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SM-EtherCAT User Guide

1. SM EtherCAT User Guide 55 Issue Number 5 www controltechniques com 7 6 7 6 1 7 6 2 96 Profile torque mode The profile torque mode is supported on Unidrive SP Digitax ST Affinity Mentor MP and Commander SK It is possible to use this profile in regen mode on the Unidrive SP On the Unidrive SP and Digitax ST in closed loop or servo mode this mode operates on the profile cycle time using the drives internal torque shortcut which is read by the drive every 250us On the Commander SK Unidrive SP and Affinity in open loop mode the torque reference is written to the drive user torque parameter which is handled every 4ms When using profile torque mode object 0x604A vI_velocity quick_stop will be used in the event of a quick stop also for quick stop option codes 2 and 6 the 0x6049 v _velocity_deceleration object will be used Table 7 48 shows the objects that are supported Table 7 48 Profile torque mode supported objects 0x6071 Target torque 0x6075 Motor_rated_current 0x6078 Current_actual_ value 0x6087 Torque_slope 0x6071 Target_torque This object indicates the configured input value for the torque controller in profile torque mode The value of this object is given per thousand of rated torque Table 7 49 0x6071 Target_torque 0x6071 Target_torque Range 32768 to SE Unit 0 1 of rated Default 0 Indicates the configured input value for the torque controller in profile torque Description mod
2. Table 6 21 Sync manager 3 PDO assignment object 0x1C13 Sync manager 3 PDO assignment Sub index 0 Access RW Range 0 to 255 Size 1 byte Unit N A Default 1 The number of TxPDOs assigned to this sync manager used for process data input uo ejjesu jeoujoey pajie s Bue Description Sub indices 1 to sub index 0 l Range 0x1A00 to EN y Access RW 0x1 BEF Size 2 bytes Unit N A Default 0x1A05 S 090 0ld The object index of a TxPDO to assign to this sync manager By default this is Description assigned to TXPDO mapping 6 vi_velocity_actual_value and statuswora 6 3 5 Feedback encoder source Table 6 22 Feedback encoder source 0x2802 Feedback encoder source Sub index 0 Range 0 to 3 Size 1 byte Unit N A yoddns J lt D po O D gJ n E gt O X sounjes peoueApy Default 0 Description This object specifies the source position for position controller feedback O Use drive as the feedback source 1 Use the encoder module in slot 1 as the encoder source 2 Use the encoder module in slot 2 as the encoder source 3 Use the encoder module in slot 3 as the encoder source BOUSIOJOI sonsoubeiq Jo Gesso SM EtherCAT User Guide 31 Issue Number 5 www controltechniques com 6 4 Ethernet over EtherCAT EoE This protocol allows standard Ethernet messages and protocols to be tunnelled through the EtherCAT network This provides users with the possibil
3. t040 to t089 Device Software User 90 to 99 UP t090 to t099 Software 101 t101 112 to 160 t112 to t160 168 to 174 t168 to t174 216 t216 4 Ol br 19 It br 103 Olbr P 0x7200 Measurement Circuit 33 rsS 14 tunE4 15 tunE5 16 tunE6 0x7300 Sensor 161 to 167 Enc11 to Enc17 176 EnP Er 189 Enc1 SP Only 190 to 198 Enc2 to Enc10 Communication Serial 0x7510 Interface 1 30 SCL 175 C Prod 177 C boot 178 c bUSY 179 C Chg 180 C OPtn 181 C RdO 182 C Err 183 C dAt 184 C FULL 185 C Acc 186 C rtg 187 C TyP 188 C cPr rem External Eror Critical task free Table 9 18 SM EtherCAT critical task free SM EtherCAT critical task free Default N A feces RO Table 9 19 Worst case critical task free SM EtherCAT worst case critical task free Default N A 0x6200 Brake Chopper Over a current brake chopper Additional Modules Data 0x 600 storage prmmer Range sm eer Parameters Pr MM 46 and Pr MM 47 indicate how much of the cycle time allocated to the critical task is remaining and available for other module tasks SM EtherCAT User Guide www controltechniques com Issue Number 5 9 10 SDO abort codes SDO messages use a request response mechanism and the EtherCAT master will always expect a response from the slave device If an error occurs with an SDO trans
4. Positive Limit Switch SM EtherCAT User Guide www controltechniques com Issue Number 5 Method 3 and 4 Homing on positive home switch and index pulse Using these methods as shown in Figure 7 5 Homing on positive home switch and index pulse on page 59 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 UONEWUOJU uononposju Figure 7 5 Homing on positive home switch and index pulse uole e Sul eo1UeyaaN eo11J9913 UOye 1ejsul paye s Bue Index Pulse Home switch S 090 0Jd Method 5 and 6 Homing on negative home switch and index pulse Using these methods as shown in Figure 7 6 Homing on negative home switch and index pulse on page 59 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 6
5. 16 data length of these 5 parameters i e It is possible to map five 32 bit parameters in one PDO It is also possible to use a maximum of two RxPDOs and two TxPDOs Configuring the sync managers The sync manager is used to control the transmission of CANopen PDOs over the EtherCAT network The following objects 0x1C12 sync manager 2 PDO assignment RxPDO and 0x1C13 sync manager 3 PDO assignment TxPDO are required to assign PDOs to the synchronization task For the purpose of the example assign one RxPDO to sync manager 2 and two TxPDOs to sync manager 3 Figure 5 2 SM EtherCAT sync manager configuration 0x1C12 RxPDO1 0x6040 0x6042 Control word vi_target_velocity Cree TxPDO1 TxPDO6 0x6064 ee position Pr 18 22 Pr 20 22 Status word actual value SM EtherCAT User Guide www controltechniques com Issue Number 5 Assigning RxPDO to the sync manager To assign RxPDO1 to sync manager 2 PDO assignment set the values below to the following objects e Index 0x1C12 Sub index 0x00 Size 1 UONEUWJOJUI uononpowju e Value 1 Setting object 0x1C12 sub index O to a value of 1 as above indicates that one RxPDO will be assigned to the sync manager 2 assignment Index 0x1C12 e 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 uole e Sul eo1ueyoaN uone e sul EISE Assigning TxPDO t
6. Table 7 42 0x6047 vl_velocity_min_max co Sub index 0 Access RO Unit N A Default 2147483647 Used to configure the maximum positive velocity at which the system can operate Sub index 3 Range 0 to fake a Access RW OXFFFFFEFF Size Unsigned 32 Unit rpm Default 0 Used to configure the minimum negative velocity at which the system can operate Description Description Sub index 4 Range 0 to EE 7 Access RW OXFFFFFEFF Size Unsigned 32 Unit rpm Default 2147483647 Used to configure the maximum negative velocity at which the system can operate Description 0x6048 vi_velocity_acceleration This object is used to configure the delta speed and delta time of the slope of the acceleration ramp Example To ramp to 1000 rpm in 5s possible values for delta speed and delta time are 10000 and 50 respectively vi_velocity_acceleration delta speed delta time 92 SM EtherCAT User Guide www controltechniques com Issue Number 5 Table 7 43 0x6048 vl_velocity_acceleration 0x6048 vi_velocity_acceleration Access RO Unit N A Sub index 1 UONEWUOJUI UONONpOU Range 0 to SEN on Access RW OXFEFFFFFF Size Unsigned 32 Unit rpm Default 1000 The value of delta speed is given in rpm if the vi_dimension_factor and the vi_setpoint_factor have the value 1 otherwise the value is in user units u0 e e sul jeoiueudey Description Sub index 2 Default 2 Description The value of
7. Sub index 1 yoddns U lt y kel s e o g Be A Le X soinjee paduenpy sonsoubeiq Access RW Range 0 to 65535 Size Unsigned 16 Unit 0 01 rad s rad Default 2500 Description The position controller proportional gain Sub index 2 29u93 Jaja 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 jo esso SM EtherCAT User Guide 47 Issue Number 5 www controltechniques com 7 4 The APC position controller kernel is used by the basic internal position control The position_demand_value object contains the value supplied by either the interpolated position mode or the profile position mode in user units It is updated every control loop cycle This object can be mapped as cyclic data Interpolated position mode Interpolated position mode operates on the Unidrive SP in servo mode closed loop vector mode and RFC mode This mode also operates on the Digitax ST and Mentor MP Table 7 32 lists the objects that are supported Table 7 32 Supported Interpolated position mode objects 0x60C1 interpolation_data_record 0x60C2 interpolation_time_period Ox60CO interpolation_submode_select NN When using one of the DSP 402 positioning modes Distributed Clocks must be 7 4 1 7 4 2 48 enabled Failure to do so may result in the SM EtherCAT module going into the SAFE OPER
8. system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards Environmental limits Instructions in the Unidrive SP User Guide Commander SK Getting Started Guide Commander SK Technical Data Guide Digitax ST User Guide and Mentor MP User Guide regarding transport storage installation and use of the drive must be complied with including the specified environmental limits Drives must not be subjected to excessive physical force 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 given to the cross sectional areas of conductors the selection of fuses or other protection and protective earth ground connections The Unidrive SP User Guide Digitax ST User Guide and Mentor MP User Guide contain instructions for achieving compliance with specific EMC standards Within the European Union all machinery in which this product is used must comply with the following directives e 2006 42 EC Safety of
9. the DSP 402 modes of operation display object 0x6061 A mapping to an object with the following format Description 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 Table 6 14 Tx PDO mapping 3 0x1A02 Sub index 0 Number of mapped objects Access RW Range 0 to CF Unit N A Sub index 1 1st mapped object Range 0 to IN mM Access RW OXFEFFFFFF Size 4 bytes Unit N A Default 0x60410010 the DSP 402 status word 0x6041 A mapping to an object with the following format Bits O 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 Bes j Access RW OXFEFFFFFF Size 4 bytes Unit N A Default 0x60640020 the DSP 402 actual position 0x6064 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Description 28 SM EtherCAT User Guide www controltechniques com Issue Number 5 Table 6 15 TxPDO mapping 6 DS Access RW Range 0 to CF Unit N A
10. where present e Pr 3 13 to OFF 0 In open loop operating modes e Pr 2 10 to 1 e Pr 2 20 to 1 e Pr 2 02 to On 1 Pr1 04to0 e Pr 1 21 to O e Pr 1 38 to 0 e Pr 1 08 to OFF 0 e Pr 1 10 to On 1 e Pr 1 09 to OFF 0 e Pr 1 15 to 1 e Pr 1 14 to 3 uO e e sul uole e Sul uononpowju e911J9913 jeoiueude payejs Bue 090 0Jq These values are set once and not continuously forced They are not reset when leaving the Operational state In addition the option starts to write parameters implicitly mapped by the CoE profiles when moving to the Operational state 7 3 2 0x605A Quick stop option code This object indicates what action is performed when the quick stop function is executed The slow down ramp is the deceleration value of the used mode of operations jJloddns U lt D kel s e o g Wa Be A Le X Table 7 8 Quick_stop_option_code 0x605A Quick_stop_option_code Range 0 to 6 Size Unsigned 16 Unit N A Default s 1N e p vueapy 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 40 for more information sonsoubeiq Table 7 9 Quick stop value definitions Disable drive function Slow down on slow down ramp and transit into Switch on disabled a9u9 Jaja Slow down on quick stop ramp and transit into Switch on disabled Slow down on slow down ramp and stay in Quick s
11. 0 to OxFFFF Size Unsigned 16 Unit N A A non zero value in this object indicates that an error has occurred The value Description will be one of the codes described in table 9 17 Error codes below uononpowju Table 9 17 Error codes Error Code Meaning Corresponding Drive Trip Code 0x0000 Error reset No error 0 No trip 0x1000 Any trip code not elsewhere in table 109 OldC P vom a Ja On 3 OI AC 0x2300 Current device output side 20 It AC See OIAC P lt _ lt PH 0x3130 Phase failure 107 PHP 0x3200 Voltage inside the device 0x3210 dc bus dc bus over voltage 106 OV P 21 O ht1 22 O ht2 23 O CtL 0x4200 Temperature device 27 O ht3 102 Oht4 P 105 Oht2 P 200 SL1 HF 201 SL1 t0 202 SL1 Er 203 SL1 nF 204 SL1 dF 205 SL2 HF 206 SL2 t0 207 SL2 Er 208 SL2 nF 209 SL2 dF 210 SL3 HF 211 SL3 t0 212 SL3 Er 213 SL3 nF 214 SL3 dF 215 SL rtd 217 HF17 218 HF18 219 HEI 220 232 HF20 HF32 31 EEF 36 SAVE Er 37 PSAVE Er uopejjejsu jediueyooy uo e e Su e911199 3 4 O a O O o n yoddns ZOv dSQ e1youd anug s9Jn e9 paduernpy 0x5000 Device hardware a9uaJajal YOIND DEl jo Messo Data Storage Non volatile data memory 0x5530 SM EtherCAT User Guide 79 Issue Number 5 www controltechniques com 9 9 80 10 t010 32 t038 40 to 89
12. Cycle Timing Interrupt 1 cycle time Drive synchronization waveform Profile cycles gt j5o0us 4 Issue Number 5 www controltechniques com uolje e Sul UONUWJOJUI uononpo u e91199 3 eo1UeyaaN uo e 1ejsul S 090 01d U z lt S D q Si n o g Wa H gt D soinjyea 2949 99 YOIND sonsoubeiq pesueapy sua Jo Jessolo 8 2 8 3 8 3 1 68 It is expected that most systems will have the interpolation cycle time equal to the drive synchronization interval An interpolation cycle is referred to as a profile cycle The interoperation between a profile cycle when interpolation position mode is being used and the drive synchronization interval is described as follows 1 Interpolation cycle time drive synchronization interval In this case each new interpolation cycle will be synchronized to the drive synchronization interval Interpolation will be performed in each of the subsequent control loop cycles until the next sync signal edge Command and feedback values which are handled cyclically will be read at defined times in the cycle Command values handled used every cycle profile or control loop will be cached from the object dictionary in the 90us period at the beginning of that cycle Any feedback values read during a cycle will be scaled as appropriate in that cycle cached and then written during the 90us period at the beginning of the next cycle Feedback values tha
