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SM-EtherCAT User Guide

1. 1 Safety information 1 1 Warnings cautions and notes 1 2 Electrical safety general warning 1 3 System design and safety of personnel 1 4 Environmental limits 1 5 Compliance with regulations 1 6 Motor 1 7 Adjusting parameters 1 8 Electrical installation 2 Introduction 2 1 What is EtherCAT 2 2 About SI EtherCAT 2 3 Features 24 Option module identification 2 5 Product Conformance Certificate 2 6 Conventions used in this guide 3 Mechanical installation 3 1 General installation 4 Electrical installation 4 1 SI EtherCAT module information 4 2 SI EtherCAT terminal descriptions 4 3 Module grounding and EMC 4 4 Network topology 4 5 Minimum node to node cable length 5 Getting started 5 1 Quick start guide 52 Quick start flowchart 6 Protocols 6 1 Process Data Objects PDOs 6 2 Service Data Object SDO parameter access 21 6 3 CANopen over EtherCAT CoE 6 4 Cyclic data loss behaviour 7 Drive profile CiA402 support 7 1 0x6040 Controlword T2 0x6041 Statusword 7 3 Common profile features 7 4 Interpolated position mode 7 5 vl velocity mode 7 6 Homing mode T Cyclic sync position mode 7 8 Cyclic Synchronous Velocity Mode 7 9 Cyclic Synchronous Torque Mode 7 10 Error Handling 8 Advanced features 8 1 Distributed c
2. 5o0us Control loop cycles SI EtherCAT protocol support The following are supported Four Sync Managers Two are used for the Mailbox Protocol non cyclic data and two are used for process data cyclic data Distributed Clocks CANopen over EtherCAT CoE Advanced Cyclic Data Task Configuration This configuration will allow the timing behaviour of the cyclic data handling to be modified specifically it will allow the tasks in which cyclic data is handled to be changed The default configuration will be specified to reduce delays as much as possible in case it is necessary to close control loops over the network On Unidrive M200 to Unidrive M400 the cyclic data tasks are asynchronous i e there is no OPT_SYNC signal or equivalent to the drive tasks there will be tasks corresponding to those described in the object descriptions but they will not bear any relationship to the a drive critical update period which from an option module point of view does not exist Arguably these objects are of limited utility on these drives Unidrive M SI EtherCAT User Guide Issue Number 1 0x3006 Sub index 0 Out cyclic data configuration Access RO Range N A Size 1 byte Unit N A Default 2 Description Sub index 1 The number of the last sub index in this object Access RW Range 0 to 2 Size 1 byte Unit ms Default 0
3. v Operation Enabled Profile SW amp OxFF90 0x0027 Set drive run state 5 Disable operation LE 16 Quick Stop Start quick stop n mode specifi Enable operation y Quick Stop Active Profile SW amp 0xFF90 0x0007 Drive stopped Stay in Quick 12 36 Unidrive M SI EtherCAT User Guide Issue Number 1 Table 7 7 CoE state machine transition and events 0 Transition Event s Automatic transition after power on or reset application Action s Drive device self test and or self Initialization shall be performed 1 Automatic transition Communication shall be activated Shutdown command from control device or local signal None Switch on command received from control device or local signal Enable operation command received from control device or local signal Power section shall be switched on if not already switched on Drive function shall be enabled and clear all internal set points Disable operation command received from control device or local signal Drive function shall be disabled Shutdown command received from control device or local signal The high power shall be switched off immediately and the motor shall be free to rotate if not braked additional action depends on the shutdown option code Quick stop or disable voltage command from control device or local signal None
4. Description Sub index 2 High priority cyclic data task selects the task in which high priority out master to slave cyclic data is copied from the intermediate buffer to the mapped objects parameters etc 0 Pre Drive Critical update period The default this is the task that on Unidrive M600 and above starts execution 75 us before the drive critical update period This time may need to be modified after measuring actual task periods hopefully it will be possible to start at a time closer to the critical update period 1 Drive Critical update period Occurs for the first 70 us following an edge of the OPT SYNC signal 2 Post Drive Critical update period The task that occurs immediately after the critical update period up until the Pre Drive Critical Update Period 3 Sync Manager task This is the AL event task which occurs upon a sync manager access Access RW Range 0 to 2 Size 1 byte Unit N A Default 3 Description Unidrive M SI EtherCAT User Guide 65 Issue Number 1 Intermediate buffer copy task Selects the task in which the high priority out master to slave cyclic data is copied into the intermediate buffer from the EtherCAT sync manager space 0 Pre Drive Critical update period The task that on Unidrive M600 and above starts execution 75 us before the drive critical update period This time may need to be modified after measuring actual task periods hopefully it
5. 174 Card Slot 175 Card Product 177 Card Boot 178 Card Busy 179 Card Data Exists 180 Card Option 181 Card Read Only 182 Card Error 183 Card No Data 184 Card Full 185 Card Access 186 Card Rating 187 Card Drive Mode 188 Card Compare Unidrive M SI EtherCAT User Guide Issue Number 1 8 1 Advanced features Distributed clocks SI EtherCAT supports Distributed clocks This is the scheme used by EtherCAT to accurately time synchronize slave devices Position speed and current control loops can all be synchronized When the option module is connected to a drive which can take a time synchronization signal e g a Unidrive M600 or above the EtherCAT Distributed Clocks facility can be used to provide this signal so the drive speed and current tasks are synchronized to the network The position controller and appropriate motion features will also be synchronized to the drive speed task In CoE interpolated position mode the position command provided by the master every 8 1 1 Unidrive M SI EtherCAT User Guide 63 interpolation cycle time is used to generate a position command for the drive every 250 us Time synchronization support When the option module is connected to a drive which can accept a time synchronisation signal e g on Unidrive M600 and above the EtherCAT distributed clocks facility can be used to provide this signal so that the drive tasks inclu
6. i ES E Y El Q ES a SN 7 3 19 0x60FB Position control parameter set object Table 7 31 Position control parameter set object E Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description The number of control loop parameters Sub index 1 Access RW Range 0 to 65535 Size Unsigned 16 Unit 0 01 rad s rad Default 2500 senjeaj peoueApy sonsouBeiq Description The position controller proportional gain Sub index 2 Access RW Range 0 to 65535 Size Unsigned 16 Unit 1 1000 Default 1000 i e a gain of 1 Description The position controller speed feed forward gain suo Jo fjesso o The APC position controller kernel is used by the basic internal position control The position demand value object contains the value supplied by either the Unidrive M SI EtherCAT User Guide 43 Issue Number 1 7 4 interpolated position mode or the profile position mode in user units It is updated every control loop cycle This object can be mapped as cyclic data Interpolated position mode Interpolated position mode operates on the Unidrive M600 in RFC A and RFC s modes Table 7 32 lists the objects that are supported Table 7 32 Supported Interpolated position mode objects Index Name 0x60CO interpolation submode select 0x60C1 interpolation data record 0x60C2 interpolation time period LUE When using one of the CiA402 p
7. uogeuuojul s uogonpou Description A mapping to an object This will have the following format Bits 0 to 7 Length of the mapped object in bits if a gap bit length of the gap Bits 8 to 15 Sub index of the mapped object if a gap zero Bits 16 to 31 Index of the mapped object if a gap zero Sub index 2 2nd mapped object Access RW Range 0 to OxFFFFFFFF Unit N A Size 4 bytes Default Description 0x60770010 the CiA402 actual torque 0x6077 A mapping to an object This will have the following format Bits 0 to 7 Length of the mapped object in bits if a gap bit length of the gap Bits 8 to 15 Sub index of the mapped object if a gap zero Bits 16 to 31 Index of the mapped object if a gap zero Table 6 17 TxPDO mapping 6 0x1A05 Transmit PDO mapping 6 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Default Description Range 0 to OxFFFFFFFF 0x60410010 the CiA402 status word 0x6041 A mapping to an object with the following format Size 4 bytes Unit N A Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object
8. Shutdown command from control device or local signal The high power shall be switched off immediately if possible and the motor shall be free to rotate if not braked Disable voltage command from control device or local signal The high power shall be switched off immediately if possible and the motor shall be free to rotate if not braked uo ejjesu uoneJ ejsut olor uoneuuojul jeoujoe 3 Jeolueyooy Ayeyes peuejs ueg O90 01d Disable voltage or quick stop command from control device or local signal The high power shall be switched off immediately if possible and the motor shall be free to rotate if not braked Quick stop command from control device or local signal Automatic transition when the quick stop function is completed and quick stop option code 1 2 3 or 4 disable voltage command received from control device dependant on the quick stop option code Fault signal The quick stop function shall be started The power section shall be switched off The configure fault reaction function shall be executed Automatic transition The drive function shall be disabled the high power may be switched off Fault reset command from control device or local signal A reset of the fault condition is carried out if no fault exists currently on the drive device after leaving the Fault state the Fault reset bit in the controlword shall be cleared by the control device Enable ope
9. Sub index 2 2nd mapped object Access RW Range 0 to OxFFFFFFFF Unit N A Size 4 bytes Default 0x60440010 the CiA402 actual motor speed 0x6044 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Unidrive M SI EtherCAT User Guide 29 Issue Number 1 uonejjejsul JeoiueuoeN uoneljejsut Jeoujo9 3 peuejs ueg 090 01q g S S o Q ES S Y sounyeay sonsouBeiq peoueApy suo jo Messo 6 3 4 Sync manager configuration The sync managers are the EtherCAT means for setting access attributes for different areas of memory and triggering or notifying the application when the memory is accessed The following objects specify how the sync managers and thus 30 corresponding memory areas are utilized by the CoE protocol Table 6 18 Sync manager communication type object 0x1C00 Sync manager communication type Sub index 0 number of sync manager channels used Access RO Range N A Size 1 byte Unit N A Default 5 Description The number of sync manager protocols used by the CoE Sub index 1 Usage of sync manager 0 protocol Access RO Range N A Size 1 byte Unit N A Default
10. Drive Type tt Byte 1 Drive Variant Derivative vv Byte 2 Drive Mode mm Byte 3 Generation 0x01 Description This has the value of the option ID code Sub index 3 Range N A Size 4 bytes Unit N A Default Calculated from Pr S 00 002 peuejs ueg 090 01q Description g 2 En 3 o 9 ES S I seinjeaj peoueApy This will contain the option module software version number major in byte 3 minor in byte 2 sub version in byte 1 and the build number in byte 0 Description Sub index 4 Access RO Range N A Size 4 bytes Unit N A Default 0 Description This will contain zero rather than the module or drive serial number sonsouBeiq suo jo Messo Unidrive M SI EtherCAT User Guide 23 Issue Number 1 6 3 2 RxPDO mappings Objects with indices from 0x1600 to 0x17FF specify receive PDO mappings The mappings from CiA402 are included as standard the PDO mappings will have the following default values Table 6 6 RxPDO mappings PDO No Mapped object indices Mapped default object names 1 0x6040 controlword 2 0x6040 controlword 0x6060 modes of operation 3 0x6040 controlword 0x607A target position 5 0x6040 controlword 0x6071 target torque 6 0x6040 controlword 0x6042 vl target velocity The RxPDO mapping objects are defined in the following tables Each mapping object has the maximum number of sub indices each rep
11. Sub index 2 Range 32768 to Access RW 432767 Size Signed 16 Unit N A Default 1 Description vl dimension factor denominator a value of 0 is not valid The vl target velocity object is re read every new profile cycle It is scaled to appropriate units using the v dimension factor and vl setpoint factor objects and then written to the drive preset reference 1 parameter Pr 01 021 The object v velocity min max is handled every profile cycle The vl target velocity is limited according to the values set in the object v velocity min max which is read every profile cycle The object v velocity min max amount is mapped to vl velocity min max The value of the v velocity demand object is calculated in the background The option reads the value of parameter Pr 02 001 post ramp reference scaled from RPM to user units using v dimension factor and vl setpoint factor and writes the value to the vl velocity demand object On a closed loop drive the speed feedback is read from the drive internally every profile cycle scaled to the same units as v farget velocity and written to the vl velocity actual value object On an open loop drive the estimated motor speed is read from Pr 05 004 motor RPM in the background scaled to the units of vl target velocity and written to the v velocity actual value object The vl velocity acceleration and vl velocity deceleration objects are handled in the background Th
12. 1 Description Sync manager 0 is used by CoE as the mailbox receive channel master to slave Sub index 2 Usage of sync manager 1 Access RO Range N A Size 1 byte Unit N A Default 2 Description Access RO Sync manager 1 is used by CoE as the mailbox send channel slave to master Sub index 3 Usage of sync manager 2 Range N A Size 1 byte Default 3 Description Sync manager 2 is used by CoE as the process data output RxPDOx master to slave Sub index 4 Usage of sync manager 3 Access RO Range N A Size 1 byte Unit N A Default 4 Description Sync manager 3 is used by CoE as the process data input TxPDOs slave to master Table 6 19 Sync manager 0 PDO assignment object Sync manager 0 PDO assignment 0x1C10 Sub index 0 Access RO Range N A Size 1 byte Unit N A Default 0 Description Table 6 20 Sync manager 1 PDO assignment object 0x1C11 Sub index 0 Number of assigned PDOs The mailbox received sync manager can never have PDOs assigned to it Sync manager 1 PDO assignment Access RO Range N A Size 1 byte Unit N A Default 0 Description Number of assigned PDOs The mailbox send sync manager can never have PDOs assigned to it Unidrive M SI EtherCAT User Guide Issue Number 1 Table 6 21 Sync mana
13. Display Format None Decimal Places 2 Coding Contains the modul S 00 004 RO ND NC PT BU 0 e s hardware version information in the format xx yy Serial Number LS Maximum sonsoubeiq 99999999 0 Units 32 bit volatile Update Rate suo io Gesso Power up write Display Format None Decimal Places 0 Coding RO ND NC PT BU Unidrive M SI EtherCAT User Guide Issue Number 1 67 68 The module serial number is available as a pair of 32 bit values where Serial Number LS S 00 004 provides the least significant 8 decimal digits and Serial Number MS S 00 005 provides the most significant 8 decimal digits The reconstructed serial number is S 00 005 100000000 S 00 004 For example serial number 0001234567898765 would be stored as S 00 005 12345 S 00 004 67898765 5 00 005 Minimum 0 Maximum 99999999 Default 0 Units Type 32 bit volatile Update Rate Power up write Display Format None Decimal Places 0 Coding RO ND NC PT BU Maximum Units 8 bit volatile Update Rate Background Display Format None Decimal Places Value Text Description 2 Bootldr Update The bootloader is performing a flash update 1 Bootldr Idle The bootloader is idle 0 Initializing The firmware is currently Initializing 1 OK The firmware is initialised and no errors have been detected 2 Confi
