Boot error A boot error has been detected The state INIT was achieved but the Change parameter in the AL status register has been set to 0x01 change error Flashing Invalid configuration General configuration error Lights up Unrequested change The slave application has changed the EtherCAT state automat once in status ically The Change parameter in the AL status register has been set to 0x01 change error Lights up Application watchdog A watchdog timeout occurred in the application twice timeout Lights up Reserved three times Lights up Reserved four times On PDI watchdog timeout A PDI watchdog timeout occurs 22 Manual Fieldbus Interface DFE24B EtherCAT Assembly and Installation Notes Operating displays of t
99. therCAT connection to the preceding X30 or following X31 unit is available active LED Link Activity 61195AXX 4 9 2 Gateway LED LEDs for the gateway commu nication status O H1 G H2 j 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 is inactive Off SBus ok Gateway is configured correctly Flashes Bus scan Bus is being checked by the gateway 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 Configuration and Startup go 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 http sew eurodrive de under the heading Software 5 1 Validity of the XML files for DFE24B The XML file is needed when DFE24B is used as a fieldbus option in MOVIDRIVE B and as a gateway in MOVITRAC B or a gateway housing UOH11B Do not change or expand the entries in the XML file SEW assumes no liability for inverter malfunctions caused by a modified XML file 5 2 Configuring the EtherCA
100. tions in section 5 Configuration and Startup Manual Fieldbus Interface DFE24B EtherCAT 3 3 1 3 2 3 3 3 3 1 Introduction Content of this manual Introduction Content of this manual This user manual describes how to install the DFE24B EtherCAT option card in the MOVIDRIVE MDX61B drive inverter usethe DFE24B EtherCAT option card in the MOVITRAC B frequency inverter and in the UOH11B gateway housing startup MOVIDRIVE MDX61B on the EtherCAT fieldbus system startup MOVITRAC B on the EtherCAT gateway configure the EtherCAT master using XML files operate MOVITOOLS MotionStudio via EtherCAT Additional documentation Features For information on how to connect MOVIDRIVE9 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 Fieldbus Unit Profile manual MOVITRAC B system manual The MOVIDRIVE Fieldbus Unit Profile manual and the MOVITRAC B system 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 Fieldbus Unit Profile manual contains a list of all drive inverter parameters that can be read or written via the various communication interfaces such as system bus RS485 and also via the fieldbus interface The MOV
101. tted 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 Assembly and Installation Notes Installing the UOH11B gateway housing 4 3 Installing the VOH11B gateway housing UOH11B DFE 24B Can Om o4 AS ET rl EtherCAT X31 OUT X30 N SEW Drive SC11 Systembus CAN high SC12 Systembus CAN low DC 24 V GND CAN GND GND 61074AXX 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 18 Manual Fieldbus Interface DFE24B EtherCAT Assembly and Installation Notes Connection and terminal description of the DFE24B option 44 Connection and terminal description of the DFE24B option Part number EtherCAT interface type DFE24B 1821 126 7 The option EtherCAT interface type DFE24B is only possible in conjunction with MOVIDRIVE MDX61B not with MDX60B Plug the DFE24B option into the fieldbus slot DIP Front view of DFE24B Description Switches Function Terminal DFE 24B RUN EtherCAT operation LED Shows the operating status of bus electronics and orange green co
102. ual speed value 4 Drive machine load Let Torque setpoint 5 Encoder V speed X position The process starts with a position setpoint Xref Using this and the actual position value Xact the position controller 1 calculates a speed setpoint Merl The speed controller 2 uses this speed setpoint and actual speed value v4 4 to calculate the torque setpoint Leg to create torque in the motor powered by the inverter 3 A speed measured using encoder 5 occurs in the motor depending on the counter torque of the driven machine 4 A position change measured using the position sensors 5 or 6 results depending on the motor speed Depending on the application control loops for torque speed or position can be closed in the inverter or in a higher level controller MOVIDRIVE B can handle all control loops including position control In this way positioning travel can only be executed on the inverter by specifying a setpoint position e g application module Bus Positioning The current position and when the positioning task is completed a ready message is sent to the controller Manual Fieldbus Interface DFE24B EtherCAT Motion Control via EtherCAT go 7 Synchronization Example Ep p aep OR L es Figure 16 Aliasing B i Introduction to EtherCAT In motion control applications positioning travel with target position and travel parame ters such as speed and ramp times is ca
103. unesssnseennnennnnnnnnnennnnnnnen nenn 61 X AUER TTT 87 For EtherCAT sss 25 For operation in gateway housing UOH11B 35 For operation in MOVITRAC B 35 Manual Fieldbus Interface DFE24B EtherCAT 11 89 90 Address List i Address List Germany Headquarters Bruchsal SEW EURODRIVE GmbH amp Co KG Tel 49 7251 75 0 Production Ernst Blickle Stra e 42 Fax 49 7251 75 1970 Sales D 76646 Bruchsal http www sew eurodrive de P O Box sew sew eurodrive de Postfach 3023 D 76642 Bruchsal Service Central SEW EURODRIVE GmbH amp Co KG Tel 49 7251 75 1710 Competence Center Ernst Blickle Stra e 1 Fax 49 7251 75 1711 D 76676 Graben Neudorf sc mitte sew eurodrive de North SEW EURODRIVE GmbH amp Co KG Tel 49 5137 8798 30 Alte Ricklinger Stra e 40 42 Fax 49 5137 8798 55 D 30823 Garbsen near Hannover sc nord sew eurodrive de East SEW EURODRIVE GmbH amp Co KG Tel 49 3764 7606 0 D nkritzer Weg 1 Fax 49 3764 7606 30 D 08393 Meerane near Zwickau sc ost sew eurodrive de South SEW EURODRIVE GmbH amp Co KG Tel 49 89 909552 10 Domagkstra e 5 Fax 49 89 909552 50 D 85551 Kirchheim near M nchen sc sued sew eurodrive de West SEW EURODRIVE GmbH amp Co KG Tel 49 2173 8507 30 Siemensstra e 1 Fax 49 2173 8507 55 D 40764 Langenfeld near D sseldorf sc west sew eurodrive de Electronics SEW EURODRIVE GmbH amp Co KG Tel 49 7251 75 1780 Ernst Blickle Stra