13. Sub index 1 1st mapped object Range 0 to S a Access RW OxEEEFFFFF Size 4 bytes Unit N A Default 0x60410010 the DSP 402 status word 0x6041 UONEWUOJUI uononpou uone e sul jeoiueyooy 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 DER So Access RW OxEEEFEFFF Size 4 bytes Unit N A Default 0x60440010 the DSP 402 actual motor speed 0x6044 A mapping to an object with the following format Description uonelje sul jeoujoey pajie s Buje 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 S 090 0 d Table 6 16 TxPDO mapping 22 0x1A15 Transmit PDO mapping 22 Sub index 0 Number of mapped objects Access RW Range 0 to CF Default Description The number of mapped objects in thie PDO Sub indices 1 to 255 1st to 255th mapped objects in this PDO yoddns gJ lt D po O D gJ n E E Oo X sounjes peoueApy Range 0 to SS SE Access RW OXFEFFFFFF Size 4 bytes Unit N A Default A mapping to an object with the following format Bits O to 7 Length
14. ccococcccocccccccnnncnnnonononncononnnnnnnnnnnnnnanonenennnnnnnnnos 48 Vyeo ue EE 50 Profile torque MOS o dd do d nakk Ena anai 56 FONNO MOGE EE 57 GYGIIC SYNC position ModE iaa 65 Advanced features vidas 67 DISTIDUSA CIOCKS EE 67 SM EtherCAT protocol support A 68 Menu 61 General Module Setup ccoocooococcncnnncncococonanconcnnnnnnnnnononanons 68 Advanced cyclic data configuration cccccccnccnnnnnnnnnnnnnonnnonnnnnnnononnnonnnnos 72 dier tel Li A as 73 Mr te ite Cd ZA Module identification parameters 74 Network configuration objects cccsessssssssssssssssssssssssssseseeeseeeeseeeseeerees 75 Diagnostic parameters accio do dado di di di 76 Drive trip display codes ici it a dde 177 SM EtherCAT module temperature oooooncncccncnccccccconononnncnononnnonononaninennnos 77 SM EtherCAT Serial INUNDA 17 SM EtherCAT error codes REENEN NEEN 17 Thor e ET elle e WEE 78 Critical nn aa aAA E ER 80 SDO abor CodeS tai is eege 81 FLASH Tle System Yo E 81 Updating SM EtherCAT firmware cceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 82 Quick reference iniciadas 83 Glossary OF te MS urinaria 87 SM EtherCAT User Guide www controltechniques com Issue Number 5 1 Safety information e 1 1 Warnings cautions and notes uononpo u N A Warning contains information which is essential for avoiding a safety hazard WARNING uone e sul jedlueYool A Caution contains information which is ne
15. code Description IEOUIOeIz Sub index 2 Range 6 to 0 Size Signed 8 Unit N A Default 6 a time unit of 1s uole e Sul 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 1us and the longest to be 1s paye s Bue Description 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 OxG062 subido 1 second 090 0Jq jioddns U lt D kel s e ah o g Be A Le X 0 001 of a second 0 0001 of a second oo e 1090 oF sen soinjee paduenpy 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 num
16. defined in the EtherCAT Master and is displayed in the module parameters as shown in Figure 6 2 uononpowju uol e 2 SUI jeo1ueyooy Figure 6 2 EoE Subnet mask format Pr MM 14 Pr MM 15 Pr MM 16 Pr MM 17 uone e sul SOU pajie s Buje Table 6 27 EoE Subnet mask Weypnet 5 090 0 d EoE Subnet Mask Weupnet Default Pr MM 14 010 23 This is the most significant octet of the SM EtherCAT EoE Subnet mask Table 6 28 EoE Subnet mask Xgypnet U lt d o 9 D g Wal Ne gt Y EoE Subnet Mask Xsubnet prmm 15 Range Oto255 This is the second most significant octet of the SM EtherCAT EoE Subnet mask sounjes peoueApY sonsoubeiq Table 6 29 EoE Subnet mask Y bnet SOUSIOJOI EoE Subnet Mask Y subnet Pr MM 16 MEA This is the third most significant octet of the SM EtherCAT EoE Subnet mask Jo Asesso 5 SM EtherCAT User Guide 33 Issue Number 5 www controltechniques com Table 6 30 EoE Subnet mask Ze pnet EoE Subnet Mask Zeypnet Pr MM 17 Ge This is the least significant octet of the SM EtherCAT EoE Subnet mask 6 4 3 EoE Default gateway The SM EtherCAT EoE Default gateway is defined in the EtherCAT Master and is displayed in the module parameters as shown in Figure 6 3 Figure 6 3 EoE Default gateway Pr MM 18 Pr MM 19 Pr MM 20 Pr MM 21 The default gateway is a routing device that allows a host to reach other devices that are not
17. device before gaining access to the electrical connections With the sole exception of the SAFE TORQUE OFF function on Unidrive SP and Digitax ST none of the drive functions must be used to ensure safety of personnel i e they must not be used for safety related functions J lt D po O D g Ku N E Oo X s8 n e9y peoueApY sonsoubeiq 29U9J9 9J The SAFE TORQUE OFF function is only available as standard on the Unidrive SP and Digitax ST S El SM EtherCAT User Guide 5 Issue Number 5 www controltechniques com 1 4 1 5 1 6 1 7 Careful consideration must be given to the functions of the drive which might result in a hazard either through their intended behavior or through incorrect operation due to a fault In any application where a malfunction of the drive or its control system could lead to or allow damage loss or injury a risk analysis must be carried out and where necessary further measures taken to reduce the risk for example an over speed protection device in case of failure of the speed control or a fail safe mechanical brake in case of loss of motor braking The SAFE TORQUE OFF function has been approved by BGIA as meeting the requirements of the following standards for the prevention of unexpected starting of the drive EN 61800 5 2 2007 SIL 3 EN ISO 13849 1 2006 PLe EN 954 1 1997 Category 3 The SAFE TORQUE OFF function may be used in a safety related application The
18. is present but is unable SLX HF Hardware en gt i SL HF fault to communicate with it If this occurs please contact your supplier or i local Control Techniques Drive Centre SLX Er SL Er SLX nF Not This trip will occur if a drive slot is configured for an option module but SL nF installed no module is installed in the slot SLX dF Different The slot configuration parameters stored in the drive are not valid SM SL dE module EtherCAT configuration parameters This trip will also occur when an Error Error trip generated by SM EtherCAT installed SM EtherCAT is installed to a previously un used slot SM EtherCAT module temperature Table 9 10 SM EtherCAT module temperature SM EtherCAT module temperature ess RO This parameter shows the option module temperature reading in degrees Celsius SM EtherCAT serial number Table 9 11 SM EtherCAT serial number Detaut NA wua eer The serial number is loaded into the SM EtherCAT during manufacture and cannot be changed It contains the last eight digits of the 10 digit serial number of the label SM EtherCAT error codes Table 9 12 SM EtherCAT error codes NA wus Range sm eer If an error is detected during operation the module will force a trip on the drive and update the error code parameter Pr MM 50 Table 9 13 shows the SM EtherCAT error codes Issue Number 5 www controltechniques com UONEWUOJUI jeolueyoo UONONpOL U uo ejjesu uO01e e s
19. mode e Interpolated position mode Velocity mode e Profile torque mode e Homing mode Two transmit and two receive PDOs e SDO access to all profile objects and drive parameters e Two digital inputs available for use in homing mode e EoE Ethernet over EtherCAT Introduction to SM EtherCAT SM EtherCAT is a Solutions Module that enables the Control Techniques range of variable speed drives to be connected to an EtherCAT network as a slave device It can be used in a variety of applications from those requiring accurate synchronization and precise motion control to those where ease of use and open loop control are appropriate What is EtherCAT EtherCAT is an open high performance Ethernet based fieldbus system that overcomes the system limitations of other Ethernet solutions The Ethernet packet is no longer received then interpreted and copied as process data at every connection instead the Ethernet frame is processed on the fly The development goal of EtherCAT was to apply Ethernet to automation applications that require short data update times also called cycle times with low communication jitter for synchronization purposes and low hardware costs Typical application fields for EtherCAT are machine controls e g semiconductor tools metal forming packaging injection moulding assembly systems printing machines robotics and many others SM EtherCAT User Guide www controltechniques com Issue Number 5 2 4 2 4 1 2
20. on the same subnet The default gateway must be on the same subnet as the host that is trying to use it Table 6 31 EoE Default gateway Wyateway EoE Default gateway Wgateway Prmm 1g Range Oto255 This is the most significant octet of the SM EtherCAT EoE Default gateway Table 6 32 Default gateway Xyateway EoE Default gateway Xyateway Prmm 19 Range Oto255 This is the second most significant octet of the SM EtherCAT EoE Default gateway Table 6 33 Default gateway Y gateway EoE Default gateway Y gateway Default Pr MM 20 010 239 This is the third most significant octet of the SM EtherCAT EoE Default gateway 34 SM EtherCAT User Guide www controltechniques com Issue Number 5 Table 6 34 Default gateway Zyateway UONEWUOJUI EoE Default gateway Zgateway Pr MM 21 PASS This is the least significant octet of the SM EtherCAT EoE Default gateway uononpou uol e 2 SU IEOIUELDSIN Although parameters Pr MM 10 Pr MM 21 have RW access changing them via the parameters will have no affect to the EoE settings The EoE configuration for the SM EtherCAT module can only be done with an EtherCAT master which supports the EoE protocol e g TwinCAT The settings for Pr MM 10 Pr MM 21 will need to be set by the Master and these parameters are for display purposes only uone e sul 89119913 6 4 4 SM EtherCAT reduce serial interface priority Table 6 35 Reduce Drive serial interface prior
21. the Solutions Module can be identified by looking at Pr 15 02 9 and Pr 15 51 The software version takes the form of xx yy zz where Pr 15 02 displays xx yy and Pr 15 51 displays zz e g for software version 01 01 00 Pr 15 02 will display 5 1 01 and Pr 15 51 will display 0 S gt The full version of the SM EtherCAT firmware can be assembled by combining the major 8 3 version xx yy and the minor version zz as follows xx yy Zz e e e 2 m 9 2 Network configuration objects SZ 9 2 1 SM EtherCAT network loss trip ee Table 9 4 Network loss behavior object Access RO Unit N A Sub index 1 Maximum time interval Access RW Range 0 to 65535 Size 2 bytes Unit ms Default O by default the network loss behavior is disabled The maximum time in ms allowed between accesses to PDOs read or write If 090 01q Description no PDO access occurs for this period the option will start network loss handling If a value of zero is set no network loss handling will occur Sub index 2 Trip type Range 0 to 2 Size 1 byte Unit N A Default 0 Network loss trip type If this value is set to 0 a network loss trip will never occur however a network loss will still be handled by stopping the drive and indicating a warning as previously described If this value is set to 1 the network loss trip will occur only after the motor has been stopped according to the Fault reaction option code If the value is set to 2 the network loss trip w
22. the drive will be inhibited and the motor will coast SM EtherCAT User Guide www controltechniques com Issue Number 5 Figure 7 1 CoE state machine diagram Power disabled any drive p Any drive trip FAULT REACTION START ACTIVE 14 10 01 1 Fault reaction complete Drive not tripped Pr NOT READY TO SWITCH ON Seel 1 15 Pr 10 02 0 Fault reset SWITCH ON DISABLED 2 Shutdown Quick stop 7 READY TO SWITCH ON 3 Switch On Shutdown Power enabled y 6 Disable 10 voltage SWITCHED ON 4 Enable Disable Disable operation operation voltage Shutdown 5 12 Quick st OPERATION JB DU Sp e Quick STOP Disable 9 ENABLE E Enable 11 ACTIVE voltage operation On the Digitax ST Unidrive SP Affinity and Mentor MP with the default drive parameters the Switched on state will correspond to a drive status of STOP If the STOP state is not acceptable for any SM EtherCAT applications that do not use the menu 12 brake controller Pr 6 08 will have to be set to OFF With Pr 6 08 set to OFF the Switched on state will now correspond to a drive status of Rdv SM EtherCAT User Guide 39 Issue Number 5 www controltechniques com UONEWUOJUI uo e 2 SUI uole 2 SUI uononpo u e91110913 eo UeyoaN pajuejs Dumec pe S O90 0 zoy 4sa a1yosd a
23. 0x0000 to OxOFFF Data type area 0x1000 to Ox1FFF CoE communication area 0x2000 to Ox5FFF Manufacturer specific area 0x6000 to Ox9FFF Profile area OxA000 to OxFFFF Reserved area The object description format describes object related information such as size range and descriptions and is detailed in Table 6 2 Table 6 2 Object description format lt index gt lt object name 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 For entries having sub indices Table 6 3 Object description format with sub indices lt index gt lt object name 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 lt description gt Sub index 1 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 Range lt range gt Size lt size gt Unit lt unit gt Default lt default gt Description lt description gt Sub index n Access lt access gt Range lt range gt Size lt size gt Unit lt unit gt Default lt default gt Description lt description gt 22 SM EtherCA