14. In the case of the onboard Ethernet interface the set up parameters in menu 0 will appear in drive menu 24 The setting of the Option Slot Identifiers Pr 11 056 may change the slot numbering from those described above The internal menus of the option module or onboard Ethernet interface will appear before menu 0 and after menu 41 For M200 M300 and M400 drives the option module set up parameters will appear in menu 15 The method used to determine the menu or parameter is as follows PrS mm ppp Where S signifies the option module slot number and mm ppp signifies the menu and parameter number of the option module s internal menus and parameters If the option module slot number is not specified then the parameter reference will be a drive parameter PrMM ppp Where MM signifies the menu allocated to the option module setup menu and ppp signifies the parameter number within the set up menu Prmm 000 Signifies parameter number 000 in any drive menu Issue Number 1 uonel ejsut uonejejsut GOOD AM uoneuuojut jeoujoe 3 jeoiueuoejA payeys Bue Sjo20joJd Hoddns g o S 3 gt o 9 gt BR t SN SeJnjeaj peoueapy sonsouBeiq Jo Messo 3 Mechanical installation Before installing or removing a option module in any drive ensure the AC supply has A been disconnected for at least 10 minutes and refer to Chapter 1 Safety information on page 5 If using a DC bus supply ensure this is fully dischar
15. S 09 030 This parameter shows the option module temperature reading in degrees Celsius Error handling The following objects are provided to indicate an error condition Table 10 4 Error handling objects 0x1001 Error_register Ox603F Error_code Error register Table 10 5 Error register 0x1001 Error register Range 0 to 255 Size Unsigned 8 A non zero value in this object indicates that an error has occurred The bit s set indicate the type of error present The following bits are supported 0 Generic error 1 Current 2 Voltage 3 Temperature When an error is indicated in this object the particular error code will be contained in object Ox603F Error code Description Unidrive M SI EtherCAT User Guide Issue Number 1 10 3 2 Error code Table 10 6 Error code Error code 0x603F Access RO Range 0 to OxFFFF Size 2 bytes Unit N A Default 0 Description A non zero value in this object indicates that an error has occurred The value will be one of the codes described in Table 10 7 below uoneuuojul uononpoau Table 10 7 Error codes 55 Error code Meaning Corresponding drive trip Code if available E E 0x0000 Error reset No error 0 None Sg OxFFO1 Generic error Any trip code not elsewhere in table 0x2300 Current device output side 3 Ol ac gm 5 32 Phase Loss a3 0x3130 Phase failure 98 Ou
16. a response from the slave device If an error occurs with an SDO transfer SI EtherCAT will return an SDO abort code to indicate the reason for the failure the SDO abort codes are listed in Table 10 9 Table 10 9 SDO abort codes Abort code in hex Description 0x05030000 Toggle bit not alternated 0x05040000 SDO protocol timed out 0x05040001 Client server command specifier not valid or unknown 0x05040002 Invalid block size block mode only 0x05040003 Invalid sequence number block mode only 0x05040004 CRC error block mode only 0x05040005 Out of memory 0x06010000 Unsupported access to an object 0x06010001 Attempt to read a write only object uoneuuojul uoneleisut uononpoau Jeolueyoo uole e su jeoujoe 3 0x06010002 Attempt to write a read only object 0x06020000 Object does not exist in the object dictionary 0x06040041 0x06040042 The number and length of the objects to be mapped would exceed PDO length 0x06040043 Object cannot be mapped to the PDO General parameter incompatibility 0x06040047 General internal incompatibility in the device 0x06060000 Access failed due to a hardware error 0x06070010 Data type does not match length of service parameter does not match payes Bue 3 Sg e Q 9 o 0x06070012 0x06070013 Data type does not match length of service parameter too low 0x0609001
17. an object This will have the following format Bits 0 to 7 Length of the mapped object in bits if a gap bit length of the gap Bits 8 to 15 Sub index of the mapped object if a gap zero Bits 16 to 31 Index of the mapped object if a gap zero Table 6 11 RxPDO mapping 6 0x1605 Receive PDO mapping 6 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to OxFFFFFFFF Unit N A Size 4 bytes Default Description 0x60400010 the CiA402 control word 0x6040 A mapping to an object This will have the following format Bits 0 to 7 Length of the mapped object in bits if a gap bit length of the gap Bits 8 to 15 Sub index of the mapped object if a gap zero Bits 16 to 31 Index of the mapped object if a gap zero Sub index 2 2nd mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60420010 the CiA402 vl target velocity 0x6042 Description A mapping to an object with the following format A mapping to an object This will have the following format Bits 0 to 7 Length of the mapped object in bits if a gap bit length of the gap Bits 8 to 15 Sub index of the mapped object if a gap zero Bits 16 to 31 Index of the mapped o
18. be modified by the option module to enable it to control the drive other parameters implicitly written by the CiA402 profile etc Setting this parameter to 1 will prevent the option module from writing to these parameters user mapped parameter writes will still occur however Allow EEPROM Upgrade S 00 034 0 Maximum 0 Units 1 bit volatile Update Rate Read in background None RW BU Decimal Places 0 This allows the data in the EtherCAT configuration EEPROM to be upgraded and it does this by preventing the EtherCAT ASIC from accessing the EEPROM so that the processor can access it this means that EtherCAT communications are disabled This is used by setting this parameter and performing a option reset the parameter cannot be saved S 00 035 Minimum 0 Default 0 Units Configured Station Alias Maximum 65535 Type 16 bit volatile Update Rate Read on power up Display Format None Decimal Places 0 Coding RW NC PT BU It is unnecessary for a user to set a station address manually in order to initiate EtherCAT communications however this parameter can be used to configure an EtherCAT Station Alias which can be used to uniquely identify a particular slave If this value is changed it is necessary to reset the option for the new value to take effect e g by saving parameters and performing a power cycle If this value is left at the defau
19. hard drive of the master NENNEN NUN Check the LED status of the SI EtherCAT module In the master scan the EtherCAT network Select required PDOs Configure the PDOs with the mappings required Configure the Sync managers using the required PDOs Y Download or activate the configuration to the master Y Check the front of the SI EtherCAT module to ensure that the LED relating to the connection being used is flashing this confirms that communications are functioning 20 Unidrive M SI EtherCAT User Guide Issue Number 1 6 Protocols uoneuuojul 6 1 Process Data Objects PDOs Cyclic data is implemented on EtherCAT networks by using Process Data Objects or PDOs Separate data objects are used for transmitting TXPDOs and receiving RxPDOs data PDO configuration objects are usually pre configured in the EtherCAT master controller and downloaded to the SI EtherCAT at network Initialization using SDOs uononpoau uoneJrejsut JEoiueuoe 6 2 Service Data Object SDO parameter access The service data object SDO provides access to all objects in the EtherCAT object dictionary and the drive parameters are mapped into the object dictionary as OX2XXX objects in the following way uoneljejsut Jeou1o9 3 Index 0x2000 menu Sub index parameter g For example Pr 20 021 would be index 0x2014 and the sub index would be 0x15 The a values
20. local legislation and best practice Firmware Statement This product is supplied with the latest firmware version When retro fitting to an existing system all software versions should be verified to confirm the same functionality as products of the same type already present This also applies to products returned from a Control Techniques Service Centre or Repair Centre If there is any doubt please contact the supplier of the product The firmware version of the product can be identified by looking at Pr MM 002 where MM is the relevant menu number for the module slot being used REACH legislation EC Regulation 1907 2006 on the Registration Evaluation Authorisation and restriction of Chemicals REACH requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European Chemicals Agency ECHA to be a Substance of Very High Concern SVHC and is therefore listed by them as a candidate for compulsory authorisation For current information on how this requirement applies in relation to specific Control Techniques products please approach your usual contact in the first instance Control Techniques position statement can be viewed at http www controltechniques com REACH Copyright July 2014 Control Techniques Ltd Issue Number 1 For patent and intellectual property related information please go to www ctpatents info Contents
21. module identification The SI EtherCAT can be identified by The label located on the underside of the option module The color coding across the front of the SI EtherCAT brown red Unidrive M SI EtherCAT User Guide Issue Number 1 2 4 1 2 5 2 6 Unidrive M SI EtherCAT User Guide 9 Figure 2 1 SI EtherCAT labels SI EtherCAT Ser No 3000005001 STDN39 Ser No 3000005001 Rolls 1 Topside module label 2 Underside module label Date code format The date code is split into two sections a letter followed by a number The letter indicates the year and the number indicates the week number within the year in which the option module was built The letters go in alphabetical order starting with A in 1990 B in 1991 C in 1992 etc Example A date code of V35 would correspond to week 35 of year 2012 Product Conformance Certificate SI EtherCAT has been awarded full EtherCAT Conformance Certification by the EtherCAT Technology Group ETG A copy of the certificate is available on request from your supplier or local Control Techniques Drive Centre Conventions used in this guide The configuration of the host drive and option module is done using menus and parameters A menu is a logical collection of parameters that have similar functionality In the case of an option module the option module set up parameters in menu 0 will appear in drive menu 15 16 or 17 depending on which slot the module is installed in
22. other motor stop will be initiated Unidrive M SI EtherCAT User Guide Issue Number 1 7 7 1 Drive profile CiA402 support SI EtherCAT supports the following modes of the CiA402 profile Homing Mode Cyclic Synchronous Position Mode Interpolated Position Mode Velocity Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Torque Mode 0x6040 Controlword This provides the primary method of controlling the behavior of the drive e g enabling disabling resetting etc Table 7 1 describes the format of the control word The individual bits are used in combinations see Table 7 2 to sequence the drive through the state machine described in Figure Table 7 1 Controlword 0x6040 Controlword EAS 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Reserved LEGEND ms manufacturer specific r reserved oms operation mode specific h halt fr fault reset hos homing operation start eo enable operation qs quick stop ev enable voltage so switch on Table 7 2 Command coding Bits of the controlword Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shutdown 0 X 1 1 0 0 1 1 1 Switch on Switch on enable 1 operation Disable voltage Quick stop Disable operation uoneuuojul Ayoyes uoneljejsut vORRIEISU iononpour Jeoupe 3 JeoiueuoeN peuejs Bumeo SJo20 0Jd yoddns i ES E E El Q ES S SN seinjeaj peoueApy Enable operation Fau
23. shown 1 2 Align and insert the option module tab in to the slot provided this is highlighted in the detailed view A Press down on the option module until it clicks into place NOTE Option module slots must be used in the following order Slot 3 lower Slot 2 middle and then Slot 1 upper Unidrive M SI EtherCAT User Guide Issue Number 1 4 1 4 1 1 Electrical installation SI EtherCAT module information Bus media The SI EtherCAT option module incorporates two 100 BASE TX RJ45 interfaces Cabling considerations To ensure long term reliability it is recommended that any cables used to connect a System together be tested using a suitable Ethernet cable tester this is of particular importance when cables are constructed on site Cable Cables should be shielded and as a minimum meet TIA Cat 5e requirements LT Cabling issues are the single biggest cause of network downtime Ensure cabling is correctly routed wiring is correct connectors are correctly installed and any switches or routers used are rated for industrial use Office grade Ethernet equipment does not generally offer the same degree of noise immunity as equipment intended for industrial use Maximum network length The main restriction imposed on Ethernet cabling is the length of a single segment of cable The SI EtherCAT module has two 100BASE TX Ethernet ports which support segment lengths of up to 100 m This means that the maximum cable len
24. synchronously with the accesses peuejs Dunes S 01 004 I Q e Q o o Mapped Parameter xx 000 0 65535 Maximum 0 Units 16 bit volatile Update Rate Decimal Places None RW NC PT BU yoddns Zopv d eiyoud enug This parameter is purely a mapping to parameter xx 000 to allow this parameter to be accessed using a CoE object in the Control Techniques scheme mapped CoE object indices correspond to menu numbers and sub object indices correspond to parameter numbers since sub object index zero is already used for another CoE purpose this cannot be used to access parameter zero of a menu SeInjeo peoueApy sonsoufeiq suo Jo Messo Unidrive M SI EtherCAT User Guide 71 Issue Number 1 10 10 1 10 1 1 10 1 2 10 2 10 3 10 3 1 72 Diagnostics Module identification parameters SI EtherCAT module ID code Table 10 1 SI EtherCAT module ID code SI EtherCAT module ID code 431 SFEtherCAT S 00 001 0 to 65535 RO The module ID code indicates the type of module installed in the slot This is useful for checking the module is of the correct type SI EtherCAT firmware version Table 10 2 SI EtherCAT firmware version major and minor SI EtherCAT firmware version major and minor xx yy Default N A Range 0 to 65535 Access SI EtherCAT module temperature Table 10 3 SI EtherCAT module temperature SI EtherCAT module temperature
25. to 31 Index of the mapped object Sub index 2 2nd mapped object Access RW Range 0 to OxFFFFFFFF Unit N A Size 4 bytes Default 0x60600008 the CiA402 modes of operation object 0x6060 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Table 6 9 RxPDO mapping 3 0x1602 Receive PDO mapping 3 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Default Description Range 0 to OxFFFFFFFF Unit N A 0x60400010 the CiA402 control word 0x6040 A mapping to an object This will have the following format Bits 0 to 7 Length of the mapped object in bits if a gap bit length of the gap Bits 8 to 15 Sub index of the mapped object if a gap zero Bits 16 to 31 Index of the mapped object if a gap zero Size 4 bytes Sub index 2 2nd mapped object Access RW Range 0 to OxFFFFFFFF Unit N A Size 4 bytes uonejjejsul JeoiueuoeIN uoneljejsut Jeou o9 3 peuejs Bunjes 090 01q g 3 S o Q ES S 9 senjeaj peoueApy Default 0x607A
26. to Figure 7 8 indicates the code for selection of this homing position The direction of movement is also indicated There are two sources of homing signal available These are the home switch and the index pulse from an encoder Unidrive M SI EtherCAT User Guide 51 Issue Number 1 uoneuuojul Aas uoneljejsut A eouyoa 3 Jeolueyooyy peuejs Bumeo SJo20 0Jd yoddns i ES E E El g o Q ES 3 SN sounjeay sonsouBeiq paouenpy sua Jo Asessoj5 7 6 1 52 General homing definitions Method 3 and 4 Homing on positive home switch and index pulse Using these methods as shown in Figure 7 3 Homing on positive home switch and index pulse on page 52 the initial direction of movement shall be dependent on the state of the home switch The home position shall be at the index pulse either to the left or the right of the point where the home switch changes state If the initial position is sited so that the direction of movement shall reverse during homing the point at which the reversal takes place is anywhere after a change of state of the home switch Figure 7 3 Homing on positive home switch and index pulse Index Pulse Home Switch Method 5 and 6 Homing on negative home switch and index pulse Using these methods as shown in Figure 7 4 Homing on negative home switch and index pulse on page 52 the initial direction of movement shall be dependent on the state of the home switch The home position sha