104. up AS from OFF to ON position causes the function to be executed once The Auto Setup DIP switch must then remain in ON position The function can be reactivated by turning the DIP switch off and back on again First the DFE24B searches on the lower level SBus for SEW drives This process is in dicated by the LED H1 system error flashing briefly For this purpose different SBus addresses must be set for the drive inverters P881 We recommend assigning the addresses beginning with address 1 in ascending order based on the arrangement of inverters in the control cabinet The process image on the fieldbus side is expanded by three words for each detected drive inverter The LED H1 remains lit if no drive inverter is located A total of up to 8 drive inverters is taken into account After the search is completed the DFE24B cyclically exchanges 3 process data words with each connected drive inverter The process output data is taken from the fieldbus divided into blocks of three and transmitted The drive inverters read the process input data put it together and send it to the fieldbus master The cycle time of SBus communication is 2 ms per station For an application with 8 inverters on the SBus the cycle time for the process data update will be 8 x 2 ms 16 ms If you change the process data assignment of the drive inverters connected to DFE24B you must activate Auto Setup again because the DFE24B saves these values only once durin
105. used depending on the controller and application The control and status words can be set using parameters P870 P876 or transferred to IPOSPIUS variables and activated in accordance with the functions of the status machine of the motion controller Manual Fieldbus Interface DFE24B EtherCAT 65 7 Motion Control via EtherCAT Settings in MOVIDRIVE B with MOVITOOLS MotionStudio ago O Next activate controller synchronization in the EtherCAT network To do so make the following parameter settings following figure MOVIDRIVE B parameters FD 2 1 Setpoints integrators Controller parameters Motor parameters Reference signals Control functions Terminal assignment Control functions Unit functions Display values 80 Setup 81 Serial communication 82 Braking operation 83 Fault responses 84 Reset behavior 85 Scaling speed actual value 86 Modulation 87 Process data parameter settir o 88 Serial communication SBus 1 89 Serial communication SBus 2 9 IPOS parameters 90 IPOS reference travel e 81 IPOS travel prameters 82 IPOS monitoring 93 IPOS special functions 94 IPOS encoder 95 DIP 96 IPOS Modulo function m 97 IPOS synchronization m Applications 9 ApplicationBuilder applications Manual operation lal x TI u Ghi 880 SBus 1 protocol 881 SBus 1 address 882 SBus 1 group addre
106. usy and bError indicate the status of the service nErrld shows the error number when the bError flag is set if an error occurs Manual Fieldbus Interface DFE24B EtherCAT 53 6 go EtherCAT Operating Characteristics Configuration via EtherCAT The figure below shows the process of integrating the function module in TwinCAT TwinCAT PLC Control ReadPdo pro MAIN PRG ST ell xi WA File Edt Project Insert Extras Online Window Help l2l xi BIS tcn ci OO0NPROGRAM MAIN AR Read_Data DWORD ReadSdo FB EcCoESdoRead D005 ReadSdo 0006 sNetld 192 168 187 1 2 1 AMS NetID ofthe EtherCAT master nSlaveAddr 1001 EtherCAT Address of the SEW device nindex 8325 Ge og DC link voltage index nSublndex 0 pDstBuf ADR Read Data pointer to the variable cbButLen 4 number of Bytes of the index bExecute FALSE tTimeout T 500ms Target Local 192 168 187 1 1 1 Run Time 1 UTERE us 11647AXX SEW parameters always have a data length of 4 bytes 1 DWord Refer to the Fieldbus Unit Profile manual for more details and information on scaling In the above example the DC link voltage was read index 8325 subindex 0 For example the value 639000 is received which according to the fieldbus unit profile corresponds to a voltage of 639 V 54 Manual Fieldbus Interface DFE24B EtherCAT EtherCAT Operating Characteristics go 6 Configurat
107. xis 1_Drive QT Inputs gl Outputs 2 Al Axisi Drive Out nOutDatai zl nOutData2 nCtrli nctri2 nctrl3 l nctri u Axis 1_Ctrl SI Inputs amp Outputs SR PLC Configuration MS SPS SPS Image B E Standard 2 YT Inputs dpi Statusword Outputs PL Controlword Lei I O Configuration 3 89 1 0 Devices e EtherCAT Master EtherCAT EtherCAT Master Image ef EtherCAT Master Image Info amp Inputs l Outputs InfoData Axis 1 MDX61B mit DFE24B t InputDatai Standard 10 PI t InputData2 Configurable PT 1 1 3 E pt Pl OutputData2 Configurable PO i SetpPosBus H499 F wcstate FR TnfnData X 61466AXX Manual Fieldbus Interface DFE24B EtherCAT 73 7 8 go Operating MOVITOOLS MotionStudio via EtherCAT Introduction 8 Operating MOVITOOLS MotionStudio via EtherCAT This section describes how to operate MOVITOOLS MotionStudio via EtherCAT 8 1 Introduction EtherCAT provides the user with acyclical parameter services in addition to cyclical process data This acyclical data exchange takes place via the mailbox gateway of the Ether

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