24. 3 IT 89 Ae le VE aaa ies 11 a iundidanliabsad E E A a PE EA OET 8 3 oO L SS LONG e BEE 87 RE 87 o M T 30 Mechanical installati n cuicos 11 El A A a e a a cet aseexseee a 87 N NOUE sn akaa EE 87 SM EtherCAT User Guide 89 Issue Number 5 www controltechniques com O E e GE 87 P Parameters adjusting EE 7 EE EE 87 PEG Ganon on o E alates eared aa eee ea aoe 87 el 87 Profile torque mode EH 56 Q QUICK REET ENCE EE 83 QUICK start guig caba ad 14 S Salet MOrnmnallON roes E 5 Salely Or DETSONME I egen Seet deeg ee Eege aa 5 Saving ee EE 19 SECURE Re RE 5 Solution module identification oooncccccnoccnnccnoconnnoncnnncnnnnnnnnnnnnnncnnnnnncnnnons 9 AMUS WOOF WEE 88 V Klee nee TEE 50 W e E 88 SM EtherCAT User Guide www controltechniques com Issue Number 5 0471 0128 05
25. 4A vl_velocity_quick_stop 0x604A vi_velocity_quick_stop 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 0 to SE be Access RW OxEEEFFFFF Size Unsigned 32 Unit rpm Default 1000 The value of delta speed is given in rpm if the vi_dimension_factor and the Desoription vl_setpoint_factor have the value 1 otherwise the value is in user units Sub index 2 Default 2 Description 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 46 0x604B vl_setpoint_factor ZE Sub index 0 Access RO Unit N A Default 2 Description The number of sub indices in this object Sub index 1 Range 32768 to dt Ee D Access RW 32767 Size Signed 16 Unit N A Default 1 Description vl_setpoint_factor numerator a value of 0 is not valid Sub index 2 Range 32768 to de te ex SG Access RW 32767 Size Signed 16 Unit N A Default 1 Description vI_setpoint_ factor denominator a value of 0 is not valid 7 5 10 0x604C vi_dimension_factor 94 This object is used to configure the numerator and denominator of th
26. 5 2 6 SM EtherCAT User Guide 9 Solution module identification The SM EtherCAT can be identified by 1 The label located on the underside of the Solutions Module 2 The color coding across the front of the SM EtherCAT brown red Figure 2 1 SM EtherCAT label Solutions Module SM EtherCAT Customer and date code Revision 0 stdJ 41 DNA AT VY Ser No 3000005001 Serial number Date code format The date code is split into two sections a letter followed by a number The letter indicates the year and the number indicates the week number within the year in which the Solutions Module was built The letters are alphabetical in order starting with A in 1991 B in 1992 C in 1993 etc Example A date code of Q46 would correspond to week 46 of year 2007 Product Conformance Certificate SM 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 Solutions Module is done using menus and parameters A menu is a logical collection of parameters that have similar functionality In the case of a Solutions Module the parameters will appear in one of three menus 15 16 or 17 depending on the drive type and slot the module is installed into as shown in Table 2 1 Drive menu availability below The menu is d
27. 6042 vl_ target _ velocity The RxPDO mapping objects are defined in the following tables Each mapping object has the maximum number of sub indices each representing an object mapped to a PDO defined in the XML configuration file specified as CF in the following descriptions SM EtherCAT User Guide www controltechniques com Issue Number 5 Table 6 7 RxPDO mapping 1 0x1600 Access RW Range 0 to CF Unit N A Sub index 1 1st mapped object uonewoyu uononpou Range 0 to E a Access RW OxEEEFFFFF Size 4 bytes Unit N A Default 0x60400010 the DSP 402 control word 0x6040 A mapping to an object with the following format uone e sul jeoiueyooy 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 uo ejjesu jeoujoey Table 6 8 RxPDO mapping 2 pe Access RW Range 0 to CF Range 0 to do e Access RW OxEFEEFEFE Size 4 bytes Unit N A Default 0x60400010 the DSP 402 control word 0x6040 A mapping to an object with the following format pajie s Bue S 090 0ld yoddns 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 SEN
28. 68 to are Access RW 32767 Size Signed 16 Unit rpm Default 0 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 vi_dimension_factor and the vi_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 vi_velocity_demand Range 32768 to L Fs as Default 0 Provides the instantaneous velocity demand generated by the drive ramp function Description SM EtherCAT User Guide www controltechniques com Issue Number 5 7 5 3 0x6044 vi_velocity_actual_value This read only object provides the velocity at the motor spindle or load In a closed loop system this is determined from the motor feedback device and in an open loop system it is a copy of vi_velocity_demand UONEWUOJUI The value is given in rpm if the vi_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 40 velocity_actual_value uononpowju 0x6044 vi_velocity_actual_value Range 32768 to ae ge Access RO 32767 Size Signed 16 Unit N A uole e Sul jeoiueude Default Description Provides the velocity at th
29. ATIONAL state Pr MM 04 4 0x60C0 Interpolation _sub mode_ select Table 7 33 0x60C0 Interpolation _sub mode_select 0x60C0 Interpolation_sub mode_select Default O Linear interpolation Specifies the interpolation type At present the only supported Interpolation Sub E 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 250us The position is specified in user defined position units The value is written into sub index 1 Table 7 34 0x60C1 Interpolation_data_record Access RO Unit N A Sub index 1 Range 0 to fos ES Access RW OxFFFFFFFF Size Unsigned 32 Unit N A Default N A Description The set point SM EtherCAT User Guide www controltechniques com Issue Number 5 7 4 3 0x60C2 Interpolation_time_period Table 7 35 Interpolation_time period 0x60C2 Interpolation_time_period Access RO Unit N A Sub index 1 UONEWUOJU uononpowju Access RW Range 0 to 255 Size Unsigned 8 Unit sub index 2 Default 250 units are dependant on the value in sub index 2 uole e Sul jeoiueude 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 250us 500us or any multiple of 1ms An attempt to write other values results in an SDO Abort
30. Homing on negative home switch and index pulse jJioddns el lt y kel o o g Wa A E i N soiunjee DeOUEADN sonsoubeiq 29u9 aJa Index Pulse Home Switch 7 JO Messo SM EtherCAT User Guide 59 Issue Number 5 www controltechniques com DU 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 momentan 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 7 Homing on home switch and index pulse positive initial motion on page 60 and Figure 7 8 Homing on home switch and index pulse negative initial motion on page 61 If the initial direction of movement leads away from the home switch the drive shall reverse on encountering the relevant limit switch Figure 7 7 Homing on home switch and index pulse positive initial motion Index Pulse Home swith ere Leem Positive Limit Switch Y SM EtherCAT User Guide www con
31. M EtherCAT module going into the SAFE OPERATIONAL state Pr MM 04 4 SM EtherCAT User Guide 65 Issue Number 5 www controltechniques com 7 8 1 7 8 2 7 8 3 66 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 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 0x6077 Torque_actual_value This object provides the actual value of the torque It shall correspond to the instantaneous torque in the motor The value is given per thousand of rated torque Table 7 63 Torque actual value 0x6077 Torque actual value Range 32768 to ere Unit 0 1 of rated Access RO 32767 Size Signed 16 Default 0 Description Provides the actual value of the torque 0x607A Target_position This object indicates the commanded position that the drive should move to in cyclic sync position mode using the current settin
32. Modules can be identified by looking at Pr 15 02 or Pr 16 02 or Pr 17 02 and Pr 15 51 or Pr 16 51 or Pr 17 51 Menu 15 16 or 17 is Solutions Module slot dependent with menu 17 being the lowest position nearest the control terminal connections The software version takes the form of xx yy zz where Pr 15 02 or Pr 16 02 or Pr 17 02 displays xx yy and Pr 15 51 or Pr 16 51 or Pr 17 51 displays zz e g for software version 01 01 00 on a module in the middle Solutions Module slot Pr 16 02 will display 1 01 and Pr 16 51 will display 0 Unidrive SP Size 0 Digitax ST Unidrive ES Affinity The software version of the Solutions Modules can be identified by looking at Pr 15 02 or Pr 16 02 and Pr 15 51 or Pr 16 51 Menu 15 or 16 is Solutions Module slot dependent with menu 15 Unidrive SP size 0 and Digitax ST or menu 16 Unidrive ES and Affinity being the position nearest the control terminal connections SM EtherCAT User Guide www controltechniques com Issue Number 5 The software version takes the form of xx yy zz where Pr 15 02 or Pr 16 02 displays xx yy and Pr 15 51 or Pr 16 51 displays zz e g for software version 01 01 00 ona F module in the middle Solutions Module slot Unidrive ES and Affinity or for Unidrive SP B size O and Digitax ST the Solutions Module slot nearest the incoming supply terminals 3 Pr 16 02 will display 1 01 and Pr 16 51 will display 0 Commander SK Sizes B to D and 2 to 6 gt The software version of
33. OI JO Messo SM EtherCAT User Guide 23 Issue Number 5 www controltechniques com 6 3 2 24 Table 6 5 Identity object 0x1018 Sub index 0 Access RO Default Description Sub index 1 Access RO Default Description Sub index 2 Access RO Default Description Sub index 3 Access RO Default Description Sub index 4 Access RO Default Identity object Range N A Size 1 byte Unit N A The number of the last sub index in this object Range N A Size 4 bytes Unit N A Ox000000F9 This contains the EtherCAT Technology Group vendor ID for Control Techniques Ox000000F9 Range N A Size 4 bytes Unit N A See Pr MM 01 This has the value of the option ID code Range N A Size 4 bytes Unit N A High word Pr MM 02 Low word Pr MM 51 Contains the option module software version number the major and minor version parameter placed in the high word of this object and the sub version parameter Pr MM 51 is the low word Range N A Size 4 bytes Unit N A See Pr MM 35 Description Contains the option hardware serial number RxPDO mappings Objects with indices from 0x1600 to 0x17FF specify receive PDO mappings The mappings from DSP 402 are included as standard the PDO mappings will have the following default values Table 6 6 RxPDO mappings PDO number Mapping object index Mapping object name ee 0x6040 controlword 0x6060 modes of operation 0x6040 controlword 0x
34. OUSIOJOI JANO The format used when mapping drive parameters to PDOs is as follows e Index 0x2000 menu number Sub index 0x00 parameter number e Size Dependant on the size in bytes of the object to be mapped range 1 4 For example Pr 20 21 would be index 0x2014 sub index 0x15 and the size would be 4 the parameter is a 32 bit signed value sua JO Messo NOTE The values are normally expressed in hexadecimal so care must be taken to enter the correct parameter number SM EtherCAT User Guide 15 Issue Number 5 www controltechniques com For this example the following objects will need to be set in order to achieve the mappings of the parameters objects in the PDOs Table 5 3 Cyclic data mapping configuration RxPDO1 TxPDO1 TxPDO6 Sub index Sub index Size Size Value Value 0x01 Sub index 0x01 Sub index 0x01 4 Size 4 Size 4 0x60400010 Value 0x60410010 Value 0x20121610 0x02 Sub index 0x02 Sub index 0x02 4 Size 4 Size 4 0x60420010 Value 0x60640020 Value 0x20141620 Sub index 0x03 Not Used Not Used Size 4 Value 0x20141520 Mi he format used to define the value of a mapped object is as follows Bit O 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 DIS The maximum number of mappings in one PDO is five There are no restrictions on the
35. PDOx master to Description slave Sub index 4 Usage of sync manager 3 Access RO Range N A Size 1 byte Unit N A Default Sync manager 3 is used by CoE as the process data input TxPDOs slave to Description master Table 6 18 Sync manager 0 PDO assignment object 0x1C10 Sync manager 0 PDO assignment Sub index 0 Access RO Range N A Size 1 byte Unit N A Default 0 Number of assigned PDOs The mailbox received sync manager can never have SES plot PDOs assigned to it Table 6 19 Sync manager 1 PDO assignment object 0x1C11 Sync manager 1 PDO assignment Sub index 0 Access RO Range N A Size 1 byte Unit N A Default 0 Number of assigned PDOs The mailbox send sync manager can never have PDOs assigned to it Description SM EtherCAT User Guide www controltechniques com Issue Number 5 Table 6 20 Sync manager 2 PDO assignment object 0x1C12 Sync manager 2 PDO assignment Sub index 0 Access RW Range 0 to 255 Size 1 byte Unit N A Default 1 UONEWUOJUI The number of RxPDOs assigned to this sync manager used for process data output Description uononpowju Sub indices 1 to sub index 0 Range 0x1600 to tye Sr Access RW 0x17FF Size 2 bytes Unit N A Default 0x1605 The object index of a RxPDO to assign to this sync manager By default this is assigned to RxPDO mapping 6 vl_target_velocity and controlword uone e sul jeoiueyooy Description
36. Policy and other relevant information is available on request or can be found at www greendrives com The electronic variable speed drives manufactured by Control Techniques have the potential to save energy and through increased machine process efficiency reduce raw material consumption and scrap throughout their long working lifetime In typical applications these positive environmental effects far outweigh the negative impacts of product manufacture and end of life disposal Nevertheless when the products eventually reach the end of their useful life they must not be discarded but should instead be recycled by a specialist recycler of electronic equipment Recyclers will find the products easy to dismantle into their major component parts for efficient recycling Many parts snap together and can be separated without the use of tools 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 opportun