27. will be possible to start at a time closer to the critical update period 1 Drive Critical update period Occurs during the first 70 us following an edge of the OPT SYNC signal 2 Post Drive Critical update period The task that occurs immediately after the critical update period up until the Pre Drive Critical Update Period 3 Sync Manager task The default it is the AL event task which occurs upon a sync manager access uonejejsul uonejiejsut uoneuuojut uononpoau Jeolueyoo Ayayes pouejs fumes Sjo2ojoJd yoddns cO VIO eiyoud aang 1 peoueapy sonsouBeiq suo jo esso 0x3007 Sub index 0 In cyclic data configuration Access RO Range N A Size 1 byte Unit N A Default 2 Description Sub index 1 The number of the last sub index in this object Access RW Range 0 to 2 Size 1 byte Unit ms Default 2 Description High priority cyclic data task selects the task in which high priority in slave to master cyclic data is copied to the intermediate buffer from the mapped objects parameters etc 0 Pre Drive Critical update period The default this is the task that on M600 and above starts execution 75 us before the drive critical update period This time may need to be modified after measuring actual task periods hopefully it will be possible to start at a time closer to the critical update period 1 Drive Critical update perio
28. without careful consideration of the impact on the controlled system Measures must be taken to prevent unwanted changes due to error or tampering Unidrive M SI EtherCAT User Guide Issue Number 1 1 10 1 10 1 Electrical installation Electric shock risk The voltages present in the following locations can cause severe electric shock and may be lethal AC supply cables and connections Output cables and connections Many internal parts of the drive and external option units Unless otherwise indicated control terminals are single insulated and must not be touched 1 10 2 Stored charge Unidrive M SI EtherCAT User Guide The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected If the drive has been energized the AC supply must be isolated at least ten minutes before work may continue Issue Number 1 uopewuoyu Majes uonejejsul uonejejsul uononpoau jeoujer JeoiueuoejA peuejs ueg S o20 0Jd yoddns g ES e 9 o 9 E 2 o Seunjeej peoueapy sonsouBeiq Jo Hesso Introduction What is EtherCAT 2 2 2 3 2 4 EtherCAT is an open high performance Ethernet based fieldbus system that overcomes the system limitations of other Ethernet solutions The Ethernet packet is no longer received then interpreted and copied as process data at every connection instead the Ethernet frame is processed on the fly The development go
29. zero position is offset from the home position by adding the home offset to the home position All subsequent absolute moves shall be taken relative to this new zero position This is illustrated in Figure 7 9 Home offset definition on page 56 The value of this object shall be given in user defined position units Negative values indicate the opposite direction Figure 7 9 Home offset definition Zero Home position position Home offset E Table 7 50 Home offset Access RW Range 0 to OxFFFFFFFF Size Signed 32 le User defined position units Default 0 Description Homing offset value 0x6098 Homing method This object indicates the configured homing method that shall be used Table 7 51 Homing method on page 56 specifies the object description and Table 7 52 Homing method values on page 56 specifies the value ranges for this object Table 7 51 Homing method 06098 Access RW Range 0 35 Size Unsigned 8 Default 0 Description The homing method that shall be used Table 7 52 Homing method values Definition No homing method assigned Method 3 shall be used Method 34 shall be used Method 35 shall be used Unidrive M SI EtherCAT User Guide Issue Number 1 0x6099 Homing speeds This object indicates the configured speeds used during the homing procedure The values shall be given in user defined velocity units Table 7 53
30. 0020 the CiA402 target position 0x607A sonsouBeiq Description Unidrive M SI EtherCAT User Guide 25 Issue Number 1 A mapping to an object with the following format A mapping to an object This will have the following format Bits 0 to 7 Length of the mapped object in bits if a gap bit length of the gap Bits 8 to 15 Sub index of the mapped object if a gap zero Bits 16 to 31 Index of the mapped object if a gap zero suo Jo Messo 26 Table 6 10 RxPDO mapping 5 0x1604 Receive PDO mapping 5 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 2 Description Sub index 1 1st mapped object The number of mapped objects in this PDO Access RW Range 0 to OxFFFFFFFF Unit N A Size 4 bytes Default 0x60400010 the CiA402 control word 0x6040 Description A mapping to an object This will have the following format Bits 0 to 7 Length of the mapped object in bits if a gap bit length of the gap Bits 8 to 15 Sub index of the mapped object if a gap zero Bits 16 to 31 Index of the mapped object if a gap zero Sub index 2 2nd mapped object Access RW Range 0 to OxFFFFFFFF Unit N A Size 4 bytes Default 0x60710010 the CiA402 target torque 0x607 1 Description A mapping to an object with the following format A mapping to
31. 01 of a second 88 5 0 00001 of a second 6 0 000001 of a second The time period is checked to ensure that it is an integer multiple of the control loop cycle time Only linear interpolation is currently supported this type inserts a delay of one interpolation time period The input buffer has a maximum size of 1 data record and a data record contains one position in profile defined units The buffer is a FIFO buffer On each interpolator time period a value is read from this buffer The correct number of data points for a specific interpolation mode are stored internally When a new position command is loaded in the oldest position command in the data set is discarded sonsouBeiq Q 0 25 23 De 9 Unidrive M SI EtherCAT User Guide 45 Issue Number 1 7 5 7 5 1 7 5 2 46 vl velocity mode Velocity mode is supported on Unidrive M200 and above It is not however supported in regen modes When the drive is in either of the RFC A or RFC S operating modes the scaled velocity is written to the drive internal speed shortcut When the drive is in an open loop operating mode the scaled velocity is written to the user preset reference parameter Pr 1 21 Table 7 37 lists the objects that are supported Table 7 37 vl velocity mode supported objects Index Name 0x6042 vl target velocity 0x6043 vl velocity demand 0x6044 vl velocity actual value 0x6046 vl velocity min max amount 0x6048 vl v
32. 1 Data type does not match length of service parameter too high Sub index does not exist 0x06090030 Value range of parameter exceeded only for write access 0x06090031 Value of parameter written too high 0x06090032 Value of parameter written too low 0x06090036 0x08000000 0x08000020 Maximum value is less than minimum value General error Data cannot be transferred or stored to the application 0x08000021 Data cannot be transferred or stored to the application because of local control 0x08000022 Data cannot be transferred or stored to the application because of the present device state 0x08000023 Issue Number 1 Object dictionary dynamic generation fails or no object dictionary is present Hoddns cO VIO eiyoud e ug seinjeaj peoueApy sonsoubeiq snueyw suo Jo Ajesso o 11 76 Glossary of terms Address This is the unique network identification given to a networked device to allow communication on a network When a device sends or receives data the address is used to determine the source and the destination of the message Bit A binary digit this may have the value of 1 or 0 Byte A collection of eight binary digits that collectively store a value This may be signed or unsigned Control word A collection of binary digits that are used to control the drive Features typically include directional controls run controls and other similar functions Cycli
33. 4 EMERSON Industrial Automation User Guide Part Number 0478 0152 01 Issue Number 1 NCEONTROL 7 TECHNIQUES www controltechniques com SI EtherCAT General Information The manufacturer accepts no liability for any consequences resulting from inappropriate negligent or incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the variable speed drive with the motor The contents of this guide are believed to be correct at the time of printing In the interests of commitment to a policy of continuous development and improvement the manufacturer reserves the right to change the specification of the product or its performance or the content of the guide without notice All rights reserved No parts of this guide may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by an information storage or retrieval system without permission in writing from the publisher Environmental Statement Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its products throughout their life cycle To this end we operate an Environmental Management System EMS which is certified to the International Standard ISO 14001 Further information on the EMS our Environment Policy and other relevant information is available on request or can be found at www greendrives com
34. AT User Guide Issue Number 1 7 3 16 0x6064 Position_actual_value This read only object provides the actual value of the position feedback device The value is given in internal units Table 7 28 Position_actual_value 0x6064 Position_actual_value Range 0 to Access RO OxFFFFFFFF uoneuuojul Ayoyes Size signed 32 uononpoaul Default N A This read only object provides the actual value of the position feedback device Description n Tu gt P The value is given in internal units uopejjesu JeoiueuoeN 7 3 17 0x6080 Max motor speed Table 7 29 Max motor speed 0x6080 Max motor speed Sub index 0 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 3000 This object indicates the configured maximum allowed speed for the motor in either Description direction It is used to protect the motor and changing the value of this object will also change Pr 1 06 The value is given in rotations per minute rpm uoneljejsut Jeoupe 3 peuejs ueg 7 3 18 0x60F4 Following error actual value This read only object provides the actual value of the following error The value is given in user defined position units Table 7 30 Following error actual value 0x60F4 Following_error actual_value Range 0 to Access RO OxFFFFFFFF 000 01q Size signed 32 yoddns Default N A Description This read only object provides the actual value of the following error
35. Homing speeds on page 57 specifies the object description Table 7 53 Homing speeds 0x6099 Sub index 0 Access RO Range 2 Size Signed 8 Unit N A Default 2 uoneuuojul Aas uononpoaul Description The number of the last sub index in this object Sub index 1 Access RW Range 0 to OXFFFFFFFF Size Unsigned 32 Unit N A uoneljejsul JeoiueuoelN Default 0 Description Speed during search for a switch Sub index 2 Access RW Range 0 to OXFFFFFFFF Size Unsigned 32 Unit N A Default 0 Description Speed during search for a zero jeoujoe 3 uomeljejsur peuejs Buneo 0x609A Homing acceleration This object indicates the configured acceleration and deceleration to be used during the homing operation The value shall be given in user defined acceleration units Table 7 54 Homing acceleration on page 57 specifies the object description S o20 0Jd Table 7 54 Homing acceleration 0x609A Homing acceleration Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit User denned acceleration units poddns Default Indicates the configured acceleration and deceleration to be used during homing operation o ES E 3 El Q ES a SN Description 7 7 Cyclic sync position mode Cyclic sync position mode is supported on the Unidrive M600 and above in RFC A and RFC S modes It is not supported in open loop or regen mode Table 7 55 Cy
36. I EtherCAT User Guide 31 Issue Number 1 This specifies the source for position controller feedback and the source for CiA402 position feedback objects even when position control is not being performed This will have a value as follows 0 The feedback source for the position controller will match the drive motor control feedback source as specified in menu 3 1 Drive feedback source P1 interface 2 Drive feedback source P2 interface 3 Slot 1 position feedback module P1 interface 4 Slot 1 position feedback module P2 interface 5 Slot 2 position feedback module P1 interface 6 Slot 2 position feedback module P2 interface 7 Slot 3 position feedback module P1 interface 8 Slot 3 position feedback module P2 interface 9 Slot 4 position feedback module P1 interface 10 Slot 4 position feedback module P2 interface 11 Sensorless the sensorless algorithm estimates position feedback This value will be ignored on drives where no encoder input is present This object will be read upon a transition from the EtherCAT Pre operational state to the Safe operational state peyeys Buje 090 01q g X gt o Q E S Y sounjeay sonsouBeiq peoueApy suo Jo Messo Cyclic data loss behaviour Table 6 24 Cyclic data loss behaviour 0x3005 Cyclic data loss behaviour Sub index 0 Access RO Range N A Size 1 byte Unit N A Default Description The number of the last su
37. M SI EtherCAT User Guide Issue Number 1 T3 10 4 10 5 10 6 10 7 74 Error code Meaning Corresponding drive trip Code if available 14 Autotune 4 15 Autotune 5 16 Autotune 6 24 Thermistor 25 Th Short Circuit 33 Resistance Motor error or commutation 0x7122 malfunc 17 Autotune 7 162 to 163 Encoder 12 to Encoder 13 0x7300 Sensor 176 Name Plate 189 to 198 Encoder 1 to Encoder 10 218 Temp Feedback 0x7310 Speed 7 Over speed 90 Power Comms 0x7500 Communication 103 Interconnect 174 Card Slot 175 Card Product 177 Card Boot 178 Card Busy 179 Card Data Exists 180 Card Option 181 Card Read Only 182 Card Error 183 Card No Data 184 Card Full 185 Card Access 186 Card Rating 187 Card Drive Mode 188 Card Compare 0x7600 Data storage external Drive trip display codes Table 10 8 shows the possible trip codes that will be displayed on the drive when a problem is detected with SI EtherCAT or when SI EtherCAT initiates a trip Table 10 8 Trip display codes Trip Description Inalid Fdbk Scr An unknown or invalid feedback source has been configured ECAT Int Error An error while initializing the EtherCAT communications TO ECAT PDO A PDO has not been written for longer than the specified time out Sync Task Orun The synchronous task has overrun its allowed interval Upda
38. Temperature When an error is indicated in this object the particular error code will be contained in object Ox603F Error code Error code Range 0 toFFF Size 2 bytes Default 0 Description 60 A non zero value in this object indicates that an error has occurred The value will be one of the codes described in the Error code table below Unidrive M SI EtherCAT User Guide Issue Number 1 Majes Jeolueyooy jeoujoe 3 E Sg Error code Meaning Corresponding drive trip code if available E 0x0000 Error reset No error 0 None S OxFFO1 Generic error Any trip code not elsewhere in table gt 0x2300 Current device output side 3 Ol ac g c 32 Phase Loss amp 0x3130 Phase failure 98 Out Phase Loss 9 WC 5 PSU 0x2230 ia rotas leakage 9 psu 24v 2 92 Snubber Ol y 0x3210 DC link over voltage 2 Over Volts S 0x3230 Load error 38 Low Load 21 OHt Inverter El 22 OHt Power a 0x4310 Excess temperature drive 23 OHt Control z 27 OHt dc bus 3 101 OHt Brake i s o 0x5112 Supply low voltage and U2 af User 24V 5 supply 24 V a 200 Slot 1 Hardware Fau E 203 Slot 1 Not Fitted 2 204 Slot 1 Different 205 Slot 2 Hardware Fau 3 208 Slot 2 Not Fitted 8 209 Slot 2 Different 2 0x5200 Control device hardware 210 Slot 3 Hardware Fau 213 Slot 3 Not Fitted 214 Slot 3 Different 250 S
39. The electronic variable speed drives manufactured by Control Techniques have the potential to save energy and through increased machine process efficiency reduce raw material consumption and scrap throughout their long working lifetime In typical applications these positive environmental effects far outweigh the negative impacts of product manufacture and end of life disposal Nevertheless when the products eventually reach the end of their useful life they must not be discarded but should instead be recycled by a specialist recycler of electronic equipment Recyclers will find the products easy to dismantle into their major component parts for efficient recycling Many parts snap together and can be separated without the use of tools while other parts are secured with conventional fasteners Virtually all parts of the product are suitable for recycling Product packaging is of good quality and can be re used Large products are packed in wooden crates while smaller products come in strong cardboard cartons which themselves have a high recycled fibre content If not re used these containers can be recycled Polythene used on the protective film and bags from wrapping product can be recycled in the same way Control Techniques packaging strategy prefers easily recyclable materials of low environmental impact and regular reviews identify opportunities for improvement When preparing to recycle or dispose of any product or packaging please observe
40. al of EtherCAT was to apply Ethernet to automation applications that require short data update times also called cycle times with low communication jitter for synchronization purposes and low hardware costs Typical application fields for EtherCAT are machine controls e g semiconductor tools metal forming packaging injection moulding assembly systems printing machines robotics and many others About SI EtherCAT SI EtherCAT is a option module that enables the Control Techniques Unidrive M range of variable speed drives to be connected to an EtherCAT network as a slave device It can be used in a variety of applications from those requiring accurate synchronization and precise motion control to those where ease of use and open loop control are appropriate Features Standard RJ45 with support for shielded twisted pair half duplex full duplex and 10 Mbs 100 Mbs connectivity Dual 100 Mbps EtherCAT interfaces for use in line topologies i e daisy chaining Supports the Unidrive M drives range Control loop synchronization Control cycle times down to 250 us Configured Station Alias CANopen over EtherCAT CoE which includes Support of CANopen CiA402 Cyclic sync position mode Interpolated position mode Velocity mode Profile torque mode Homing mode One transmit and one receive PDOs SDO access to all profile objects and drive parameters Cyclic sync velocity mode Cyclic sync torque mode Option
41. are usually expressed in base 16 hexadecimal so care must be taken to enter z the correct parameter number All other supported entries in the SI EtherCAT object dictionary can also be accessed 3 using SDOs Refer to the master controller documentation for full details about 8 implementing SDO transfers within the particular master controller w LX Sub index 0 for any menu will return the highest sub index available for the object i e g the highest parameter number s 3 E LH The following SDO services are supported S Initiate SDO Download Write 8 e Initiate SDO Upload Read Abort SDO Transfer Error g g ES co 6 3 CANopen over EtherCAT CoE uu The CoE protocol over EtherCAT uses a modified form of the CANopen object dictionary This is specified in Table 6 1 Table 6 1 CoE object dictionary Index Object dictionary area 0x0000 to OxOFFF Data type area 0x1000 to Ox1FFF CoE communication area 0x2000 to Ox5FFF Manufacturer specific area 0x6000 to Ox9FFF Profile area 0xA000 to OxFFFF Reserved area sonsouBeiq The object description format describes object related information such as size range and descriptions and is detailed in Table 6 2 Jo Messo Unidrive M SI EtherCAT User Guide 21 Issue Number 1 Table 6 2 Object description format lt index gt Access lt access gt Range lt range gt Size lt size gt Unit lt unit gt Default lt default gt D
42. at used when mapping drive parameters to PDOs is as follows poddns ZOpv d eiyoud anug Index 0x2000 menu number Sub index 0x00 parameter number Size Dependant on the size in bytes of the object to be mapped range 1 4 For example Pr 20 021 would be index 0x2014 sub index 0x15 and the size would be 4 the parameter is a 32 bit signed value Seinjeej peoueApy NOTE The values are normally expressed in hexadecimal so care must be taken to enter the correct parameter number For this example the following objects will need to be set in order to achieve the mappings of the parameters objects in the PDOs sonsouBeiq sua Jo fuesso o Unidrive M SI EtherCAT User Guide 17 Issue Number 1 Table 5 2 Cyclic data mapping configuration RxPDO1 TxPDO1 Object 0x1600 Object 0x1A00 Sub index 0x00 Sub index 0x00 Size 1 Size 1 Value 3 Value 2 Sub index 0x01 Sub index 0x01 Size 4 Size 4 Value 0x60400010 Value 0x60410010 Sub index 0x02 Sub index 0x02 Size 4 Size 4 Value 0x60420010 Value 0x60640020 Sub index 0x03 Not Used Size 4 Value 0x20141520 LH The format used to define the value of a mapped object is as follows Bit 0 to 7 Length of the mapped object in bits if a gap bit length of the gap Bit 8 to 15 Sub index of the mapped object if a gap zero Bit 16 to 31 Index of the mapped object if a gap zero NOTE The maximum number of mappings in one PDO is tw
43. ax current 6075 motor rated current 6077 torque actual value 60C2 Interpolation time period The target torque object will be re read every new control loop cycle this torque value will be limited by the max current object which is read in the background This torque demand will be scaled appropriately and written to the drive Torque Reference Pr 04 008 interpolation will be used to generate additional intermediate values if the interpolation time period is greater than the interval at which the drive will read the torque reference parameter The drive Motor Rated Current Pr 05 007 or the second motor map equivalent will be read in the background and written to the object motor rated current which will be read only Issue Number 1 uoneJ ejsut Jeolueyooy uonelejsut Jeoupe 3 payes Bumeo S o20 0Jd yHoddns i ES E Y El Q ES a YX sounjeay sonsouBeiq peoueApy suo Jo fjesso o 7 10 Error Handling The following objects will be provided to indicate an error condition Index Name 1001 error_register 603F error_code 0x1001 Range 0 to 255 Size 1 byte Unit N A 0 Error register Access RO Default A non zero value in this object indicates that an error has occurred The bit s set indicate the type of error present The following bits will be supported 0 Generic error Description 1 Current 2 Voltage 0x603F Access RO 3
44. b index in this object Range 0 to 65535 Size 2 byte Unit ms 0 The maximum time in ms allowed between accesses to PDOs read or write If no PDO access occurs for this period the option will start cyclic data loss handling If a value of zero is set no cyclic data loss handling will occur An additional means of detection will be used in modes that provide interpolation Description thus having a mode specific cycle time e g Interpolated Position Mode or Cyclic Sync Position Velocity or Torque Mode in these modes the mode specific cycle time e g the interpolation cycle time will be used instead and the behaviour listed in sub index 2 will be initiated if no data has arrived at the start of a new time period Sub index 2 Access RW Range 0 to 2 Size 1 byte Unit N A Default 0 Cyclic Data Loss Action the value will select an action as follows 0 a trip will never occur however a cyclic data loss will still be handled by initiating a motor stop according to the Fault reaction option code and indicating a alarm as previously described Description 1 the cyclic data loss trip will occur only after the motor has been stopped according to the Fault reaction option code in so far as the motor stop can actually be detected depending on the feedback actually in use if any 2 a trip will occur immediately on cyclic data loss this implies that the motor will coast no
45. bject if a gap zero Unidrive M SI EtherCAT User Guide Issue Number 1 6 3 3 TxPDO mappings Objects with the indices from 0x1A00 to 0x1BFF specify transmit PDO mappings The following mappings from CiA402 are included as standard uoneuuojul s Table 6 12 TxPDO mappings E PDO number Mapping object index Mapping object name 3 1 0x6041 statusword 8 2 0x6041 statusword S 0x6061 modes of operation display 3 0x6041 statusword a 7 0x6064 position_actual_value a3 5 0x6041 statusword g a 0x6077 torque_actual_value E 6 0x6041 statusword 0x6044 vl velocity actual value eouyoa 3 The PDO mapping objects are defined below Each mapping object has the maximum number of sub indices each representing an object mapped to a PDO defined in the XML configuration file Table 6 13 TxPDO mapping 1 0x1A00 Transmit PDO mapping 1 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 1 Description The number of mapped objects in the PDO uomeljejsur peuejs Bunjes 090 01q Sub index 1 1st mapped object Range 0 to e m OxFFFFFFFF Size 4 bytes Unit N A Default 0x60410010 the CiA402 status word 0x6041 g 2 E 9 A mapping to an object with the following format 2 Rh o N Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapp
46. c Data that is transmitted at regular intervals over the network Data rate Determines the communication speed of the network the higher the value the more data can be sent across the network in the same time period Device A piece of equipment connected to a network this may be any type of equipment including repeaters hubs masters or slaves Double word A 32 bit word this may be signed or unsigned Grounding Earthing Describes the electrical safety or shielding connections for the module LED Light emitting diode Long word A 32 bit data word that may be signed or unsigned LSB Least significant bit byte MSB Most significant bit byte Node A device on the network This may be either a device such as a drive or part of the network such as a repeater Non cyclic data Data that is requested or sent as required and not on a regular basis Octet A collection of eight binary digits which form a byte PC Personal computer PLC Programmable logic controller Poll rate The rate at which cyclic data is sent and received on the network Polled data See Cyclic data Unidrive M SI EtherCAT User Guide Issue Number 1 Scan rate See Poll rate Shielding A connection to provide additional immunity to noise used on a network cable uoneulojul Status word A value that denotes the status of the drive Each bit within the word will have a specific meaning uojonpo ju Word A collection of sixteen binary
47. clic sync position mode 0x607A target position seinjeaj peoueApy 0x60B1 velocity_offset 0x60C2 interpolation_time_period sonsouBeiq LS When using one of the CiA402 positioning modes Distributed Clocks must be enabled Failure to do so may result in the SI EtherCAT module going into the SAFE OPERATIONAL state Cyclic sync position mode provides linear interpolation which will always insert a delay of one position command The time specified must always be an integer multiple of the control loop cycle time The time period index has a minimum value of 6 i e the smallest time unit will be microseconds The time period is checked to ensure that it an integer multiple of the control loop cycle time suo Jo fjesso o Unidrive M SI EtherCAT User Guide 57 Issue Number 1 7 7 1 58 A velocity feed forward will be calculated for the position controller On each interpolator time period a value is read from the target_position object The correct number of data points for linear interpolation is stored internally When a new target position is loaded in the oldest position command in the data set will be discarded 0x607A Target_position This object indicates the commanded position that the drive should move to in cyclic sync position mode using the current settings of motion control parameters such as velocity acceleration deceleration motion profile type etc The value of this object is given in user defined
48. cyclically will be read at defined times in the cycle Command values handled used every cycle operating mode or control loop will be cached from the object dictionary in the task immediately before the drive critical update period Any feedback values read during a cycle will be scaled as appropriate in that cycle cached and then written to the object dictionary in the task occurring immediately after the drive critical update period Feedback values that change internally between control loop cycles but whose objects are only updated every profile cycle will be read from the last control loop cycle in the operating mode cycle PDO data will be copied to and from the object dictionary from and to the sync manager memory areas in the drive critical update period at the beginning of every operating mode cycle PDO data mapped to drive parameters but not parameters Issue Number 1 uoneuuojut uonejiejsut uononpoau jeoujoe 3 Jeolueyoo uonejejsul S 090 0Jd poddns g ES i 3 zh o 9 ES S X TOTO peoueapy sonsoubeiq Jo Messo 8 2 8 3 64 accessed using Inter Option Communications or eCMP will be written to those parameters in the critical update period at the beginning of every control loop cycle This behaviour can be modified by the advanced cyclic data configuration objects Figure 8 1 Profile Cycle Timing Interrupt 1 cycle time gt Drive synchronization waveform Profile cycles
49. d Occurs during the first 70 us following an edge of the OPT SYNC signal 2 Post Drive Critical update period The task that occurs immediately after the critical update period up until the Pre Drive Critical Update Period 3 Sync Manager task The AL event task which occurs upon a sync manager access Sub index 2 Access RW Range 0 to 2 Size 1 byte Default 2 Description 66 Intermediate buffer copy task Selects the task in which the high priority in slave to master cyclic data is copied from the intermediate buffer into the sync manager space 0 Pre Drive Critical update period The task that on M600 and above starts execution 75 us before the drive critical update period This time may need to be modified after measuring actual task periods hopefully it will be possible to start at a time closer to the critical update period 1 Drive Critical update period Occurs during the first 70 us following an edge of the OPT SYNC signal 2 Post Drive Critical update period The default it is the task that occurs immediately after the critical update period up until the Pre Drive Critical Update Period 3 Sync Manager task The AL event task which occurs upon a sync manager access Unidrive M SI EtherCAT User Guide Issue Number 1 9 Menus It is intended that it is not necessary to use option module parameters for EtherCAT setup or control of a drive parameters are mostly provided for
50. digits uoneljeisul Jeo1ueyooypy uonejejsul jeoujer peuejs Bune D 9 2 3 le o o Hoddns ZOpv d eiyoud aang se njea sonsouBeiq peoueApy suo Jo lesso 9 Unidrive M SI EtherCAT User Guide 77 Issue Number 1 A Address cece cus 76 B gu ane Sea Hee ey Sea ea ee 76 Byte is Lbs ial cae el E e ian rae ea de 76 C Compliance 3 iier e dee aie rere 6 Control WOtd tee ea 76 Cyclic data e Cyclic sync position mode cocoooccccnoccccccooccccononanonncnnnnncononnn conca nc cnnnn cnc naar canas 57 Cyclic Synchronous Torque Mode c cceeceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeseneeeeees 59 Cyclic Synchronous Velocity Mode sss 59 D Data fale D RN 76 Device 76 Diagnostics 72 Distributed clocks 63 DOMINO 76 E Earthing grounding iro ioi e eee i eec Pe 76 Electrical installation ivonne 13 Electrical safety erasoan ee eR e iio Environmental limits Error handling G Getting started a i Ea ER aa etes Glossary of terms H FIOMINGEMOOS 3 coat te do no preso en ta 51 I Installation coe A OO 10 Introduction a in 8 L LEONG Words aia a ida 76 E aaa EE 76 M Non cyclic data Unidrive M SI EtherCAT User Guide Issue Number 1 Ocletz a ihc e GER ER EE re die net eed g Me Option module c ccccccccsscsscsecsessesecs