37. SM 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 SM 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 C TwinCAT lo EtherCAT Mi he master may have to be re started for the file to be loaded 14 SM EtherCAT User Guide www controltechniques com Issue Number 5 5 1 3 Configuring the SM EtherCAT module for cyclic communications Unlike other Control Techniques fieldbus communication protocols CoE does not require that any module parameters be changed in order to achieve communications The baud rate of the network is fixed and the module is automatically allocated an address UONEWUOJU To check that the ethernet cable connected to the SM EtherCAT module on the drive is connected correctly look at the LED on the front of the SM EtherCAT module relating to the connector being used if this light is a solid green color then a link is established with the master if this light if off then check the cabling and also check that the master has started communications uononposju uole e Sul eo UeyoaN In the master scan the network ensuring that the SM E
38. Se Access RW OXFEFFFFFF Size 4 bytes Unit N A Default 0x60600008 the DSP 402 modes of operation object 0x6060 Description gJ R lt D po O D gJ n E E Oo X sounjes peoueApy 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 sonsoubeiq SOUSIOJOI Jo Jesso o SM EtherCAT User Guide 25 Issue Number 5 www controltechniques com Table 6 9 RxPDO mapping 6 DES Access RW Range 0 to CF Unit N A Sub index 1 1st mapped object Range 0 to de ge Access RW OXFEFFFFFF Size 4 bytes Unit N A Default 0x60400010 the DSP 402 control word 0x6040 A mapping to an object with the following format Bits O to 7 Length of the mapped object in bits e g a 32 bit parameter would peseripllon 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 ax igh i Access RW OxEEEFFFFF Size 4 bytes Unit N A Default 0x60600008 the DSP 402 modes of operation object 0x6060 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 m
39. T User Guide www controltechniques com Issue Number 5 Definitions e lt index gt A signed 16 bit number This is the index of the object dictionary entry specified in four hexadecimal characters e lt access gt A value describing how the object may be accessed RW read write RO read only and WO write only uonewoyu e lt size gt The size of the object sub index in bytes uononpo u e lt unit gt The physical unit e g ms counts per second etc 6 3 1 CoE communication area The first set of objects specify general communication settings uone e sul jeoiueyooy Table 6 4 Device type object 0x1000 The primary CoE functional profile is DSP 402 the value of the object is defined as follows uonejjesu jeouoe F Bits O to 15 Device profile number 402 0x192 Bit 16 Frequency converter x Bit 17 Servo drive y Bit 18 Stepper motor O Bit 24 DC drive manufacturer specific z Bits 25 to 31 Manufacturer specific 0 p pes Bue Description S 090 0 d This value will depend on the drive operating mode and or type On a Unidrive SP in open loop or closed loop mode or a Mentor MP in closed loop mode bit 16 will be set while bits 17 and 24 will be cleared On a Unidrive SP in Servo mode or a Digitax ST bit 17 will be set while bits 16 and 24 will be cleared yoddns gJ SE lt D po O D gJ Ku v gt O X s 1Nn e SONSOUBEIG soueapy SOUSIOJ
40. a feed constant feed driving shaft revolutions Table 7 25 Feed_constant 0x6092 Feed_constant Access RO Unit N A Range 0 to SC E Access RW OxFFFFFFFF Size Unsigned 32 Unit N A Default 1 Description Feed Sub index 2 Range 0 to VERR a 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 SP in servo mode closed loop vector mode and RFC mode It works on the Digitax ST and Mentor MP but is not supported in open loop or regen mode on any of the drives It is also not available on Commander SK or Affinity 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 EME eee 0x6080 max motor speed 7 3 15 0x6062 Position_demand_value This read only object is used to provide the currently demanded position value The value is given in user defined position units Table 7 27 Position_demand_value 0x6062 Position_demand_value Range 0 to Ee SL Access RO OXFFEFFFFF Size signed 32 Unit N A Default Description Used to provide the currently demanded position value 46 SM EtherCAT User Guide www controltechniques com Issue Number 5 7 3 16 0x6064 Position_actual_value This read only object provides the actual value of the position feed
41. able 8 19 Internal torque shortcut 0x2831 Internal torque shortcut Sub index 0 Access RW Range N A Size Signed 16 Unit 0 01 rated torque Default 0 Description This represents the drive internal torque shortcut scaled to 0 01 units SM EtherCAT User Guide 73 Issue Number 5 www controltechniques com uolje e Sul UONEUWOJUI uononpo u jeou o9 F jeoiueude Ayayes uone e Sul S 020 0Jd J e lt D po O h o gJ n E E Oo d sainjeay 9914919194 YOIND sonsoubeiq paoueapy sua Jo Jessolo 9 1 9 1 1 9 1 2 74 Diagnostics Module identification parameters The basic menu parameters can be accessed through the slot menu in the drive Pr MM PP where MM is the menu for SM EtherCAT in the host drive The basic menu parameters may also be accessed using menu 60 e Pr 60 PP SM EtherCAT module ID code Table 9 1 SM EtherCAT module ID code SM EtherCAT module ID code Default 421 SM EtherCAT Pr MM The module ID code indicates the type of module installed in the slot corresponding to menu MM This is useful for checking the module is of the correct type SM EtherCAT firmware version Table 9 2 SM EtherCAT firmware version major and minor wun eses RO Table 9 3 SM EtherCAT firmware version subversion SM EtherCAT firmware version Subversion zz Recess RO Unidrive SP Sizes 1 to 6 Unidrive SPM Mentor MP The software version of the Solutions
42. all configurations Figure 5 3 Quick start flowchart Ensure the Control Techniques xml file is in the appropriate folder on the hard drive of the master Check the LED status of the SM EtherCAT module In the master scan the EtherCAT network Select required PDOs Configure the PDOs with the mappings required Configure the Sync managers using the required PDOs Download or activate the configuration to the master Check the front of the SM EtherCAT module to ensure that the LED relating to the connection being used is flashing this confirms that communications are functioning 18 SM EtherCAT User Guide www controltechniques com Issue Number 5 5 3 Saving parameters to the drive On the Unidrive SP Affinity Digitax ST and Commander SK to avoid loss of the configured settings when the drive is powered down it is necessary to write 1000 to Pr MM 00 followed by pressing the reset button to perform a drive save On Mentor MP Pr MM 00 needs to be set to a value of SAVE followed by pressing the reset button UONEWUOJUI To store drive parameters e Set Pr MM 00 to 1000 Mentor MP Pr MM 00 SAVE e Press the red RESET button The drive will store all parameters except Menu 20 but the operation of the SM EtherCAT will not be affected Changes made to the SM EtherCAT configuration parameters will not take effect until the SM EtherCAT is reset uononpo u uole e Sul eo1ueyoaN Unidrive SP Mentor MP Aff
43. apped object Bits 16 to 31 Index of the mapped object Description Table 6 10 RxPDO mapping 22 0x1615 Receive PDO mapping 22 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default Description The number of mapped objects in thie PDO Sub indices 1 to 255 1st to 255th mapped objects in this PDO Range 0 to ve e Access RW OxEEEFFFFF Size 4 bytes Unit N A Default 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 26 SM EtherCAT User Guide www controltechniques com Issue Number 5 6 3 3 TxPDO mappings Objects with the indices from 0x1A00 to Ox1BFF specify transmit PDO mappings The following mappings from DSP 402 are included as standard Table 6 11 TxPDO mappings PDO number Mapping object index Mapping object name Been 2 0x6041 statusword 0x6061 modes_of_operation_display UONEWUOJUI uononpowju 0x604 1 statusword 0x6064 position_actual_value 0x6041 statusword 0x6044 vl_velocity_actual_ value The PDO mapping objects are defined below Each mapping object has the maximum number of sub indices each representing an object mapped to a PDO defined in the XML configuration file Table 6 12 TxPDO mapping 1 0x1A00 Transmit PDO mappi
44. at least 10 minutes and refer to Chapter 1 Safety information on page 5 If using a DC bus supply ensure this is fully discharged before working on any drive or Solutions Module 3 1 General installation The installation of a Solutions Module is illustrated in Figure 3 1 uononpouju U0 8 23SU1 291Uey99 N Figure 3 1 Installing a Solutions Module uone e sul 1eo1130913 paye s Buje S 090 0Jd The Solutions Module connector is located on the underside of the module 1 Push this into the Solutions Module slot located on the drive until it clicks into place 2 Note that some drives require a protective tab to be removed from the Solutions Module slot For further information refer to the appropriate drive manual UO lt d Ki 9 D U Wal Bi E Oo sounyeoy BOUBIIJOI YOIND sonsoubeig psoueApy sua JO Messo SM EtherCAT User Guide 11 Issue Number 5 www controltechniques com 4 1 4 1 1 Electrical installation SM EtherCAT module information Bus media The SM 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 Cabling issues are the single b
45. back device The value is given in internal units UONEWUOJUI Table 7 28 Position_actual_value 0x6064 Position_actual_value Range 0 to S Ge Access RO OxFFFFFFFF Size signed 32 Unit N A A uononpowju Default N This read only object provides the actual value of the position feedback device Description SE a H The value is given in internal units uole e Sul jeoiueude 7 3 17 0x6080 Max motor speed Table 7 29 Max motor speed 0x6080 Max motor speed Sub index 0 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 uole e Sul e911J99 3 pajuejs Dumec 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 090 01d Table 7 30 Following_error actual_value 0x60F4 Following_error actual_value Range 0 to A D Access RO OxEEEEFFFF Size signed 32 Unit N A Default N A Description This read only object provides the actual value of the following error 7 3 19 Ox60FB Position_control_parameter_set object Table 7 31 Position_control_parameter_set object 0x60FB Position_control_parameter_set Access RO Unit N A
46. ber 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 29u93 9J 8 sonsoubeiq jo Gesso SM EtherCAT User Guide 49 Issue Number 5 www controltechniques com 7 5 7 5 1 7 5 2 50 vi velocity mode Velocity mode is supported on Unidrive SP Digitax ST Affinity Mentor MP and Commander SK It is not however supported in regen modes When the drive is in either of the closed loop or servo operating modes the scaled velocity is written to the drive internal speed shortcut When the 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 vi velocity mode supported objects 0x6043 vl_velocity_demand 0x6042 vl_target_velocity 0x6044 vi_velocity_actual_value 0x6046 vi_velocity_min_max_amount 0x6047 vi_velocity_min_max 0x6048 vi_velocity_accleration Mvo acert 0x6042 vi_target_velocity This object is used to set the required velocity of the system It is multiplied by the vi dimension factor and the vi_setpoint_factor The value is given in rpm If the vi_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 Range 327
47. bes the method by which a drive seeks the home position also called the datum reference point or zero point S 090 0Jd 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 U pa lt y kel s e Ch o g Wa Bo A Le N Controlword 6040 s8Jn e9 paJuerpy Statusword 6041 Homing method 6098 Homing Speeds 6099 Homing l method Homing acceleration 609A Position demand value 6062 sonsoubeiq Home offset 607C 9U9J9J9J By choosing a homing method the following behavior is determined The homing signal positive limit switch negative limit switch home switch the direction of actuation and where appropriate the position of the index pulse An encircled number in Figures 7 3 to 7 10 indicates the code for selection of this homing position The direction of movement is also indicated sua JO Messo There are four sources of homing signal available These are the negative and positive limit switches the home switch and the index pulse from an encoder In the
48. cess RW Size Unsigned 32 Unit N A Access RW Size Unsigned 32 Unit N A 0x609A Homing acceleration This object indicates the configured acceleration and deceleration to be used during the homing operation The value shall be given in user defined acceleration units Table 7 61 Homing acceleration on page 65 specifies the object description eo1UeyoaN UONONpOL U uole e Sul uo e 1e sul 191139913 payejs Bue 090 0Jq Table 7 61 Homing acceleration 0x609A Homing acceleration Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit User defined acceleration units Default uoddns Indicates the configured acceleration and deceleration to be used during homing operation U lt D kel s e a o g Wa Be A Le X Description 7 8 Cyclic sync position mode Cyclic sync position mode is supported on the Unidrive SP in servo mode closed loop vector mode and RFC mode It is also supported on the Digitax ST Servo and Mentor MP drives It is not supported on a Unidrive SP in open loop or regen mode It is also not supported on a Commander SK or an Affinity sounjee paduenpy Table 7 62 Cyclic sync position mode 0x6077 torque_actual_value Ox607A target_position sonsoubeiq a9u93 Jaja 0x60B 1 velocity offset 0x60C2 interpolation_time_period jo esso NN When using one of the DSP 402 positioning modes Distributed Clocks must be enabled Failure to do so may result in the S
49. cessary for avoiding a risk of damage to the product or other equipment uone e sul e911 09 3 CM A Note contains information which helps to ensure correct operation of the product 1 2 Electrical safety general warning The voltages used in the drive can cause severe electrical shock and or burns and could be lethal Extreme care is necessary at all times when working with or adjacent to the drive paue s Bunjas Specific warnings are given at the relevant places in this User Guide S O9OJOJ4 1 3 System design and safety of personnel The drive is intended as a component for professional incorporation into complete equipment or a system If installed incorrectly the drive may present a safety hazard The drive uses high voltages and currents carries a high level of stored electrical energy and is used to control equipment which can cause injury Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction System design installation 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