51. ding the motion speed and current tasks are synchronised to the network On Unidrive M600 and above the option synchronous task will also be synchronized to the drive OPT SYNC signal on Unidrive M200 to M400 it will be executed every 5 ms asynchronous with the drive control loops i e there is no synchronization If possible the option will provide a synchronization signal suitable for the longest interval drive cyclic task this will also of course synchronize the higher rate tasks if they are phase locked to the lowest rate task The drive motion and speed loops are executed every 250 us on Unidrive M600 and above which coincides with OPT SYNC edges This will be referred to as the control loop cycle Synchronization must be enabled if the Cyclic Sync or Interpolated Position modes are used an error will be indicated if this is not the case These modes have an operating mode cycle time of the interpolation cycle time other modes will have a operating mode cycle time matching the synchronous task 250 us or 5 ms depending on drive type Any operating mode cycle will be restarted every operating mode cycle time in phase with the synchronisation events if synchronization is enabled the operating mode will not start execution until the first synchronization event occurs If synchronization is lost an error will be indicated and the standard EtherCAT action for this event will occur Command and feedback values which are handled
52. e of delta time is given in seconds 0x6049 vl velocity deceleration This object is used to configure the delta speed and delta time of the slope of the deceleration ramp Example To decelerate by 800 rpm in 10 s possible values for delta speed and delta time are 8000 and 100 respectively vl velocity deceleration delta speed delta time Table 7 43 0x6049 vl velocity deceleration 0x6049 Sub index 0 vl velocity deceleration Access RO Default 2 Range N A Size Unsigned 8 Unit N A Description The number of sub indices in this object Sub index 1 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 1000 Description Sub index 2 The value of delta speed is given in rpm if the v dimension factor and the vl setpoint factor have the value 1 otherwise the value is in user units Access RW Range 0 to 65535 Size Unsigned 16 Default 2 Description The value of delta time is given in seconds 7 5 7 0x604A vl velocity quick stop This object is used to configure the delta speed and delta time of the slope of the deceleration ramp for quick stop Example To decelerate by 800 rpm in 10 s possible values for delta speed and delta time are 8000 and 100 respectively vl velocity deceleration delta speed delta time 48 Unidrive M SI EtherCAT User Guide Issue Number 1 Table 7 44 0x604A vl velocit
53. ear ratio and an encoder revolution These values are combined by the implementation into a simple scaling numerator and denominator It is possible to change these values non cyclically i e using SDOS in which case the scaling numerator and denominator and any position limit values are recalculated in the background It is not however possible to change these values cyclically i e by mapping PDOs to them For velocities in addition to the position constants described above these values are combined into a simple numerator and denominator to scale velocities to internal velocity units This scaling also properly handles remainders i e when used on a Unidrive M SI EtherCAT User Guide Issue Number 1 reference or feedback accumulate the remainder and add it to subsequent velocity values and when used with a limit round up or down It is possible to change these values non cyclically i e using SDOs in which case the scaling numerator and denominator is recalculated in the background It is also necessary to re scale velocity limit values with the new factor It is not possible to change these values cyclically i e by mapping PDOs to them uoneuuojul Ayoyes uononpoaul 7 3 11 0x608F Position encoder resolution This read only object indicates the configured encoder increments per number of motor revolutions The information is read from the drive s encoder configuration Table 7 23 Position encoder resolution 0x608F Positi
54. ecsecsecsecssseesecsecsecsescaesecsesaecsesseeaecacseeateas EI P Parameters adjusting 3 LARN EA na inen aM dm 5 PEC PEE S Poll rate t eet eere teet A e ce e it b idet sE Q El Quickstart guide 20 t e E d ets 23 38 S SAFE TORQUE OFF Zum Safety information 4 ncn een eot i rtt nene id Sg Safety of personnel Bg Status WONG ne nati tye sveutecv lava nire scuba suited a RET e eee Eee ER EYE Q V El VE velocityamode ati eth a a Reb ER S s Ej w amp WO iia cr PH EE EE ae anh EFFERRE ners y 3 o 8 g 2 o8 ES 3a 26 8 ie a 3 F gt gt a Q E 3 9 Unidrive M SI EtherCAT User Guide 79 Issue Number 1 0471 0152 01
55. ed object Bits 16 to 31 Index of the mapped object Description sounjeay sonsouBeiq peoueApy suo jo Messo Unidrive M SI EtherCAT User Guide 27 Issue Number 1 28 Table 6 14 TxPDO mapping 2 Transmit PDO mapping 2 Sub index 0 Number of mapped objects 0x1A01 Access RW Range 0 to 12 Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60410010 the CiA402 status word 0x6041 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Sub index 2 2nd mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60610008 the CiA402 modes of operation display object 0x6061 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Table 6 15 Tx PDO mapping 3 Transmit PDO mapping 3 Sub index 0 Number of mapped objects 0
56. elocity accleration 0x6049 vl velocity deceleration 0x604A vl velocity quick stop 0x604B vl setpoint factor 0x604C vl dimension factor 0x6042 vl target velocity This object is used to set the required velocity of the system It is multiplied by the vl dimension factor and the vl setpoint factor The value is given in rpm If the vl dimension factor has the value of 1 otherwise the value is in user units Positive values indicate forward direction and negative values indicate reverse direction Table 7 38 vl target velocity 0x6042 vl target velocity Range 32768 to ue Access RW 432767 Size Signed 16 Default Description Used to set the required velocity of the system 0x6043 vl velocity demand This read only object provides the instantaneous velocity demand generated by the drive ramp function The value is given in rpm if the v dimension factor and the vl setpoint factor have the value 1 otherwise the value is in user units Positive values indicate forward direction and negative values indicate reverse direction Table 7 39 vl velocity demand 0x6043 vl velocity demand Range 32768 to Access RO 432767 Size Signed 16 Default 0 Provides the instantaneous velocity demand generated by the drive ramp function Description Unidrive M SI EtherCAT User Guide Issue Number 1 7 5 3 0x6044 vl velocity actual value This read only object provides the velocity at the motor spind
57. elve There are no restrictions on the data length of these 2 parameters i e It is possible to map five 32 bit parameters in one PDO It is also possible to use a maximum of one RxPDOs and one TxPDOs 5 1 3 Configuring the sync managers 18 The sync manager is used to control the transmission of CANopen PDOs over the EtherCAT network The following objects 0x1C12 sync manager 2 PDO assignment RxPDO and 0x1C13 sync manager 3 PDO assignment TxPDO are required to assign PDOs to the synchronization task For the purpose of the example assign one RxPDO to sync manager 2 and one TxPDOs to sync manager 3 Figure 5 2 SI EtherCAT sync manager configuration 0x1C12 RxPDO1 0x6040 0x6042 Control word vl target velocity Pr 20 021 TxPDO1 0x6041 Status word p actual value Assigning RxPDO to the sync manager To assign RxPDO1 to sync manager 2 PDO assignment set the values below to the following objects Index 0x1C12 Sub index 0x00 Unidrive M SI EtherCAT User Guide Issue Number 1 Size 1 Value 1 Setting object 0x1C12 sub index 0 to a value of 1 as above indicates that one RxPDO will be assigned to the sync manager 2 assignment Index 0x1C12 Sub index 0x01 Size 2 Value 0x1600 Setting object 0x1C12 sub index 1 to a value of 0x1600 as above maps RxPDO1 to the process data output sync uoneuuojut uojonpo qu uoneljejsut JeoiueuoeN Assigning TxPDO to
58. en to the cross sectional areas of conductors the selection of fuses or other protection and protective ground earth connections Instructions for achieving compliance with specific EMC standards may be found in the relevant drive documentation Within the European Union all machinery in which this product is used must comply with the following directives 2006 42 EC Safety of machinery 2004 108 EC Electromagnetic Compatibility Motor Ensure the motor is installed in accordance with the manufacturer s recommendations Ensure the motor shaft is not exposed Standard squirrel cage induction motors are designed for single speed operation If it is intended to use the capability of the drive to run a motor at speeds above its designed maximum it is strongly recommended that the manufacturer is consulted first Low speeds may cause the motor to overheat because the cooling fan becomes less effective The motor should be installed with a protection thermistor If necessary an electric forced vent fan should be used The values of the motor parameters set in the drive affect the protection of the motor The default values in the drive should not be relied upon It is essential that the correct value is entered in the motor rated current parameter Pr 0 00 046 as this affects the thermal protection of the motor Adjusting parameters Some parameters have a profound effect on the operation of the drive They must not be altered
59. escription lt description gt For entries having sub indices Table 6 3 Object description format with sub indices lt index gt Sub index 0 Access lt access gt Range lt range gt Size lt size gt Unit lt unit gt Default lt default gt Description Sub index 1 lt description gt Access lt access gt Range lt range gt Size lt size gt Unit lt unit gt Default lt default gt Description lt description gt Access lt access gt Range lt range gt Size lt size gt Unit lt unit gt Default lt default gt Description lt description gt Sub index n 1 Access lt access gt Default Range lt range gt lt default gt Size lt size gt Unit lt unit gt Description Sub index n lt descripti Access lt access gt Range lt range gt Size lt size gt Unit lt unit gt Default Description Definitions lt default gt lt description gt lt index gt A signed 16 bit number This is the index of the object dictionary entry specified in four hexadecimal characters lt access gt A value describing how the object may be accessed RW read write RO read only and WO write only lt size gt The size of the object sub index in bytes 22 lt unit gt The physical unit e g ms counts per seco
60. esign and safety of personnel The drive is intended as a component for professional incorporation into complete equipment or a system If installed incorrectly the drive may present a safety hazard The drive uses high voltages and currents carries a high level of stored electrical energy and is used to control equipment which can cause injury Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction System design installation start up and maintenance must be carried out by personnel who have the necessary training and experience They must read this safety information and this User Guide carefully The STOP and SAFE TORQUE OFF functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections With the sole exception of the SAFE TORQUE OFF function none of the drive functions must be used to ensure safety of personnel i e they must not be used for safety related functions Careful consideration must be given to the functions of the drive which might result in a hazard either through their intended behavior or through incorrect operation due to a fault In any application where a malfunction of the drive or its control system could lead to or allow dama
61. et cable should be of the shielded type and connectors should be shielded with a metal body Tie wrapping of the Ethernet cable s shield to the grounding bracket of the drive is necessary At least one EMC Ferrite inductor should be installed near to each communication port of the SI EtherCAT module At least one EMC Ferrite inductor is necessary near the Master s PC PLC Ethernet Port Proper grounding of the Ethernet cable s shield near the Master PC PLC is necessary Unidrive M SI EtherCAT User Guide Issue Number 1 4 4 4 5 Minimum node to node cable length There is no minimum length of cable recommended in the Ethernet standards To avoid possible problems it is recommended that you allow sufficient cable length to ensure good bend radii on cables and avoid unnecessary strain on connectors Unidrive M SI EtherCAT User Guide 15 Drive grounding brackets should be connected to each other by separate cables and the cable length should be as small as possible Please note EMC Ferrite inductors of the required specification are available from the following supplier Manufacturer WURTH ELEKTRONIK Manufacturer Part No 74271222 Order code 1635620 Description Ferrite core Split type Network topology Control Techniques recommend implementing daisy chaining on EtherCAT networks see Figure 4 2 Other Ethernet network topologies can be used but care must be taken to ensure that the system still operates within the con
62. ey are read scaled to drive acceleration units depending on the drive operating mode and written to the drive acceleration rate and deceleration rate presets In addition if the drive acceleration rate preset is changed the vl velocity acceleration object is updated and if the drive deceleration rate preset is changed Pr 02 021 the v velocity deceleration object is updated Unidrive M SI EtherCAT User Guide Issue Number 1 7 6 Homing mode This section describes the method by which a drive seeks the home position also called the datum reference point or zero point Figure 7 2 shows the defined input objects as well as the output objects The user may specify the speeds acceleration and the method of homing There is a further object named home offset which allows the user to displace zero in the user s coordinate system from the home position There is no output data except for those bits in the statusword which return the status or result of the homing process and the demand to the position control loops Figure 7 2 Homing mode function Controlword 6040 Statusword 6041 Homing method 6098 Homing Speeds 6099 Homing Homing acceleration 609A TENES Position demand value 6062 Home offset 607C By choosing a homing method the following behavior is determined The homing signal home switch the direction of actuation and where appropriate the position of the index pulse An encircled number in Figure 7 3
63. g A configuration error has been detected 3 Error An error has occurred preventing the firmware from running correctly S 00 007 Maximum Units Read every 200 ms Written to O on module initialization 1 bit volatile Update Rate Decimal Places 0 Display Format None Coding RW NC When set the module performs a warm reset If a CiA402 profile is currently in control of the drive and motor the motor will be brought to a stop if possible following configured deceleration ramps etc and the drive disabled before the reset is performed When the reset has been performed and the module is performing its initialization routines the parameter will be cleared to zero Note The drive and any other modules installed to the drive will not be affected by the reset Unidrive M SI EtherCAT User Guide Issue Number 1 S 00 008 Maximum Units uoneuuojut Aas Display Format 1 bit volatile Update Rate Decimal Places Read every 200 ms Written to 0 when save is complete uononpou Coding If set to ON when the module is reset this parameter will cause the option module to return to its Out of Box configuration any settings stored on the module will be returned to their default values This will include the CoE object dictionary if it is saved Following the default the module will set the parameter to OFF and the module will reset S 00 031 LH Take ca