50. ctrical installation Electric shock risk The voltages present in the following locations can cause severe electric shock and may be lethal e AC supply cables and connections e Output cables and connections e Many internal parts of the drive and external option units Unless otherwise indicated control terminals are single insulated and must not be touched Stored charge 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 5 www controltechniques com UOI JEWIOJUI uone e sul uone e sul sounjes pa9uerpy 29U9J9J9J uononpo u peyejs Buje S O9OJOJ4 sonsoubeiq eo1UeyoaN e91109 3 UO o D Si D g Wa D D Oo D JO lJessoJo 2 1 2 2 2 3 Introduction Features e Standard RJ45 with support for shielded twisted pair half duplex full duplex and 10Mbs 100Mbs connectivity e Dual 100Mbps EtherCAT interfaces for use in line topologies i e daisy chaining e Supports the Unidrive SP drives range Mentor MP Affinity Digitax ST and Commander SK e Control loop synchronization e Control cycle times down to 250us e Configured Station Alias e CANopen over EtherCAT CoE which includes Support of CANopen DSP 402 Device Profile for Drives and Motion e Cyclic sync position
51. d to provide the active mode of operation Table 7 19 Modes_of_operation_display values e made Cyclic sync position mode jJioddns el lt D kel s e a o g Be A Le X s 1N e p vueapy 7 3 8 0x6084 Profile decleration Table 7 20 Profile decleration 0x6084 Profile deceleration l Range 0 to ES NW Access RW OXFEFFFFFF Size Unsigned 32 Unit N A sonsoubeiq 29u93 Jaja Default 65536 Description Provides the deceleration ramp for the positioning modes jo esso SM EtherCAT User Guide 43 Issue Number 5 www controltechniques com 7 3 9 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 Ox605A is set to 2 or 6 The quick stop deceleration is also used if the fault reaction code object Ox605E is 2 The value is given in user defined acceleration units Table 7 21 Quick_stop_ deceleration 0x6085 Quick_stop_ deceleration Sub index 0 e Range 0 to SO e ay Access RW OxFFFFFFFF Size Unsigned 32 Unit N A Default 2 Description Quick stop function for the positioning related modes 7 3 10 Profile units 44 The SM 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 pr
52. delta time is given in seconds IEOUIOeIz uoley e Sul 7 5 7 0x6049 vi_velocity_deceleration This object is used to configure the delta speed and delta time of the slope of the deceleration ramp peyeys Dumec Example To decelerate by 800 rpm in 10s possible values for delta speed and delta time are 8000 and 100 respectively 090 01d vi_velocity_deceleration delta speed delta time Table 7 44 0x6049 vl_velocity_deceleration 0x6049 Sub index 0 Access RO Unit N A Sub index 1 Range 0 to Sai l 7 Access RW OxEEEFFFFF Size Unsigned 32 Unit rpm Default 1000 jJioddns U lt D kel s e a o g Be A Le X s9Jn e9 paduenpy The value of delta speed is given in rpm if the vi_dimension_factor and the vi_setpoint_factor have the value 1 otherwise the value is in user units Description Sub index 2 Access RW Range 0 to 65535 Size Unsigned 16 Default 2 Description The value of delta time is given in seconds 7 5 8 0x604A vi_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 sonsoubeiq a9u93 Jaja jo Gesso Example To decelerate by 800 rpm in 10s possible values for delta speed and delta time are 8000 and 100 respectively vi velocity deceleration delta speed delta time SM EtherCAT User Guide 53 Issue Number 5 www controltechniques com 7 5 9 Table 7 45 0x60
53. diagrams of homing sequences in Figure 7 3 the encoder count increases as the axis s position moves to the right in other words the left is the minimum position and the right is the maximum position SM EtherCAT User Guide 57 Issue Number 5 www controltechniques com 7 7 1 98 There are two digital inputs on the front of the SM EtherCAT module that can be used in Homing Mode more information is given in the following section General homing definitions Method 1 Homing on negative limit switch and index pulse Using this method as shown in Figure 7 3 Homing on negative limit switch and index pulse on page 58 the initial direction of movement shall be leftward if the negative limit switch is inactive here low The home position shall be at the first index pulse to the right of the position where the negative limit switch becomes inactive Figure 7 3 Homing on negative limit switch and index pulse 52 Index Pulse Negative Limit Switch Method 2 Homing on positive limit switch and index pulse Using this method as shown in Figure 7 4 Homing on positive limit switch and index pulse on page 58 the initial direction of movement shall be rightward if the positive limit switch is inactive here low The position of home shall be at the first index pulse to the left of the position where the positive limit switch becomes inactive Figure 7 4 Homing on positive limit switch and index pulse gt Index Pulse
54. e 0x6075 Motor_rated_current This object indicates the configured motor rated current It is taken from the motor s name plate Depending on the motor and drive technology this current is DC peak or rms root mean square current All relative current data refers to this value The value of this object is given in mA Table 7 50 0x6075 Motor_rated_current 0x6075 Range 0 to SE x Default Description Indicates the configured motor rated current Pr 5 07 SM EtherCAT User Guide www controltechniques com Issue Number 5 7 6 3 0x6078 Current_actual_value This object provides the actual value of the current It shall correspond to the current in the motor The value of this object is given per thousand of rated current Table 7 51 0x6078 Current_actual_value UONEWUOJUI 0x6078 Current_actual_value uononpowju Default 0 Description Provides the actual value of the current Range 32768 to fee Unit 0 1 of rated uole e Sul jeoiueusey 7 6 4 0x6087 Torque_slope This object indicates the configured rate of change of torque The value of this object is given in units of per thousand of rated torque per second Table 7 52 Torque_slope 0x6087 Torque_slope Range 0 to Size Unsigned Unit 0 1 of rated torque per ere OXFFFFFFFF second Default 0 Description Indicates the configured rate of change of torque uO e e sul 1291349913 peyeys Dumec 7 7 Homing mode This section descri
55. e vi dimension factor The vi_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 vi_dimension_factor is to convert this specific unit to the revolutions minute unit A value of O must not be used Velocity user defined unit Dimension factor rpm user defined unit Velocity rpm SM EtherCAT User Guide www controltechniques com Issue Number 5 Table 7 47 0x604C vi_dimension_factor 0x604C vi dimension factor Access RO Unit N A Sub index 1 UONEWUOJUI uononpouu Range 32768 to ER Si Access RW 32767 Size Signed 16 Unit N A Default 1 Description vi_dimension_factor numerator a value of 0 is not valid Sub index 2 Range 32768 to ar o Access RW 32767 Size Signed 16 Unit N A Default 1 Description vi dimension factor denominator a value of 0 is not valid uole e Sul eo1ueyoaN u0 8 e su1 191139913 The vi_target_velocity object is re read every new profile cycle It is scaled to appropriate units using the vi_dimension_factor and vl_setpoint_factor objects and then written to the drive preset reference 1 parameter Pr 1 21 paye s Bue The object v _velocity_min_max is handled every profile cycle The v _target_velocity is
56. e basic steps required to get cyclic data communicating using the CANopen over EtherCAT CoE protocol on the SM EtherCAT module SM EtherCAT version compatibility Table 5 1 SM EtherCAT version compatibility Drive type SM EtherCAT firmware Unidrive SP V01 08 00 or later V01 00 00 or later 01 02 00 or later 01 00 00 or later Digitax ST V01 02 00 or later V01 00 00 or later Commander SK V01 06 00 or later V01 00 00 or later Mentor MP V01 00 00 or later V01 02 00 or later For the purpose of the example this section will follow the steps required to set up cyclic communications using one RxPDO and two TxPDOs These PDOs will consist of the mappings shown in Table 5 2 A 5 2 PDO test mappings ees controlword 0x6041 statusword Mapping 1 16 bits 16 bits Pr 18 22 16 bits l 0x6064 Mapping 2 020042 vi targel velocity position_actual_value Pr 20 21 32 bits 16 bits 32 bits 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 9 Diagnostics on page 74 of this manual and have checked that the SDO PDO configurations are correct
57. e motor spindle or load uoley e Sul e911J9913 7 5 4 0x6046 vi_velocity_min_max_amount This object is used to configure the minimum and maximum velocity The value is given in rpm if the vi_dimension_factor has the value of 1 otherwise the value is in user units paye s Bue Table 7 41 vl_velocity_min_max_amount 0x6046 vi_velocity_min_max_amount Sub index 0 ZEIT a Range 0 to SE l We Access RW OXFEFEFEFF Size Unsigned 32 Unit rpm Default 0 S 090 01d el lt D kel s e a o g Be A Le X 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 positive and vl_velocity_min negative Sub index 2 Range 0 to 7 ge Access RW OxFFFFFFFF Size Unsigned 32 Unit rpm 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 v _velocity_max positive and v _velocity_max negative s8Jn e9 paduernpy sonsoubeiq 29u93 Jaja jo esso SM EtherCAT User Guide 51 Issue Number 5 www controltechniques com 7 5 5 0x6047 vi_velocity_min_max 7 5 6 This object is used to configure the minimum and maximum velocity The value is given in rpm if the vi_dimension_factor has the value of 1 otherwise the value is in user units
58. e offset to the home position All subsequent absolute moves shall be taken relative to this new zero position This is illustrated in Figure 7 11 Home offset definition on page 64 The value of this object shall be given in user defined position units Negative values indicate the opposite direction Figure 7 11 Home offset definition Zero Home position position Home offset cf Table 7 57 Home offset 0x607C Home offset Unit User defined Access RW Range 0 to OxFFFFFFFF Size Signed 32 position units Default Description Homing offset value 0x6098 Homing method This object indicates the configured homing method that shall be used Table 7 58 Homing method on page 64 specifies the object description and Table 7 59 Homing method values on page 64 specifies the value ranges for this object Table 7 58 Homing method 0x6098 Homing method Access RW Range 0 35 Size Unsigned 8 Unit N A 0 Default Description The homing method that shall be used Table 7 59 Homing method values ring tor assigned Method Y shall be uses to Method 35 shall be used SM EtherCAT User Guide www controltechniques com Issue Number 5 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 60 Homing speeds on page 65 specifies the object description UONEWUOJUI Table 7 60 Homing speeds 0x6099 Ac
59. e should not try to become synchronization master to the drive Master with sync Module should try to become synchronization master to the drive only when fieldbus specific synchronization has been achieved Master always Module should always try to become synchronization master to the drive IEOIUELEeI UONONpOL U uole e Sul uol e 2 SUI euer 8 3 3 Inter option module synchronization control Table 8 4 Inter option module synchronization control Inter option module synchronization control Table 8 5 Inter option module synchronization control values Independent Module should not try to become synchronization master to other modules Master with sync Module should try to become synchronization master to other modules only when fieldbus specific synchronization has been achieved Master always Module should always try to become synchronization master to other modules y a O E O o O mn yoddns ZOv dSQ aod amg soinyeo peoueapy 8 3 4 Inter option clock synchronization control Table 8 6 Inter option clock synchronization control Inter option clock synchronization control Default 9u 194 1 YOIND sonsoubeig Pr 61 06 This parameter provides control of the inter option module clock synchronization E S mechanism 3 8 a SM EtherCAT User Guide 69 Issue Number 5 www controltechniques com 8 3 5 8 3 6 8 3 7 8 3 8 70 Table 8 7 Inter option clock synchronizati
60. ection 8 3 6 on page 70 Pr 61 42 ie ae 500mS Task free Section 8 3 7 on page 70 Pr 61 43 REH External memory free Section 8 3 8 on page 70 Pr 61 44 Loe Internal memory free Section 8 3 9 on page 71 Pr 61 49 Se Option module error sub code Section 8 3 10 on page 71 Pr 61 50 Si F software version major and minor Section 8 3 11 on page 71 Pr 61 51 LC Bootloader software version subversion ZZ Section 8 3 12 on page 71 Table 10 3 SM EtherCAT parameter reference Object Description Default Range Cross reference Pr MM 01 SM EtherCAT module ID code MEAN ES Section 9 1 1 on page 74 Pr MM 02 9 MEthercaAT firmware major al 00 00 to 99 99 Section 9 1 2 on page 74 and minor version Pr MM 03 Node address address O to 65535 Section 5 4 on page 19 Pr MM 04 Reese RUN 1 to op Section 5 5 on page 19 Pr MM 06 SM EtherCAT EE E WE eisen to 9999 EEN 9 3 on page 76 E EoE Default gateway Y gateway Pr MM 21 EoE Default gateway Zgateway Section 6 34 on page 35 Pr MM 32 SM EtherCAT re initialize 0 OFF to 1 ON Section 5 5 on page 19 Pr MM 35 SM EtherCAT serial number 0 to 16777215 Section 9 6 on page 77 Pr MM 37 Ge EES ER ag OFF ON Section 6 35 on page 35 Pr mm 44 9 M EthercAT module 010255 Section 9 5 on page 77 EE WW Worst case orlica Task Tee NA Prmm 51 9 M EthercAT firmware G 0 to 99 Section 9 1 2 on page 74 subversion SM EtherCAT User Guide www controltechniq
61. enoted by the number before the decimal point The method used to determine the menu or parameter is as follows e Prxx 00 signifies any menu and parameter number 00 e PrMM xx where MM signifies the menu allocated to the solutions module as shown in Table 2 1 Drive menu availability and xx signifies the parameter number Table 2 1 Drive menu availability Drive Type Slot 3 17 xx untae SF ve Ye ve mandar s vee Issue Number 5 www controltechniques com uonewoyu uo e e sul uone e sul yoddns soinjeo peoueApy 299U9 9 9J yjajes uo 9npo qu peyejs Buje s 090 0Jd J lt D po O D gJ e E E Oo X sonsoubeiq jeolueyoa e911199 3 OI jo Gesso All references in this manual to SM Applications Plus should also extend to SM Applica tions Lite Lite V2 The exceptions to this are references to SM Applications Plus input output CTSync or the EIA RS 485 port as these are not supported on SM Applica tions Lite Lite V2 For full details of the differences see the SM Applications Modules and Motion Processors User Guide It is strongly recommended that the latest firmware be used where possible to ensure that all features are supported 10 SM EtherCAT User Guide www controltechniques com Issue Number 5 A Mechanical installation UONEWUOJUI Before installing or removing a Solutions Module in any drive ensure the AC supply has been disconnected for
62. ext critical task 2 Sync Manager task default This is the AL event task which occurs upon a sync manager access Sub index 2 Range 0to2 Size Unsigned 8 Unit N A Default 1 Description Intermediate buffer copy task Selects the task in which the high priority in slave to master cyclic data is copied into the intermediate buffer 0 Critical task This is the first 90us of the critical task 1 Critical 90 task Default This is the task that commences 90us after the critical task start and finishes before the next critical task 2 Sync Manager task default This is the AL event task which occurs upon a sync manager access Internal shortcuts Internal shortcuts are provided for very fast operation It is not possible to read the values non cyclically they can only be accessed at certain parts of the cycle in order to read and write correct values Table 8 18 Internal position feedback shortcut 0x2830 Internal position feedback shortcut Sub index 0 Range 2 to 2 1 Size Signed 32 Unit Counts Description This value is the drive feedback source It consists of the coarse position in the most significant 16 bits and the fine position in the least significant 16 bits It will then have a number of turns bits shifted into the most significant bits pushing as many fine position bits as required out This should not be read in the first 90us after the RMINT edge because data skew may result T
63. fer SM EtherCAT will return an SDO abort code to indicate the reason for the failure the SDO abort codes are listed in Table 9 20 Table 9 20 SDO abort codes Description in hex Toggle bit not alternated Unsupported access to an object Attempt to read a write only object Attempt to write a read only object Object does not exist in the object dictionary General parameter incompatibility General internal incompatibility in the device RE be transferred or stored to the application because of the present Object dictionary dynamic generation fails or no object dictionary is present 9 11 FLASH file system free Table 9 21 SM EtherCAT FLASH file system free SM EtherCAT FLASH file system free ees RO Indicates what percentage of the flash based file system is unused and still available SM EtherCAT User Guide 81 Issue Number 5 www controltechniques com UONEUWWJOJUI eo Ueyoa A uononpo ju uo ejjesu uo e e SuI jeoujoe y 4 O a O O o n yoddns ZOv dSQ e1Jo1d anug sounjea paoueApy a9uaJajal YOIND DEl jo Asesso 5 9 12 Updating SM EtherCAT firmware The SM EtherCAT firmware is available from your local Control Techniques Drive Centre or supplier and can also be downloaded from CTSupport com To upload firmware to the SM EtherCAT module the use of Winflasher is required this application is also available from your local Control Techniques Drive Centre or supplier NM lt is importan
64. gs of motion control parameters such as velocity acceleration deceleration motion profile type etc The value of this object is given in user defined position units Table 7 64 Target position 0x607A Target position Range 0 to Size Signed Unit User defined ACES OXFFFFFFFF position units Default N A Indicates the command positions that the drive should move to in cyclic sync Description position mode 0x60B1 Velocity offset This object provides the offset for the velocity value The offset is given in user defined velocity units In cyclic synchronous position mode this object contains the input value for velocity feed forward Table 7 65 Velocity offset 0x60B1 Velocity offset Range 0 to ae es Unit User defined ECE STAs OXFFFFFFFF Size Signed 32 Velocity units 0 Default Description Provides the offset for the velocity value SM EtherCAT User Guide www controltechniques com Issue Number 5 8 1 Advanced features Distributed Clocks SM EtherCAT supports Distributed Clocks This is the scheme used by EtherCAT to accurately time synchronize slave devices Position speed and current control loops can all be synchronized When the option module is connected to a drive which can take a time synchronization signal e g a Unidrive SP or Digitax ST the EtherCAT Distributed Clocks facility can be used to provide this signal so the drive speed and current tasks are synchronized to the network The posi
65. havior watchdog PENON de hon page 0x2820 Out cyclic data The number of the last sub index in this Section 8 4 on page 72 configuration object 0x2821 In cyclic data The number of the last sub index in this Section 8 18 on page 73 configuration object SM EtherCAT User Guide 83 Issue Number 5 www controltechniques com UONEWUOJUI eo Ueyoa N UONONpOL U u0 e e su1 uone e sul e91 99 3 s 090 01d gJ lt D po O D LI Ku y E Oo X Solo sonsoubeiq psoueApY EPITETET jo Auessoj5 Object Name Description Gross reference This value is the drive feedback source It consists of the coarse position in the most significant 16 bits and the fine position in the least significant 16 bits Internal position It will then have a number of turns bits feedback shortcut shifted into the most significant bits pushing as many fine position bits as required out This should not be read in the first 90us after the RMINT edge because data skew may result Internal torque This represents the drive internal torque 0x203 shortcut scaled to 0 01 units FEO SAZON page E 0x603F Indicates the current drive error code Section 9 8 2 on page 79 Provides the primary method of i 0x6040 Controlword controlling the behavior of the drive Section 7 1 on page 36 0x6041 Statusword ae provides feedback about ine SNE Section 7 2 on page 37 operating state of the drive 0x6042 vl target veloc
66. iggest 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 SM EtherCAT module has two 100BASE TX Ethernet ports which support segment lengths of up to 100m This means that the maximum cable length which can be used between one SM EtherCAT port and another 100BASE TX port is 100m however it is not recommended that the full 100m cable length is used The total network length is not restricted by the Ethernet standard but depends on the number of devices on the network and the transmission media copper fiber optic etc CM The EtherCAT system designer must consider the impact that the selected network 4 2 12 structure will have on performance SM EtherCAT terminal descriptions The SM EtherCAT module has two RJ45 Ethernet ports for the EtherCAT network There are also two digital inputs available for use in Homing Mode Figure 4 1 EtherCAT connection SM EtherCAT User Guide www controltechniques com Issue Number 5 4 3 Module grounding SM EtherCAT is supplied with a grounding tag on the module that should be connected to the closest possible g
67. ill occur immediately on network loss this implies that the motor will coast ZOv dSQ e1jo1d anug s9Jn e9 paJuerpy Description SM EtherCAT resets an internal timer when a valid message is received from the EtherCAT network The network loss trip is triggered when no new messages are received before the timer times out The SM EtherCAT will trip the drive and the SM EtherCAT error code parameter Pr MM 50 will show 120 After power up or reset the network loss trip is not armed until one of the following events occur agueJajal qomo ETE e SYNC message is received RxPDO is received Once the trip has been armed a minimum of one of the above messages must be received or transmitted in each time period set in sub index 2 of the Network loss behavior object 0x2813 JO JessoJo SM EtherCAT User Guide 75 Issue Number 5 www controltechniques com 9 3 Diagnostic parameters Table 9 5 SM EtherCAT operating status SM EtherCAT operating status Default N A Pr MM 06 9999 to 9999 feces RO 9 3 1 Running states Table 9 6 Diagnostic information running states DW Meaning Description lt Ml astablikad A link has been established but no frames are being transmitted or received gt 0 Handled messages per The number of cyclic PDO messages that the active second EtherCAT is handling per second Table 9 7 Diagnostic information application Pr Meaning Descmpton 85 Applicaton stated The main a
68. ing SWITCHED ON state functionality SM EtherCAT User Guide www controltechniques com Issue Number 5 7 2 0x6041 Statusword This provides feedback about the current operating state of the drive Table 7 4 describes the format of the status word and illustrates how the individual statusword bits are combined to represent the current state of the drive Table 7 3 Statusword 0x6041 Access RW Range 0 to 65535 Size Unsigned 16 Unit N A UONEWUOJUI uononpowu Default Description This provides feedback about the current operating state of the drive Table 7 4 Statusword bit functions Ree ee EE IO mm ra ie om ns e sod fas ve 1 oe so mo 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 EE 7 3 Common profile features uole 2 SUI jeoiueude uo e 1ejsul e911199 3 paye s Buje 090 0Jq jJioddns U lt bd kel e h o g Wa Be A Le Gs 7 3 1 Sequencing control These are the supported objects used to control the drive soinjeo p vueapy Table 7 6 Sequencing control supported objects 0x605B shutdown option Code sonsoubeiq 0x605C disable _operation_option_code Ox605A quick_
69. inity and Digitax ST Menu 20 applications parameters may be saved if an Applications Module is installed menu 20 is stored in the Applications Module s memory See the relevant Applications Module documentation for more information If the drive is running on backup supply only Pr MM 00 must be set to 1001 to perform a save uOne e sul e911J99 3 MI This saves only drive and module parameters and not SM EtherCAT related objects 5 4 SM EtherCAT Node address Table 5 4 SM EtherCAT Node address pan CIS Pr mms It is not necessary for a user to set a node address manually in order to initiate EtherCAT communications however this parameter can be used to configure an EtherCAT Station Alias When changed this value will be stored in the option non volatile storage upon a transition from the INIT state to the PRE OPERATIONAL state this change will also cause an AL Status Code to be set to indicate that the option needs to be reset It will be possible to read the value at the 16 bit word address 0x0004 of the SII Slave Information Interface data and in EtherCAT register 0x0012 a 16 bit word 5 5 SM EtherCAT RUN Table 5 5 SM EtherCAT RUN SM EtherCAT RUN O o g gt Ku ek D gt D Q U O Ki Q Q a Ku sounjea ZOv dSQ a1youd anug peoueapy sonsoubeiq This parameter displays the SM EtherCAT RUN state as required by the EtherCAT indicator and Marking Specification It will contain one of the values i
70. ities for improvement When preparing to recycle or dispose of any product or packaging please observe local legislation and best practice Software Statement This Solutions Module SM is supplied with the latest software version When retro installing to an existing system all software versions should be verified to confirm the same functionality as Solutions Modules of the same type already present This also applies to products returned from a Control Techniques Service Centre or Repair Centre If there is any doubt please contact the supplier of the product The software version of the Solutions Module can be identified by looking at Pr MM 02 and Pr MM 51 where MM is the relevant menu number for the Solutions Module slot being used See Pr MM 02 and Pr MM 51 description later in this manual for more information The software version takes the form of xx yy zz where Pr MM 02 displays xx yy and Pr MM 51 displays zz e g for software version 01 01 00 Pr 15 02 will display 1 01 and Pr 15 51 will display 0 REACH legislation EC Regulation 1907 2006 on the Registration Evaluation Authorisation and restriction of Chemicals REACH requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European Chemicals Agency ECHA to be a Substance of Very High Concern SVHC and is therefore listed by them as a candidate for compulsory authorisation For c
71. ity Reduce Drive serial interface priority Default OFF peyeys Bue Pr MM 37 SEN S 090 0 d It is not possible for the both the Drive and the SM EtherCAT module to support all of the available serial communication protocols simultaneously This means that the user must decide if they wish the drive to provide the primary communication interface via its serial RJ45 connector or the SM EtherCAT module In the default state the primary interface will be provided by the drive Pr MM 37 OFF default It will not be possible to forward on messages that are intended for either the drive or another option module The SM EtherCAT module will be able to handle two types of messages UO gt r lt o KG g 9 D g Wal Pp D D seJn ea peoueApy 1 Those that access Drive parameters 2 Those that access SM Applications parameters Pr MM 37 ON The SM EtherCAT module will request that the drive permits it to become the primary communication interface If the drive is able to transfer control then the following restrictions will be imposed sonsoubeiq 2949 99 JANO 1 The drives serial interface will only be able to handle messages that are 32 bytes or less A Remote LCD keypad would continue to work although SM Application parameters would not be visible If a message is received that is too long for the drive to handle no reply will be sent 2 Any LCD keypad fitted not remotely mounted to the drive wi