64. ge loss or injury a risk analysis must be carried out and where necessary further measures taken to reduce the risk for example an over speed protection device in case of failure of the speed control or a fail safe mechanical brake in case of loss of motor braking The SAFE TORQUE OFF function may be used in a safety related application The system designer is responsible for ensuring that the complete system is safe and SI EtherCAT User Guide 5 Issue Number 1 uonejejsul je ujer peuejs ueg SJo20 0Jd g ES e S o 9 E 2 o Seinjeaj sonsouBeiq peoueApy suo Jo Messo 1 4 1 5 1 6 1 7 1 8 1 9 designed correctly according to the relevant safety standards Environmental limits Instructions regarding transport storage installation and use of the drive must be complied with including the specified environmental limits Drives must not be subjected to excessive physical force Access Drive access must be restricted to authorized personnel only Safety regulations which apply at the place of use must be complied with Fire protection The drive enclosure is not classified as a fire enclosure A separate fire enclosure must be provided Compliance with regulations The installer is responsible for complying with all relevant regulations such as national wiring regulations accident prevention regulations and electromagnetic compatibility EMC regulations Particular attention must be giv
65. ged before working on any MEM drive or option module 3 1 General installation The installation of a option module is illustrated in Figure 3 1 Figure 3 1 Installation of an SI option module on Unidrive M200 to M400 sizes 2 to 4 With the option module tilted slightly backwards align and locate the two holes in the rear of the option module onto the two tabs 1 on the drive Place the option module onto the drive as shown in 2 until the module clicks into place The terminal cover on the drive holds the option module in place so this must be put back on Option modules can only be installed on drives that have the option module slot functionality 10 Unidrive M SI EtherCAT User Guide Issue Number 1 Figure 3 1 Installation of an SI option module on Unidrive M200 to M400 sizes 5 to 8 uoneuuojut uononpoau uoneljejsul ESTATE uonejejsul eou 09 3 payeys Dumeo S ODOJOJ4 Place the option module onto the drive as shown in 2 until the module clicks into place The terminal cover on the drive holds the option module in place so this must be put back on yoddns g ES s 3 o 9 E S 3 Seunjesj peoueApy sonsouBeiq sue Jo Messo Unidrive M SI EtherCAT User Guide 11 Issue Number 1 12 Figure 3 2 Installation of an SI option module on Unidrive M600 to M810 Move the option module in direction
66. ger 2 PDO assignment object 0x1C12 Sub index 0 Sync manager 2 PDO assignment Access RW Unit N A Range 0 to 255 Size 1 byte Default 1 Description The number of RxPDOs assigned to this sync manager used for process data output Sub indices 1 to sub index 0 Range 0x1600 to Access RW Ox17EF Size 2 bytes Unit N A Default 0x1605 D MEVS The object index of a RxPDO to assign to this sync manager By default this is escription assigned to RxPDO mapping 6 v farget velocity and controlword Table 6 22 Sync manager 3 PDO assignment object 0x1C13 Sub index 0 Sync manager 3 PDO assignment Access RW Range 0 to 255 Size 1 byte Unit N A Default 1 uoneuuojul s uopeljesu uononpoau Jeolueyooy uoneljejsut Jeou1o9 3 Description The number of TxPDOs assigned to this sync manager used for process data input Sub indices 1 to sub index 0 Default Range 0x1A00 to Ox1BFF Size 2 bytes 0x1A05 Description The object index of a TxPDO to assign to this sync manager By default this is assigned to TxPDO mapping 6 v velocity actual value and statusword 6 3 5 Feedback encoder source Table 6 23 Feedback encoder source 0x3000 Access RW Position Feedback Encoder Configuration Range 0 to 11 Size 1 byte Unit N A Default 0 Description Unidrive M S
67. gth which can be used between one SI EtherCAT port and another 100BASE TX port is 100 m however it is not recommended that the full 100 m cable length is used The total network length is not restricted by the Ethernet standard but depends on the number of devices on the network and the transmission media copper fiber optic etc LEO The EtherCAT system designer must consider the impact that the selected network Unidrive M SI EtherCAT User Guide 13 structure will have on performance Issue Number 1 uoneuuojul uononpoau JeoiueuoejA uonejejsut uoneljejsut SIETE D 9 2 S Is 9 o yoddns ZOV eiyoud eauq SeJnjeaj peoueApy sonsouBeiq jo esso 4 2 4 3 14 SI EtherCAT terminal descriptions The SI EtherCAT module has two RJ45 Ethernet ports for the EtherCAT network Figure 4 1 SI EtherCAT connections Link LEDs Ethertnet Port B Ethertnet Port A Table 4 1 EtherCAT terminal descriptions A IN Pin B OUT Transmit 1 Transmit Transmit 2 Transmit Receive 3 Receive Not used 4 Not used Not used 5 Not used Receive 6 Receive Not used 7 Not used Not used 8 Not used Module grounding and EMC SI EtherCAT is supplied with a grounding tab on the module that should be connected to the closest possible grounding point using the minimum length of cable This will greatly improve the noise immunity of the module It is recommended that the Ethern
68. home position This method does not require the drive device to be in operational enabled state Use of controlword and statusword The homing mode uses some bits of the controlword and the statusword for mode specific purposes Table 7 47 Definition of bits 4 and 8 of the controlword on page 55 defines the values for bits 4 and 8 of the controlword Unidrive M SI EtherCAT User Guide Issue Number 1 Table 7 47 Definition of bits 4 and 8 of the controlword Definition Do not start homing procedure uoneuuojul 4 1 Start or continue homing procedure 8 0 Enable bit 4 1 Stop axis according to halt option code 0x605D uononpoaul Table 7 48 Definition of bits 10 and 12 of the statusword Definition uoneljejsul JeoiueuoeN Homing procedure is in progress Homing procedure is interrupted or not started Homing is attained but target is not reached Homing procedure was completed successfully uoneljejsut Jeoupe 3 Homing error occurred velocity is not 0 Homing error occurred velocity is 0 of o alo lt a of a of Reserved peuejs Bumeo 7 6 2 Homing mode object definitions 0x3003 Homing source This object indicates the configured source of the homing switch used during the homing procedure Table 7 49 Homing source on page 55 specifies the object description S o20 0Jd Table 7 49 Homing source 0x3003 Homing
69. ions are correct 5 1 4 SI EtherCAT XML file Control Techniques provides EtherCAT device description files in the form of xml files These files provide the master with information about the SI EtherCAT module and drive configuration to aid with its configuration These files can be downloaded from the Control Techniques CTSupport com website or from your local Control Techniques Drive Centre or supplier They should be placed in the directory specified by the master e g when using TwinCAT this could be CATwinCATMoYEtherCAT LH The master may have to be re started for the file to be loaded 5 1 2 16 Configuring the SI EtherCAT module for cyclic communications Unlike other Control Techniques fieldbus communication protocols CoE does not require that any module parameters be changed in order to achieve communications The baud rate of the network is fixed and the module is automatically allocated an address To check that the ethernet cable connected to the SI EtherCAT module on the drive is connected correctly look at the LED on the front of the SI EtherCAT module relating to the connector being used if this light is a solid green color then a link is established with the master if this light if off then check the cabling and also check that the master has started communications In the master scan the network ensuring that the SI EtherCAT module is connected correctly to the master If the network is configured correctly the SI E
70. le or load In a closed loop System this is determined from the motor feedback device and in an open loop system it is a copy of vl velocity demand uoneuuojul Ayoyes The value is given in rpm if the v dimension factor has the value of 1 otherwise the value is in user units Positive values indicate forward direction and negative values indicate reverse direction uononpoaul Table 7 40 velocity actual value sz no 0x6044 vl velocity actual value S ES 25 Range 32768 to UPS x oo Access RO 432767 Size Signed 16 Unit N A 355 Default 0 Description Provides the velocity at the motor spindle or load uonelejsut Jeoupe 3 7 5 4 0x6046 vl velocity min max amount This object is used to configure the minimum and maximum velocity The value is given in rpm if the v dimension factor has the value of 1 otherwise the value is in user units Table 7 41 vl velocity min max amount 0x6046 vl velocity min max amount peuejs ueg Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description The number of sub indices in this object Sub index 1 S o20j0Jd Range 0 to Access RW OXFFFFFFFF Size Unsigned 32 Unit rpm yoddns Default 0 o ES 3 3 El Q ES a SN Used to configure the minimum velocity both in the forward and reverse Description direction that the system can operate at Writing to this sub index will overwrite vl velocity min positi
71. ll be at the index pulse either to the left or the right of the point where the home switch changes state If the initial position is sited so that the direction of movement shall reverse during homing the point at which the reversal takes place is anywhere after a change of state of the home switch Figure 7 4 Homing on negative home switch and index pulse Index Pulse Home Switch Unidrive M SI EtherCAT User Guide Issue Number 1 Method 7 to 14 Homing on home switch and index pulse These methods use a home switch which is active over only a portion of the travel in effect the switch has a momentary action as the axis s position sweeps past the switch Using the methods 7 to 10 the initial direction of movement shall be to the right and using methods 11 to 14 the initial direction of movement shall be to the left except if the home switch is active at the start of the motion In this case the initial direction of motion shall be dependent on the edge being sought The home position shall be at the index pulse on either side of the rising or falling edges of the home switch as shown in Figure 7 5 Homing on home switch and index pulse positive initial motion on page 53 and Figure 7 6 Homing on home switch and index pulse negative initial motion on page 53 If the initial direction of movement leads away from the home switch the drive shall reverse on encountering the relevant limit switch Figure 7 5 Homing on home switch a
72. locks 8 2 SI EtherCAT protocol support 8 3 Advanced Cyclic Data Task Configuration Unidrive M SI EtherCAT User Guide 3 Issue Number 1 9 Menus 10 Diagnostics 10 1 Module identification parameters 10 2 SI EtherCAT module temperature ecccecceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeseeeseeeeeesieeeeaees 72 10 3 Error handling 72 10 4 Drive trip display codes 74 10 5 Updating SI EtherCAT firmware 74 10 6 Switchirig frequency cimas IEA AAE side 74 10 7 Syne Task Oru MAPS tii lis 74 10 8 SDO Abort CodeS Mr 75 11 Glossary of terms In 76 Unidrive M SI EtherCAT User Guide Issue Number 1 1 1 1 Safety information Warnings cautions and notes WARNING A Warning contains information which is essential for avoiding a safety hazard uojeuuojul Majes uononpoau CAUTION A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment uonejejsul Jeorueuoe A NOTE le e Unidrive M A Note contains information which helps to ensure correct operation of the product Electrical safety general warning The voltages used in the drive can cause severe electrical shock and or burns and could be lethal Extreme care is necessary at all times when working with or adjacent to the drive Specific warnings are given at the relevant places in this User Guide System d
73. lot 4 Hardware Fau 253 Slot 4 Not Fitted E 254 Slot 4 Different 3 221 Stored HF a 111 Config P 0x5400 Power section 220 Power Data 223 Rating Mismatch 0x5510 RAM 227 Sub Array RAM Allocation T 31 EEPROM Fail 8 0x5530 E Non volatile data 36 User Save D y 37 Power Down Save 0x5430 Input stages 94 Rectifier set up 0x5440 Contacts 226 Soft Start 0x6010 Software reset watchdog 30 Watchdog 199 Destination 0x6320 Parameter Error 216 Slot App Menu Crash g 217 App menu changed S o 0x7112 Brake chopper over current 4 Ol Brake brake chopper 19 Brake R Too Hot 0x7113 Protective circuit break 10 Th Brake Res chopper g 11 Autotune 1 E 12 Autotune 2 0x7120 Motor 13 Autotune 3 20 Motor Too Hot Unidrive M SI EtherCAT User Guide Issue Number 1 61 o ES E Y El Q ES a SN peoueApy Jo fjesso o 62 Error code Meaning Corresponding drive trip code if available 0x7122 Motor error or commutation malfunction 14 Autotune 4 15 Autotune 5 16 Autotune 6 24 Thermistor 25 Th Short Circuit 33 Resistance 0x7300 Sensor 17 Autotune 7 162 to 163 Encoder 12 to Encoder 13 176 Name Plate 189 to 198 Encoder 1 to Encoder 10 218 Temp Feedback 0x7310 Speed 7 Over speed 0x7500 Communication 90 Power Comms 103 Interconnect 0x7600 Data storage external
74. lows for the shortest time unit to be 1 us and the longest to be 1s Unidrive M SI EtherCAT User Guide Issue Number 1 7 8 7 9 Unidrive M SI EtherCAT User Guide 59 Cyclic Synchronous Velocity Mode Cyclic Synchronous Velocity mode will be supported on Unidrive M600 and above in RFC A and RFC S operating modes On Unidrive M600 and above this profile will operate on the control loop cycle time using the drive s AMC speed reference which is read by the drive every 250 us and the ANC will be configured to run in velocity mode The following objects will be supported Index Name uoneuuojul Aas uononpoaul 60C2 interpolation time period 60FF target velocity The target velocity object will be re read every new profile cycle as specified by the interpolation time period This velocity demand will be scaled appropriately and written to the drive interpolation will be used to generate additional intermediate values if the interpolation time period is greater than the interval at which the drive will read the hard speed reference parameter Cyclic Synchronous Torque Mode Cyclic Synchronous Torque Mode will be supported on Unidrive M600 and above On Unidrive M600 and above this profile will operate on the control loop cycle time using the drive s torque reference which is read by the drive every 250 us The following objects will be supported Index Name 6071 target torque 6073 m
75. lt value of zero any value stored in the EtherCAT EEPROM will be used and if a non zero value is stored here it will be used in place of the EEPROM value S 01 ppp Status and configuration menu EtherCAT RUN Indicator Maximum 8 S 01 001 Minimum 0 Default Units Type 8 bit volatile Update Rate Background Display Format None Decimal Places 0 Coding RO Txt ND NC PT BU This parameter displays the EtherCAT Run state as required by the EtherCAT Indicator and Marking Specification It will contain one of the following values Unidrive M SI EtherCAT User Guide Issue Number 1 Display String Init INIT Corresponding ESM State PreOp PRE OPERATIONAL SafeOp SAFE OPERATIONAL uoneuuojut Op OPERATIONAL S 01 002 PDO Accesses per second Minimum 0 Maximum 65535 Default 0 Units uononpoau uoneljejsut jeoiueuoelA Type 16 bit volatile Update Rate Written every second Display Format None Decimal Places 0 Coding RO ND NC PT BU uoneljejsul e911 0913 This will count the number of PDO accesses per second For example if there are two PDOs configured in Sync Manager 2 and two PDOs configured in Sync Manager 3 and both Sync Manager memory areas are written every 250 us this parameter will contain a value of approximately 16000 the value may fluctuate slightly because it is not updated
76. lt reset NOTE Automatic transition to Enable operation state after executing SWITCHED ON state functionality Unidrive M SI EtherCAT User Guide 33 Issue Number 1 sonsouBeiq sua Jo fuesso o 7 2 7 3 7 3 1 34 0x6041 Statusword This provides feedback about the current operating state of the drive Table 7 4 describes the format of the status word and illustrates how the individual statusword bits are combined to represent the current state of the drive Table 7 3 Statusword 0x6041 Range 0 to 65535 Size Unsigned 16 Unit N A Default N A Description This provides feedback about the current operating state of the drive Table 7 4 Statusword bit functions 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ms ha ila tr rm ms w sod qs ve f oe so rtso LEGEND ms manufacturer specific ha homing attained oms operation mode specific ila internal limit active tr target reached rm remote w warning sod switch on disabled qs quick stop ve voltage enabled f fault oe operation enabled so switched on rtso ready to switch on Table 7 5 State coding Statusword State XXXX xxxx xOxx 0000b Not ready to switch on XXXX xxxx x1xx 0000b Switch on disabled XXXX xxxx x01x 0001b Ready to switch on XXxx xxxx x01x 0011b Switched on XXxx xxxx x01x 0111b Operation enabled Xxxx xxxx x00x 0111b Quick stop active XXXX xxxx xOxx 1111b Fault reacti