72. ity o SEELEN EEN eene page 30 Provides the instantaneous velocity demand generated by the drive ramp Section 7 5 2 on page 50 function 0x6044 vil_velocity_actual Provides the velocity at the motor spindle Section 7 5 3 on page 51 value or load 0x6046 vil_velocity_min This object is used to configure the Section 7 5 4 on page 51 max_amount minimum and maximum velocity 0x6047 vil_velocity_min This object is used to configure the Section 7 5 5 on page 52 max minimum and maximum velocity eebe This object is used to configure the delta 0x6048 y speed and delta time of the slope of the Section 7 5 6 on page 52 acceleration acceleration ramp SE EE This object is used to configure the delta 0x6049 y speed and delta time of the slope of the Section 7 5 7 on page 53 deceleration deceleration ramp EE EE This object is used to configure the delta 0x604A En ya speed and delta time of the slope of the Section 7 5 8 on page 53 H deceleration ramp for quick stop WEEN This object is used to configure the 0x604B 7 EIN numerator and denominator of the Section 7 5 9 on page 54 factor vil_setpoint_factor e This object is used to configure the vi_dimension 0x604C factor J numerator and denominator of the Section 7 5 10 on page 54 vl_dimension_factor 0x605A Quick_stop Specifies what action is performed in the Section 7 3 2 on page 41 option_code event of a quick stop function Used to control what action is performed Shutdo
73. ity of connecting to the Control Techniques PC Tools SyPT Pro SyPTLite CTSoft CTScope and Winflasher along the same connection currently being used for SM EtherCAT communications For help configuring this protocol with the Control Techniques PC Tools please refer to 6 4 1 32 Knowledge Base document COMMS046 on CTSupport titled Connecting to the Control Techniques PC Tools using the SM EtherCAT module and EoE Ethernet over EtherCAT EoE IP address The SM EtherCAT EoE IP address is defined in the EtherCAT Master and is displayed in the module parameters as shown in Figure 6 1 Figure 6 1 EoE IP address format SM EtherCAT EoE IP address Pr MM 10 Pr MM 11 Pr MM 12 Pr MM 13 Table 6 23 EoE IP address Wip EJE IP address Wi Prmm 1o Range Oto255 This is the most significant octet of the SM EtherCAT EoE IP address Table 6 24 EoE IP address Xip EoE IP address Sue prmm 14 Range Oto255 This is the second most significant octet of the SM EtherCAT EoE IP address Table 6 25 EoE IP address Yip EoE IP address Yip Pr MM 12 deca This is the third most significant octet of the SM EtherCAT EoE IP address SM EtherCAT User Guide www controltechniques com Issue Number 5 Table 6 26 EoE IP address Ze UONEWUOJU EoE IP address Zip Pr MM 13 Ge This is the least significant octet of the SM EtherCAT EoE IP address 6 4 2 EoE Subnet mask The SM EtherCAT EoE Subnet mask is
74. je Description Use the feedback source freeze for homing This will cause the freeze from the 9 selected feedback device to be used instead of the index marker pulse when it is required during S homing o Q 0x2804 Freeze object 5 This object is used to configure the freeze function that can be used within the Homing 29 mode profile Table 7 56 Freeze object on page 63 specifies the object description 3 S 30 Table 7 56 Freeze object 2 N 0x2804 Sub index 0 s 1N e p vueapy Sub index 1 g Access RW Range 0 to 1 Size Unsigned 8 Unit N A E Default 0 Description Route the option freeze onto the drive Setting a value of 1 here will route the option digital input O onto the drive freeze line 3 Sub index 2 S Range 0 to 1 Size Unsigned 8 Unit N A S Default 0 Description Option to drive freeze invert Setting a value of 1 will invert the freeze signal routed S onto the drive from the option input O if Ox2804 sub index 1 is set to 1 This value will be read only o on a transition from O to 1 in sub index 1 SM EtherCAT User Guide 63 Issue Number 5 www controltechniques com 64 0x607C Home offset This object indicates the configured difference between the zero position for the application and the machine home position found during homing During homing the machine home position is found and once the homing is completed the zero position is offset from the home position by adding the hom
75. l task default This is the first 90us of the critical task 1 Critical 90 task This is the task that commences 90us after the critical task start and finishes before the next critical task 2 Sync Manager task This is the AL event task which occurs upon a sync manager access Sub index 2 Access RW Range 0to2 Size Unsigned 8 Unit N A Default 2 Description Intermediate buffer copy task Selects the task in which the high priority out master to slave cyclic data is copied into the intermediate buffer 0 Critical task This is the first 90us of the critical task 1 Critical 90 task This is the task that commences 90us after the critical task start and finishes before the next critical task 2 Sync Manager task default This is the AL event task which occurs upon a sync manager access 72 SM EtherCAT User Guide www controltechniques com Issue Number 5 8 5 Table 8 17 In cyclic data configuration 0x2821 Sub index 0 Sub index 1 Access RW Range 0to2 Size Unsigned 8 Unit ms Description High priority cyclic data task selects the task in which high priority in slave to master cyclic data is copied between the intermediate buffer and the mapped objects parameters etc O Critical task This is the default task This is the first 90us of the critical task 1 Critical 90 task Default This is the task that commences 90us after the critical task start and finishes before the n
76. limited according to the values set in the object vi_velocity_min_max which is read every profile cycle The object vi_velocity_min_max_amount is mapped to vi_velocity_min_max s 090 01d The value of the vi_velocity_demand object is calculated in the background The option reads the value of parameter Pr 2 01 post ramp reference scaled from RPM to user units using wl dimension factor and vi_setpoint_factor and writes the value to the vi_velocity_demand object U lt y kel s e a o g Wa Be A Le X On a closed loop drive the speed feedback is read from the drive internally every profile cycle scaled to the same units as vl_target_velocity and written to the vl_velocity_actual_value object On an open loop drive the estimated motor speed is read from Pr 5 04 motor RPM in the background scaled to the units of vl_target_velocity and written to the vi_velocity_actual_value object soinjeo p vueapy The vi_velocity_acceleration and vl_velocity_deceleration objects are handled in the background They are read scaled to drive acceleration units depending on the drive operating mode and written to the drive acceleration rate and deceleration rate presets In addition if the drive acceleration rate preset is changed the vl_velocity_acceleration object is updated and if the drive deceleration rate preset is changed Pr 2 21 the vi_velocity_deceleration object is updated 99u9aJ9Ja sonsoubeiq suJa jo Messo
77. ll stop working suJa JO Messo Pr MM 37 must be set to ON to achieve EoE communications Pr MM 37 only needs to be considered when used with a Unidrive SP Digitax ST Mentor MP of Affinity It has no use when used with a Commander SK SM EtherCAT User Guide 35 Issue Number 5 www controltechniques com 7 1 36 Drive profile DSP 402 support SM EtherCAT supports the following modes of the DSP 402 profile e Cyclic sync position mode e Interpolated position mode vi velocity mode Profile torque mode e Homing 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 7 1 Table 7 1 Controlword 0x6040 Controlword Range 0 to 65535 Size Unsigned 16 Unit N A Default Seen wooo S oo spee eo ee e e e a e a a Reseed r os e or e eo as ev 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 LAA A commans Her as a KE E AAA operation a gt zee AAA NOTE Automatic transition to Enable operation state after execut
78. machinery e 2004 108 EC Electromagnetic Compatibility SM EtherCAT User Guide www controltechniques com Issue Number 5 1 8 1 9 1 10 1 10 1 1 10 2 SM EtherCAT User Guide Motor Ensure the motor is installed in accordance with the manufacturer s recommendations and that the motor shaft is not exposed Standard squirrel cage induction motors are designed for single speed operation If it is intended to use the capability of the drive to run a motor at speeds above its designed maximum it is strongly recommended that the manufacturer is consulted first Low speeds may cause the motor to overheat because the cooling fan becomes less effective The motor should be installed with a protection thermistor If necessary an electric forced vent fan should be used The values of the motor parameters set in the drive affect the protection of the motor The default values in the drive should not be relied upon It is essential that the correct value is entered in the motor rated current parameter Pr 5 07 or Pr 0 46 in Unidrive SP Affinity and Digitax ST or Pr 0 28 SE07 in Mentor MP or Pr 0 06 in Commander SK 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 without careful consideration of the impact on the controlled system Measures must be taken to prevent unwanted changes due to error or tampering Ele
79. mmm EthercAT Conformance tested EMERSON Industrial Automation User Guide SM EtherCAT Unidrive SP Affinity Digitax ST Commander SK Mentor MP Part Number 0471 0128 05 Issue Number 5 ES CONTRO TA FECHMN QUES www controltechniques com 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
80. module error sub code Default feces CN This parameter provides more detailed information of the cause of the current SM EtherCAT slot error uol e 2 SUI euer 8 3 11 Bootloader software version Table 8 14 Bootloader software version Bootloader software version XX YY Default Pr 61 50 0 to 9999 ess RO 8 3 12 Bootloader software sub version Table 8 15 Bootloader software sub version Bootloader software subversion ZZ Default S 020 0Jd J a lt D po O h D g n dE E Oo amp feces RO These parameters provide the XX YY and ZZ parts of the bootloader firmware version number while the main application is running soinyeo peoueapy 9u 194 1 YOIND sonsoubeig SLL Jo Asesso 5 SM EtherCAT User Guide 71 Issue Number 5 www controltechniques com 8 4 Advanced cyclic data configuration This configuration will allow the behavior of the cyclic data handling to be modified specifically it will allow the tasks in which cyclic data is handled to be changed Table 8 16 Out cyclic data configuration 0x2820 Out cyclic data configuration Sub index 0 Access RO Range WA Size Unsigned Wer NA Access RW Range 0to2 Size Unsigned 8 Unit ms Default 0 Description High priority cyclic data task selects the task in which high priority out master to slave cyclic data is copied between the intermediate buffer and the mapped objects parameters etc O Critica
81. must be used This sequence does NOT store the SM EtherCAT configuration parameters in the drive or the SM EtherCAT FLASH memory On Commander SK drives Pr 00 00 is not available 20 SM EtherCAT User Guide www controltechniques com Issue Number 5 D Protocols UONEWUOJUI 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 SM EtherCAT at network Initialization using SDOs 6 1 1 PDO Priority If 2 PDOs are mapped in a sync manager then the second PDO will always be considered to be low priority and as such should not be used for deterministic process data Mappings to slow parameters such as SM Applications PLC parameters etc should always be placed in the second PDO When there is more than one PDO mapping in a Sync Manager placing a slow parameter in the first PDO will trigger an SDO abort code If only one PDO is mapped to a sync manager then placing a slow parameter in that PDO will make it low priority so slow parameter accesses should not be placed in PDOs where deterministic data access is required uone e sul uononpowju SOU jeoiueyooy uole e Sul Doug Bue It is possible to map any drive parameters in PDOs S 090 0 d 6 2 Service Da
82. n rd 99U9 9 9 sone sonsoubeiq paJuerpy JO Messo Table 7 7 CoE state machine transition and events Event s Action s Automatic transition after power on or Drive device self test and or self reset application Initialization shall be performed Automatic transition Communication shall be activated Shutdown command from control device 2 None or local signal 3 Switch on command received from control Power section shall be switched on if not device or local signal already switched on 4 nable operation command received from Drive function shall be enabled and clear control device or local signal all internal set points Disable operation command received from SE shal be disabled control device or local signal The high power shall be switched off Shutdown command received from control immediately and the motor shall be free to device or local signal rotate if not braked additional action depends on the shutdown option code Quick stop or disable voltage command N i one 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 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