77. nd etc Unidrive M SI EtherCAT User Guide Issue Number 1 6 3 1 CoE communication area The first set of objects specify general communication settings uoneuuojul s Table 6 4 Device type object 0x1000 Device type Range N A Size 4 bytes Unit N A Default Dependent on drive type mode see description uononpoau The primary CoE functional profile is CiA402 so the value of this object is defined as follows Bits 0 to 15 Device Profile Number 402 Bit 16 Frequency Converter x Bit 17 Servo Drive y Bit 18 Stepper Motor 0 Bit 24 DC Drive Control Techniques specific 0 Bits 25 31 Manufacturer specific 0 uoneljejsul JeoiueuoeN Description uoneljejsut Jeou 9 3 This value will be dependent on the drive operating mode and or type On Unidrive M600 and above in the open loop RFC A or Regen modes or on Unidrive M200 M400 bit 16 will be set while bit 17 will be clear On Unidrive M600 and above in RFC S mode bit 17 will be set while bit 16 will be clear Table 6 5 Identity object 0x1018 Identity object Sub index 0 Range N A Size 1 byte Unit N A Default 4 Description The number of the last sub index in this object Sub index 1 Access RO Range N A Size 4 bytes Unit N A Default 0x000000F9 This contains the EtherCAT Technology Group vendor ID for Control Techniques 0x000000F9 Sub index 2 Range N A Size 4 bytes Unit N A 0x01mmvvtt Default Byte 0
78. nd index pulse positive initial motion uoneuuojul Ayoyes uoneljejsut A eouyoa 3 JeoiueuoelN peuejs Bumes SJo20 0Jd Index Pulse j j j j Home Switch 7 f Positive Limit Switch J CN T Figure 7 6 Homing on home switch and index pulse negative initial motion yoddns i ET E E E g Q ES a xN sounjeay sonsouBeiq pooueApy sua Jo fuesso o Index Pulse Home Switch 7 7 7 Negative Limit Switch lA oJ TA A Unidrive M SI EtherCAT User Guide 53 Issue Number 1 54 Method 15 and 16 Reserved These methods are reserved Method 17 to 30 Homing without index pulse These methods are similar to methods 3 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home transitions For example methods 19 and 20 are similar to methods 3 and 4 as shown in Figure 7 7 Homing on positive home switch on page 54 Figure 7 7 Homing on positive home switch Home Switch Method 31 and 32 Reserved These methods are reserved Method 33 and 34 Homing on index pulse Using these methods the direction of homing is negative or positive respectively The home position shall be at the index pulse found in the selected direction as shown in Figure 7 8 Homing on index pulse on page 54 Figure 7 8 Homing on index pulse Index Pulse Method 35 Homing on index pulse In this method the current position shall be taken to be the
79. o control what action is performed if there is a transition from the Operation Enabled state to the Ready To Switch On state Description Table 7 11 Shutdown_option_code values Definition Disable drive function switch off the drive power stage Slow down with slow down ramp disable the drive function 0x605C Disable_operation_option_code Disable drive function switch off the drive power stage This object is used to control what action is performed if there is a transition from the Operation Enabled state to the Switched On state Table 7 12 Disabled_operation_option_code 0x605C Access RW Range 0 to 1 Size Unsigned 16 it Default N A This object is used to control what action is performed if there is a transition from the Operation Enabled state to the Switched On state Description Table 7 13 Disable_operation_option_code values Definition Disable drive function switch off the drive power stage Slow down with slow down ramp disable the drive function Unidrive M SI EtherCAT User Guide Issue Number 1 7 3 5 7 3 6 7 3 7 Unidrive M SI EtherCAT User Guide Issue Number 1 0x605E Fault reaction option code This object is used to control what action is performed when a fault is detected This object is ignored if the drive is tripped Table 7 14 Fault reaction option code 0x605E Access RW Default Description uoneuuojul Fault reaction
80. on active XXXX xxxx xOxx 1000b Fault Common profile features Sequencing control These are the supported objects used to control the drive Table 7 6 Sequencing control supported objects Index Name 6040 Controlword 6041 Statusword 605B shutdown option code 605C disable operation option code 605A quick stop option code 605D halt option code 605E fault reaction option code 6060 modes of operation 6061 modes of operation display 6080 max motor speed 6084 profile deceleration 6085 quick stop deceleration 6502 supported drive modes Unidrive M SI EtherCAT User Guide Issue Number 1 The behavior of the sequencing control is shown in Figure This state machine indicates how the drive will be controlled For clarity the Statusword is abbreviated to SW in the diagram When in the QUICK STOP ACTIVE state the currently selected mode of operation indicates how a quick stop function should be handled When the drive is stopped and the Quick stop option code doesn t indicate that the state should remain at QUICK STOP ACTIVE the state will move to SWITCH ON DISABLED uoneuuojul Aas uononpoaul When in the OPERATION ENABLED or QUICK STOP ACTIVE states it is not possible to change the mode_of_operation object This is to ensure that the motor is stopped before changing the operation mode uoneljejsul JeoiueuoelN The SI EtherCAT master de
81. on encoder resolution Sub index 0 Access RO Range N A Size Unsigned 8 Default Description Sub index 1 uoneljejsul JeoiueuoeN uonejejsut leoujoe 3 Range 0 to Access RO OxFFFFFFFF Size Unsigned 32 Unit N A peuejs Buneo Default 1 Description Encoder increments Sub index 2 Range 0 to d m Access RO OxFFFFEFFF Size Unsigned 32 Unit N A Default 1 Description Motor revolutions 7 3 12 0x6091 Gear ratio This object is used to apply scaling When configured appropriate user units can be used to control the position of the shaft beyond a gearbox The gear ratio is calculated using the following formula S o20 0Jd poddns o ES E Y El Q ES a SN gear ratio motor shaft revolutions driving shaft revolutions Table 7 24 Gear ratio 0x6091 Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description Sub index 1 Seinjeaj peoueApy Range 0 to Access RW OxFFFFFFFF Size Unsigned 32 Unit N A sonsouBeiq Default 1 Description Motor revolutions Sub index 2 suo Jo fjesso o Range 0 to Access RW OxFFFFFFFF Size Unsigned 32 Unit N A Default Description Shaft revolutions Unidrive M SI EtherCAT User Guide 41 Issue Number 1 7 3 13 0x6092 Feed_constant This is used to configure a feed constant This is the measurement distance per one revolution of the ou
82. option code Range 0 to 2 Size Unsigned 16 Unit N A uononpoaul N A This object is used to control what action is performed when a fault is detected Table 7 15 Fault reaction option code values Definition uoneljeisul JeoiueuoelN Disable drive function motor is free to rotate 1 Slow down on slow down ramp Slow down on quick stop ramp uo ejjesu Jeoujoe 3 0x6060 Modes of operation This object is used to request a change in the mode of operation Table 7 16 Modes of operation 0x6060 Modes of operation Access RW Range 0 to 8 Size Unsigned 8 Unit N A Default 2 Description This object is used to request a change in the mode of operation peuejs ueg S o20 0Jd Table 7 17 Modes of operation values Definition No mode change vl velocity mode yoddns Zopv d a1yo1d anug Profile torque mode Homing mode Interpolated position mode Cyclic sync position mode Cyclic sync velocity mode seinjeaj peoueApy Cyclic sync torque mode 0x6061 Modes of operation display This read only object indicates the active mode of operation Table 7 18 Modes of operation display 0x6061 Modes of operation display Access RO Range 0 to 8 Size Unsigned 8 Default Description N A Used to provide the active mode of operation sonsouBeiq suo Jo fjesso o 39 7 3 8 7 3 9 7 3 10 40 Table 7 19 Modes_of_ope
83. ositioning modes Distributed Clocks must be enabled 7 4 1 7 4 2 44 Failure to do so may result in the SI EtherCAT module going into the SAFE OPERATIONAL state 0x60C0 Interpolation sub mode select Table 7 33 0x60C0 Interpolation sub mode select 0x60C0 Interpolation_sub mode_select Sze Signed 16 UNA Default 0 Linear interpolation Specifies the interpolation type At present the only supported Interpolation Sub Description Mode is Linear Interpolation 0x60C1 Interpolation_data_record This object is used to specify the target position Linear interpolation is used to generate position demand values every 250 us The position is specified in user defined position units The value is written into sub index 1 Table 7 34 0x60C1 Interpolation_data_record 0x6001 Sub index 0 Access RO Range N A Size Unsigned 8 Default 1 Description This object is used to specify the target position Sub index 1 Range 0 to Access RW OxFFFFFFFF Size Unsigned 32 Unit N A Default N A Description The set point Unidrive M SI EtherCAT User Guide Issue Number 1 7 4 3 0x60C2 Interpolation time period Table 7 35 Interpolation time period 0x602 Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description The number of the last sub index in this object Sub index 1 Access RW Range 0 to 255 Size Unsigned 8 Unit sub index 2 Default 250
84. position units Table 7 56 Target position 0x607A Range 0 to Size Signed Unit User defined cH DM OxFFFFFFFF 32 position units Default N A Indicates the command positions that the drive should move to in cyclic sync Description position mode Table 7 57 Interpolation sub mode select 0x60C0 Interpolation sub mode select Access RW Range 0 to 0 Size 2 bytes Default 0 Linear Interpolation This will specify the interpolation type The values have the following meanings Description 0 Linear Interpolation Table 7 58 Interpolation time period 0x60C2 Interpolation time period Sub index 0 Access RO Range N A Size 1 byte Unit N A Default 2 Description The number of the last sub index in this object Sub index 1 Access RW Range 0 to 255 Size 1 byte Unit sub index 2 Default 250 The number of time units between interpolator restarts A time unit is defined by sub index 2 The interpolator time period value will be checked to ensure that it is valid Valid values are 250 us 500 us or any multiple of 1 ms Selecting other values will result in an error indication Description Sub index 2 Access RW Range 6 to 0 Size 1 byte Unit N A Default 6 A time unit of 1 us This specifies the time unit for the interpolation time period Sub index 2 Description specifies the unit exponent The time unit therefore is 10 ub index 2 The range of values al
85. ration command from control device if the quick stop option code is 5 6 70r8 Unidrive M SI EtherCAT User Guide Issue Number 1 The drive function shall be enabled 37 i ES E Y El Q ES a YX sounjeay sonsouBeiq peouenpy suo Jo fjesso o 7 3 2 7 3 3 7 3 4 38 0x605A Quick stop option code This object indicates what action is performed when the quick stop function is executed The slow down ramp is the deceleration value of the used mode of operations Table 7 8 Quick_stop_option_code 0x605A Quick_stop_option_code Access RW Range 0 to 6 Size Unsigned 16 Unit N A Default Specifies what action is performed in the event of a quick stop function See Description Table 7 7 CoE state machine transition and events on page 37 for more information Table 7 9 Quick stop value definitions Value Definition 0 Disable drive function 1 Slow down on slow down ramp and transit into Switch on disabled 2 Slow down on quick stop ramp and transit into Switch on disabled 5 Slow down on slow down ramp and stay in Quick stop active 6 Slow down on quick stop ramp and stay in Quick stop active 0x605B Shutdown_option_code This object is used to control what action is performed if there is a transition from the Operation Enabled state to the Ready To Switch On state Table 7 10 Shutdown_option_code 0x6058 Access RW Range 0 to 1 Size Unsigned 16 Default N A Used t
86. ration_display values Value Definition 0 No mode change 2 vl velocity mode 4 Profile torque mode 6 Homing mode 7 Interpolated position mode 8 Cyclic sync position mode 0x6084 Profile decleration Table 7 20 Profile decleration 0x6084 Profile deceleration i Range 0 to SD u Access RW OxFEFFEFFF Size Unsigned 32 Unit N A Default 65536 Description Provides the deceleration ramp for the positioning modes 0x6085 Quick_stop_deceleration This object is used to configure the deceleration rate used to stop the motor when the quick stop function is activated and the quick stop code object 0x6054A is set to 2 or 6 The quick stop deceleration is also used if the fault reaction code object 0x605E is 2 The value is given in user defined acceleration units Table 7 21 Quick stop deceleration 0x6085 Quick_stop_deceleration Sub index 0 Range 0 to Access RW OXFFFFFFFF Size Unsigned 32 Unit N A Default 2 Description Quick stop function for the positioning related modes Profile units The SI EtherCAT implementation provides a means to convert profile units into position controller and drive units All scaling values are standard profile objects The following objects are supported Table 7 22 Supported profile units 0x608F position_encoder_resolution gear_ratio feed_constant For positions the scaling control includes a feed constant a g
87. re using this parameter as any configuration information will be irretrievably lost Slot Indicator Maximum Units 8 bit volatile Update Rate Written on power up Display Format None Decimal Places 0 Coding RO ND BU The parameter displays the number of the virtual option slot on the drive that the module is connected to The values for the slots are 1 to 8 where the onboard slot is 4 S 00 032 Minimum Default Slot Menu Number 0 Maximum Units Type 8 bit volatile Update Rate Written on power up Display Format None Decimal Places 0 Coding RO ND BU The parameter displays the menu number of the option slot on the drive E g for Unidrive M the following mapping applies Slot 1 Menu 15 Slot 2 Menu 16 Slot 3 Menu 17 Slot 4 Menu 24 Unidrive M SI EtherCAT User Guide Issue Number 1 69 uonelejsut Jeolueyooy uomejjejsut 89199913 peuejs Dunes I Q e Q o o Hoddns Zopv d eiyoud enug SeInjeo psoueapy sonsoufeiq suo Jo Hesso 9 0 2 70 S 00 033 Minimum Disable drive control 0 Maximum Default 0 Units Type 8 bit volatile Update Rate Read in background Display Format None Decimal Places 0 Coding RW BU In normal operation at various points in EtherCAT and CiA402 operation a number of drive parameter values will
88. resenting an object mapped to a PDO defined in the XML configuration file specified as CF in the following descriptions Table 6 7 RxPDO mapping 1 0x1600 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 1 Description The number of mapped objects in the PDO Sub index 1 1st mapped object 3 Range 0 to TEN m Default 0x60400010 the CiA402 control word 0x6040 A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Description 24 Unidrive M SI EtherCAT User Guide Issue Number 1 Table 6 8 RxPDO mapping 2 0x1601 Receive PDO mapping 2 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to OxFFFFFFFF Unit N A Size 4 bytes Default 0x60400010 the CiA402 control word 0x6040 uoneuuojul s uogonpou Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16
89. source object Sub index 0 Access RO Range N A Size 1 byte Default 2 Description The number of the last sub index in this object Sub index 1 Access RW Range 1 to 6 Size 1 byte Unit N A Default 5 Description The source of homing switch This will specify the number of a drive digital input output the selected DIO also needs to be configured as an input This value will be read when CiA402 homing operation mode is selected Sub index 2 Access RW Range 0 to 1 Size 1 byte Unit N A Default 0 Description Freeze or marker source for homing this value will be read when CiA402 homing operation mode is selected This will have a value as follows 0 Use the marker of the feedback source selected for position feedback see object 0x3000 1 Use the F1 freeze of the selected feedback source drive or numbered option module 2 Use the F2 freeze of the selected feedback source drive or numbered option module yoddns Zopv d a1yo1d anug seinjeaj peoueApy sonsouBeiq The value of object 0x3001 will be ignored on drives which do not support position feedback suo Jo Kjesso o Unidrive M SI EtherCAT User Guide 55 Issue Number 1 56 0x607C Home offset This object indicates the configured difference between the zero position for the application and the machine home position found during homing During homing the machine home position is found and once the homing is completed the
90. status and information This means that a user will configure the motor and feedback in the usual way using parameters install an EtherCAT option and use CoE objects to control the drive from that point onwards Although with objects which correspond to drive parameters it should be possible to perform all drive motor feedback configuration using the EtherCAT interface In the following descriptions S means the option module slot number 9 0 1 S 00 ppp Corresponds to menu 15 16 17 or 24 Customized drive setup status menu This menu will provide some common fieldbus option parameters used for basic housekeeping and information S 00 001 Minimum Module ID 0 Maximum uoneljejsut uo ejjesu vohani uoneuuojut jeorueuoejA 89198913 Bumes 65535 Default 431 Units Type 16 Bit Volatile Update Rate Power up write Display Format None Decimal Places 0 Coding RO ND NC PT BU The option module ID SI EtherCAT is 431 S 00 002 Firmware version 0 Maximum a Q e Q o 7 Hoddns 999999 Display 00 99 99 99 Type Display Format 32 bit volatile Version number Units Update Rate Decimal Places ZOpv d eiyoud enug Power up write 0 Coding S 00 003 RO ND NC PT BU 0 Hardware version Maximum se m ea psoueapy 655 35 0 Units 16 bit volatile Update Rate Power up write
91. straints specified by the designer Figure 4 2 SI EtherCAT daisy chain network topology Unidrive Unidrive Master PLC Distributed I O SI EtherCAT SI EtherCAT SI EtherCAT Issue Number 1 uo ejjesu uo ejje su dononp i i uoneuuojul 8911399 3 jealueyos payes Bue 090 01q Hoddns g gt T 3 zh o Q E S SeJnjeaj peoueApy sonsouBeiq Jo Messo Getting started 5 1 Quick start guide This section is intended to provide a generic guide for setting up SI EtherCAT with a master controller PLC It will cover the basic steps required to get cyclic data communicating using the CANopen over EtherCAT CoE protocol on the SI EtherCAT module Table 5 1 PDO test mappings RxPDO1 TxPDO1 0x6040 controlword 0x6041 statusword 16 bits 16 bits 0x6042 vl target velocity 0x6064 position actual value 16 bits 32 bits Pr 20 021 32 bits N A It is strongly recommended that the latest firmware be used where possible to ensure that all features are supported Due to the large number of different masters that support CoE details cannot be provided for a specific master Generic support is available through your supplier or local Control Techniques Drive Centre Before contacting your supplier or local Control Techniques Drive Centre for support please ensure you have read section 10 Diagnostics on page 72 of this manual and have checked that the SDO PDO configurat
92. t Phase Loss E 3 gf mer 5 PSU 0x2230 pica leakage 9 PSU 24V 92 Snubber OI 0x3210 DC link over voltage 2 Over Volts a 0x3230 Load error 38 Low Load 21 OHt Inverter 22 OHt Power v 0x4310 Excess temperature drive 23 OHt Control 27 OHt dc bus g 101 OHt Brake 8 o ox5112 Supply low voltage and U2 g4 eor 24V supply 24 V 200 Slot 1 Hardware Fault 203 Slot 1 Not Fitted 204 Slot 1 Different d 3 205 Slot 2 Hardware Fault 32 208 Slot 2 Not Fitted 209 Slot 2 Different is 0x5200 Control device hardware 210 Slot 3 Hardware Fault z 213 Slot 3 Not Fitted 214 Slot 3 Different S 250 Slot 4 Hardware Fault 253 Slot 4 Not Fitted 254 Slot 4 Different 221 Stored HF E lt 111 Config P B8 0x5400 Power section 220 Power Data g g 223 Rating Mismatch 0x5510 RAM 227 Sub Array RAM Allocation T 31 EEPROM Fail z 0x5530 RP Non volatile data 36 User Save 3 y 37 Power Down Save 2 0x5430 Input stages 94 Rectifier set up 0x5440 Contacts 226 Soft Start 2 a 0x6010 Software reset watchdog 30 Watchdog El a 199 Destination bi 0x6320 Parameter Error 216 Slot App Menu Crash 217 App menu changed Q 0x7112 Brake Chopper Over current brake 4 Ol Brake E chopper 19 Brake R Too Hot z 0x7113 Protective circuit break chopper 10 Th Brake Res 11 Autotune 1 12 Autotune 2 0x7120 Motor 13 Autotune 3 20 Motor Too Hot Unidrive
93. t valid Access RW Range 32768 to 32767 Size Signed 16 Unit N A Default 1 Description 7 5 9 vl setpoint factor denominator a value of 0 is not valid 0x604C vl dimension factor This object is used to configure the numerator and denominator of the vl dimension factor The vl dimension factor is used to scale the user units so that they can be used in a way that relates to the specific application Calculating the vl dimension factor Every user specific velocity consists of a specific unit referred to as a specific unit of time e g 1 s bottles min m s The purpose of the v dimension factor is to convert this specific unit to the revolutions minute unit A value of 0 must not be used Velocity user defined unit Dimension factor rpm user defined unit Velocity rpm Unidrive M SI EtherCAT User Guide Issue Number 1 49 uo ejjesu jeoujoe 3 payes Bumes S o20 0Jd yoddns i ES E E El Q ES a YX sounjeay sonsouBeiq peoueApy suo Jo Kjesso o 50 Table 7 46 0x604C vi_dimension_factor ox 04c Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description The number of sub indices in this object Sub index 1 Range 32768 to Access RW 432767 Size Signed 16 Unit N A Default 1 Description vl dimension factor numerator a value of 0 is not valid
94. the sync manager To assign TxPDO1 to sync manager 3 PDO assignment set the values below to the following objects Index 0x1C13 Sub index 0x00 Size 1 Value 1 Setting object 0x1C13 sub index 0 to a value of 1 as above indicates that one TxPDOs will be assigned to the sync manager 3 assignment Index 0x1C13 Sub index 0x01 Size 2 Value 0x1A00 uone ejsu e919913 E 3 E a o S A E a Y 3 9 S 8 D poddns ZOpv d eiyoud eauq Setting object 0x1C13 sub index 1 to a value of 0x1A00 as above maps TxPDO1 to the process data input sync Download the configuration to the master After downloading the configuration to the master the LED s on the front of the SI EtherCAT should flash depending on the port s connected seinjeaj peoueApy Values written to parameters over RxPDOs should now be viewable using the drive s keypad so long as the master has put the slave into the operational state also parameter values changed using the drive keypad will be updated on the master sonsouBeiq suo Jo Kjesso o Unidrive M SI EtherCAT User Guide 19 Issue Number 1 5 2 Quick start flowchart Figure 5 3 details the steps required to achieve cyclic communications on the EtherCAT network This flowchart should be used as the starting point for all configurations Figure 5 3 Quick start flowchart Ensure the Control Techniques xml file is in the appropriate folder on the
95. therCAT node s should be visible in the PLC master Decide on the input output data you wish to send cyclically objects and or parameters Unidrive M SI EtherCAT User Guide Issue Number 1 Cyclic data is implemented on CoE networks by using Process Data Objects or PDOs Separate data objects are used for receiving TxPDOs from the slave to the master and transmitting RxPDOs from the master to the slave data uoneuuojut These PDOs contain the cyclic data objects and or parameters the RxPDOs available are 1 2 3 5 and 6 the TxPDOs available are 1 2 3 5 and 6 for more information on these PDOs including default mappings please see section 6 3 2 RxPDO mappings on page 24 and section 6 3 3 TxPDO mappings on page 27 Figure 5 1 SI EtherCAT PDO configuration uojonpo qu RxPDO1 uoneljejsut Jeolueyooyy 0x6040 0x6042 Control word vl target velocity Pr20 21 TxPDO1 jeoujoely uonejejsul 0x6041 0x6064 position Status word actual value RxPDO1 and TxPDO1 will need to be enabled in the master Once enabled you will need to add mappings to the PDOs The format used when mapping objects to PDOs is as follows Index Object index number 0x0000 Sub index Object sub index number 0x00 Size Dependant on the size in bytes of the object to be mapped range 1 4 E 3 El a o S P E a Y 3 o e 8 6 D The form
96. ting SI EtherCAT firmware The latest SI EtherCAT firmware is available from your local Control Techniques Drive Centre or supplier and can also be downloaded from www ctsupport com To upload firmware to SI EtherCAT a copy of Unidrive M Connect and a suitable communications lead for the option module s host drive is required Switching frequency In applications where greater synchronization is required it is suggested that the drive s automatic switching frequency option is switched off If automatic frequency switching is required then the network will continue to operate however the synchronization jitter may increase for a short time when the switching frequency changes To disable the drive s automatic switching frequency control set the drive Pr 05 035 to Disabled 1 Sync Task Orun trips If SI EtherCAT can not complete the assigned tasks within its 250 us Synchronous Task a Sync Task Orun trip will be initiated a Sync Task Orun trip indicates that the user is trying to accomplish too much within the Synchronous task The user can influence the Synchronous Task by reducing the amount of cyclic data or disabling drive control CiA402 To disable drive control set the Pr S 00 033 to On 1 and perform an option reset via S 00 007 Unidrive M SI EtherCAT User Guide Issue Number 1 10 8 Unidrive M SI EtherCAT User Guide 75 SDO abort codes SDO messages use a request response mechanism and the EtherCAT master will always expect
97. tput shaft of the gearbox The feed constant is calculated using the following formula feed constant feed driving shaft revolutions Table 7 25 Feed_constant 06092 Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default Description Sub index 1 Access RW Range 0 to Size Unsigned 32 Unit N A OxFFFFFFFF Default Description Sub index 2 z Range 0 to AN Access RW OxFEFFFFFF Size Unsigned 32 Unit N A Default 1 Description Shaft revolutions 7 3 14 Basic position control Basic position control is supported on the Unidrive M600 and above in RFC A and RFC S modes The position control described here is used under the interpolated position mode of operation Table 7 26 lists the objects that are supported Table 7 26 Basic position control supported objects 0x6062 position demand value 0x6065 following error window 0x6067 position window Ox60F4 following_error_actual_value Ox60FB position control parameter set 7 3 15 0x6062 Position demand value 42 This read only object is used to provide the currently demanded position value The value is given in user defined position units Table 7 27 Position demand value 0x6062 Position demand value E Range 0 to SP Access RO OxFEFFFFFF Size signed 32 Default N A Description Used to provide the currently demanded position value Unidrive M SI EtherC
98. units are dependant on the value in sub index 2 uoneuuojul Ayoyes uononpoaul uoneJ ejsut Jeojueyooy The number of time units between interpolator re starts A time unit is defined by sub index 2 The interpolator time period value is checked to ensure that it is valid Valid values are 250 us 500 us or any multiple of 1ms An attempt to write other values results in an SDO Abort code Description uoye eysu Jeoupe 3 Sub index 2 Access RW Range 6 to 0 Size Signed 8 Unit N A Default 6 a time unit of 1 us This specifies the time unit for the interpolation time period Sub index 2 specifies the unit exponent The time unit therefore is 10 sub index 2 The range of values allows for the shortest time unit to be 1 us and the longest to be 1s Description peuejs ueg The implementation of interpolated position mode allows synchronous operation only where a fixed common interpolation interval is defined The time specified must always be an integer multiple of the control loop cycle time The time period index has a minimum value of 6 i e the smallest time unit will be microseconds see Table 7 36 for more information Table 7 36 Interpolation time period units Value in 0x60C2 sub index 2 Description 1 second S o20 0Jd yHoddns Zopv d eiyo1d eAug 0 1 of a second 0 01 of a second ae 3 0 001 of a second 25 4 0 00
99. ve and vl velocity min negative Sub index 2 seinjeaj peoueApy Range 0 to OxFFFFFFFF Default 2147483647 Used to configure the maximum velocity both in the forward and reverse Description direction that the system can operate at Writing to this sub index will overwrite vl velocity max positive and vl velocity max negative Access RW Size Unsigned 32 7 5 5 0x6048 vl velocity acceleration This object is used to configure the delta speed and delta time of the slope of the acceleration ramp sonsouBeiq Example To ramp to 1000 rpm in 5 s possible values for delta speed and delta time are 10000 and 50 respectively suo Jo fjesso o vl velocity acceleration delta speed delta time Unidrive M SI EtherCAT User Guide 47 Issue Number 1 Table 7 42 0x6048 vl velocity acceleration vl velocity acceleration 0x6048 Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description Sub index 1 The number of sub indices in this object Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 1000 Description Sub index 2 The value of delta speed is given in rpm if the v dimension factor and the vl setpoint factor have the value 1 otherwise the value is in user units Access RW Range 0 to 65535 Size Unsigned 16 Default 2 Description 7 5 6 The valu
100. vice must be in the operational state before the state machine can move from the SWITCH ON DISABLED state to the READY TO SWITCH ON state If the master leaves the operational state while the state machine is in the SWITCH ON OPERATION ENABLE QUICK STOP ACTIVE or READY TO SWITCH ON state then the option will transition to the SWITCH ON DISABLED state This implies that the drive will be inhibited and the motor will coast uoneljejsu Jeoupe 3 peuejs ueg S o20 0Jd yoddns i ES E Y El Q ES SN sounjeay sonsouBeiq peouenpy sulla Jo Kjesso o Unidrive M SI EtherCAT User Guide 35 Issue Number 1 Figure 7 1 CoE state machine diagram Any Drive Trip Fault Reaction Active ault Reactioi 13 Profile SW amp OxFFBO 0x000F Complete Y Drive not tripped Fault Profile SW amp OxFFBO 0x000F Not Ready To Switch On Drive Tind Inhibit drive Profile SW amp OXFFBO rive Tripped 1 Pr 10 002 0 Switch On Disabled Profile SW amp OxFFBO 0x0040 Inhibit drive 2 Shutdown Y Ready To Switch On Profile SW amp OxFF90 0x0021 Disable voltage Inhibit drive 3 Disable voltage v itched On Te Profile SW amp OxFF90 0x0023 DE nd Set drive Rdy state operation Start disable Enable Operation operation mode specific
101. x1A02 Access RW Default Range 0 to 12 2 Size 1 byte Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60410010 the CiA402 status word 0x6041 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Sub index 2 2nd mapped object Range 0 to OxFFFFFFFF 0x60640020 the CiA402 actual position 0x6064 Size 4 bytes Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Unidrive M SI EtherCAT User Guide Issue Number 1 Table 6 16 TxPDO mapping 5 0x1A04 Transmit PDO mapping 5 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to OxFFFFFFFF Unit N A Size 4 bytes Default 0x60410010 the CiA402 status word 0x6041
102. y quick stop 0x604A Sub index 0 vl velocity quick stop Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description Sub index 1 The number of sub indices in this object uoneuuojul uononpoaul Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 1000 Description Sub index 2 The value of delta speed is given in rpm if the v dimension factor and the vl setpoint factor have the value 1 otherwise the value is in user units uoneljejsul JeoiueuoeN Access RW Range 0 to 65535 Size Unsigned 16 Default 2 Description 7 5 8 The value of delta time is given in seconds 0x604B vl setpoint factor This object is used to configure the numerator and denominator of the vl setpoint factor The vl setpoint factor modifies the resolution or directing range of the specified setpoint It does not influence the velocity limit function and the ramp function A value of 0 must not be used Table 7 45 0x604B vl setpoint factor vl setpoint factor 0x604B Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description Access RW The number of sub indices in this object Sub index 1 Range 32768 to 32767 Size Signed 16 Unit N A Default Description Sub index 2 vl setpoint factor numerator a value of 0 is no

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