83. n 7 60 on page 65 procedure Homia Indicates the configured acceleration and Ox609A H deceleration to be used during homing Section 7 61 on page 65 acceleration operation This object provides the value of the E 0x60B1 Velocity_ offset velocity of set Section 7 8 3 on page 66 Ox60F4 Following error This read only object provides the actual Section 7 3 18 on page 47 actual_ value value of the following error UODEULUOUI Ayayes eo Ueyoa N UONONpoOL U uol e e SU uol e 2 SuI e91 99 3 s 090 01d Quick_stop 0x6085 deceleration ZOv dSQ e1youd aang sa3 n ea sonsoubeiq psoueApY 9DUdIOJO1 Position_control m Ox60FB parameter set pl EES ENEE Section 7 3 19 on page 47 object 9 i Interpolation sub S Ox60CO0 Specifies the interpolation type Section 7 4 1 on page 48 Ox60C1 Interpolation This object is used to specify the target Section 7 4 2 on page 48 data_record position Ox60C2 Interpolation The number of time units between Section 7 36 on page 49 time_period interpolator re starts jo Auessoj5 SM EtherCAT User Guide 85 Issue Number 5 www controltechniques com Table 10 2 Virtual parameter reference Parameter Defaulk Description __Crossreference Crer 0 Parameter 100shortout Section 83 7 on page 68 Pretos Interoption clock synchronization control Section 83 4 on page 89 Pr 61 07 LC 0 Option slot indicator Section 8 3 5 on page 70 Pr 61 40 i Oe Option hardware issue S
84. n Table 5 6 29U9J9J9J JANO su Ia JO Messo SM EtherCAT User Guide 19 Issue Number 5 www controltechniques com 9 6 Table 5 6 EtherCAT State Machine State Value ESMState 1 INIT 2 PRE OPERATIONAL SAFE OPERATIONAL O a 1 OPERATIONAL Although this parameter has the read write attribute it will be forced to the state value continuously to prevent it being written by another entity Re initializing the SM EtherCAT Table 5 7 SM EtherCAT re initialize SM EtherCAT re initialize OFF 0 OFF Pr MM 32 to 1 ON Changes to the SM EtherCAT configuration in menu 15 16 or 17 parameters on Unidrive SP and Mentor MP menu 15 or 16 on Affinity and Digitax ST or menu 15 on Commander SK will not take effect until the SM EtherCAT has been re initialized To re initialize SM EtherCAT 1 Set Pr MM 32 to ON 2 When the sequence has been completed Pr MM 32 will be reset to OFF 3 The SM EtherCAT will re initialize using the updated configuration The above sequence does NOT store the SM EtherCAT configuration parameters in the 5 7 drive or the SM EtherCAT s internal FLASH memory This parameter will change back to OFF immediately and as such the change may not be visible on the display Re initialize all Solutions Modules To re initialize all Solutions Modules installed on a drive 1 Set Pr MM 00 to 1070 see note below 2 Press the red RESET button on the drive Another parameter e g Pr 01 00
85. ng 1 Sub index 0 Number of mapped objects Range 0 to CF Size 1 byte Unit N A Default 1 Description The number of mapped objects in thie PDO Sub index 1 1st mapped object uONe e sul jeoiueyooy uone e sul 89119913 pales Bue S 090 0 d Range 0 to ENN q Access RW OXFEFFFFFF Size 4 bytes Unit N A Default 0x60410010 the DSP 402 status word 0x6041 A mapping to an object with the following format yoddns 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 gJ lt D po O D gJ Ku y E Oo X sounjes peoueApy sonsoubeiq SOUSIOJOI JO Messo SM EtherCAT User Guide 27 Issue Number 5 www controltechniques com Table 6 13 TxPDO mapping 2 ox1A01 Access RW Range 0 to CF Unit N A Sub index 1 1st mapped object Range 0 to e a Access RW OxEEEFFFFF Size 4 bytes Unit N A Default 0x60410010 the DSP 402 status word 0x6041 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 oe en Access RW OXFFEFFFFF Size 4 bytes Unit N A Default 0x60610008
86. nronanannonnnnos 12 SM EtherCAT module information oooccccccncncccccncnnononncnnnnnnnnononnnananenonos 12 SM EtherCAT terminal descriptions occccccccccccccooocononncncnnnnnnnnononanenennnos 12 lee Ise e Mu Le DEE 13 NetWork ele ee te EE 13 Minimum node to node cable length sssseeeeeeeseeeeeeeeeeeeeeeeeeeeeeeeees 13 Getting Started EE 14 QUICK SAM QUilS a A ibid 14 Quick lee e 18 Saving parameters to the drive cece cccecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 19 SM EtherCAT Node address ii dese ge deed use 19 SM EtherCAT RUN 0 0 0 ccc cccceeceeeceeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeneeeess 19 Re initializing the SM EtherCAT 0 0 0 eeeseesesseeeseeeeeeeeeeeeeeeeeeseeeeeeeeeeeeeees 20 Re initialize all Solutions Modules 20 ProOtOCOlS cosinicata linea rinda 21 Process Data Objects PDOs WEE 21 Service Data Object SDO parameter ACCESS ccoooooccccccccnnnonccnnnnnanenennnos 21 CANopen over EtherCAT CoE see 22 Ethernet over EtherCAT EOE aa 32 www controltechniques com 7 1 7 2 7 3 7 4 7 0 7 6 1 17 7 8 8 1 8 2 8 3 8 4 8 5 9 1 9 2 9 3 9 4 9 5 9 6 9 7 9 9 9 10 9 11 9 12 10 11 Drive profile DSP 402 Support ccccceseeeeeeeeeees 36 Ox6040 Comtrolword icon adidas 36 0H ESE WONG AAA A 37 Common profile features ooooccocnocononnconononononccnnonononococononanincnnons 37 Interpolated position mode
87. o 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 e Value 2 Setting object 0x1C13 sub index 0 to a value of 2 as above indicates that two TxPDOs will be assigned to the sync manager 3 assignment Index 0x1C13 e Sub index 0x01 Size 2 Value 0x1A00 Q D 2 5 e m sp S a o v Si el 9 Q o nm Z0b 4S0 a1yosd aang s8 n e9 paJuerpy Index 0x1C13 Sub index 0x02 Size 2 Value 0x1A05 Setting object 0x1C13 sub index 1 to a value of O0x1A00 and sub index 2 to a value of Ox1A05 as above maps TxPDO1 and TXPDO6 to the process data input sync sonsoubeiq Download the configuration to the master 29U2 aJ8J JINO After downloading the configuration to the master the LED s on the front of the SM EtherCAT should flash depending on the port s connected Values written to parameters over RxPDOs should now be viewable using the drive s keypad so long as the master has put the slave into the operational state also parameter values changed using the drive keypad will be updated on the master sua JO Gesso SM EtherCAT User Guide 17 Issue Number 5 www controltechniques com 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
88. 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 sonsoubeiq SOUSIOJOI Jo Gesso SM EtherCAT User Guide 29 Issue Number 5 www controltechniques com 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 corresponding memory areas are utilized by the CoE protocol Table 6 17 Sync manager communication type object 0x1C00 Sync manager communication type Sub index 0 number of sync manager channels used Access RO Range N A Size 1 byte Unit N A Default Description The number of sync manager protocols used by the CoE protocol Sub index 1 Usage of sync manager 0 Access RO Range N A Size 1 byte Unit N A Default Sync manager 0 is used by CoE as the mailbox receive channel master to Description slave Sub index 2 Usage of sync manager 1 Access RO Range N A Size 1 byte Unit N A Default Description Sync manager 1 is used by CoE as the mailbox send channel slave to master Sub index 3 Usage of sync manager 2 Access RO Range N A Size 1 byte Unit N A Default Sync manager 2 is used by CoE as the process data output Rx
89. ofile units Ox608F position_encoder_resolution 0x6092 feed constant For positions the scaling control includes a feed constant a gear ratio and an encoder revolution These values are combined by the implementation into a simple scaling numerator and denominator It is possible to change these values non cyclically i e using SDOs in which case the scaling numerator and denominator and any position limit values are recalculated in the background It is not however possible to change these values cyclically i e by mapping PDOs to them For velocities in addition to the position constants described above these values are combined into a simple numerator and denominator to scale velocities to internal velocity units This scaling also properly handles remainders i e when used on a reference or feedback accumulate the remainder and add it to subsequent velocity values and when used with a limit round up or down It is possible to change these values non cyclically i e using SDOs in which case the scaling numerator and denominator is recalculated in the background It is also necessary to re scale velocity limit values with the new factor It is not possible to change these values cyclically i e by mapping PDOs to them SM EtherCAT User Guide www controltechniques com Issue Number 5 7 3 11 0x608F Position_encoder_resolution This read only object indicates the configured encoder increments per number of motor revolution
90. on control values Independent Module should not try to be come synchronization master to clocks in other modules Master Module should try to become synchronization master to clocks in other modules Slave Module should become a synchronization slave to clocks in another module Option slot indicator Table 8 8 Option slot indicator Option slot indicator Default The parameter displays the number of the option slot on the drive that the SM EtherCAT module is connected to The values for the slots are 1 2 and 3 Option hardware issue Table 8 9 Option hardware issue Deut Pr 61 4 ess RO The parameter displays the hardware revision number of the module 500ms Task free Table 8 10 500ms Task free 500ms Task free ee RO This parameter indicates what percentage of the 500ms system task is unused and still available External memory free Table 8 11 External memory free External memory free ess JB This parameter indicates what percentage of the external memory is unused and still available SM EtherCAT User Guide www controltechniques com Issue Number 5 8 3 9 Internal memory free Table 8 12 Internal memory free Internal memory free UONEWUOJUI This parameter indicates what percentage of the internal memory is unused and still available uononpowju 8 3 10 Option module error sub code Table 8 13 Option module error sub code uole e Sul jeoiueude Option
91. on for e 0x1A01 mapping 2 transmit PDO mapping 2 Section 6 3 3 on page 27 Transmit PDO Contains the mapping information for 0x1A02 mapping 3 transmit PDO mapping 3 Section 6 3 3 on page 27 0x1A05 Transmit PDO Contains the mapping information for Section 6 3 3 on page 27 mapping 6 transmit PDO mapping 6 Transmit PDO Contains the mapping information for oat mapping 22 transmit PDO mapping 22 PECOT e2 oN page ar 0x1C00 SN e This read only object provides sync dois type manager usage details de pag ync manager 0 This read only object contains 0x1C10 PDO information relating to the non cyclic Section 6 3 4 on page 30 assignment receive mailbox Sync manager 1 This read only object contains 0x1C11 PDO information relating to the non cyclic send Section 6 3 4 on page 30 assignment mailbox Sync manager 2 0x1C12 PDO SE EE Section 6 3 4 on page 30 assignment Sync manager 3 0x1C13 PDO SE the currently in use transmit Section 6 3 4 on page 30 assignment 0x2802 Feedback Specifies the source position for position Section 6 3 5 on page 31 encoder source controller feedback Indicates the configured source of the 0x2803 Homing source homing switch used during the homing Section 7 7 2 on page 63 procedure Used to configure the freeze function that 0x2804 Freeze object can be used within the Homing mode Section 7 7 2 on page 63 profile Network loss Used to configure the network loss trip eects behavior object be
92. pplication has Been Taunched The databases are initializing The fieldbus is initializing The option module has initialized correctly but no Initialization complete network communication is taking place i e no EtherCAT frames have been transmitted or received Table 9 8 Diagnostic information bootloader PrMM 06 Meaning Description LEE 180 The memory manager is being initialized The file system is being verified Check boot mode The required boot mode is being checked 110 Loading application The requested application image is being copied from the file system to memory TETH Launching application The application is being launched 100 Default mode The bootloader has finished but no application was launched 76 SM EtherCAT User Guide www controltechniques com Issue Number 5 9 4 9 5 9 6 9 7 SM EtherCAT User Guide 17 Drive trip display codes If the SM EtherCAT detects an error during operation it will force a trip on the drive However the trip code displayed on the drive will only indicate which slot initiated the trip The exact reason for the trip will be indicated in the SM EtherCAT error code parameter Pr MM 50 Table 9 9 shows the possible trip codes that will be displayed on the drive when a problem is detected with SM EtherCAT or when SM EtherCAT initiates a trip Table 9 9 Drive trip display codes Trip Code Fault Description The drive has detected that a Solutions Module
93. que Section 7 8 1 on page 66 lue value 0x6078 Current_actual_va This object provides the actual value of Section 7 6 3 on page 57 lue the current Indicates the command positions that the Ox607A Target position drive should move to in cyclic sync Section 7 8 2 on page 66 position mode this object indicates the configured difference between the zero position for 0x607C Home offset the application and the SC bane Section 7 57 on page 64 position found during homing This object indicated the configured 0x6080 Max motor speed maximum allowed speed for the motor in Section 7 29 on page 47 either direction Profile Provides the deceleration ramp for the 0x6084 positioning modes Section 7 3 8 on page 43 This object is used to configure the deceleration rate used to stop the motor when the quickstop function is activated Section 7 3 8 on page 43 and the quick stop code object Ox605A is set to 2 or 6 ZE This read only object indicates the Ox608F De configured encoder increments per Section 7 3 11 on page 45 resolution number of motor revolutions 0x6091 This object is used to apply scaling Section 7 3 12 on page 45 0x6092 Feed Constant This is used to configure a feed constant Section 7 3 13 on page 46 This object indicates the configured l 0x6098 Homing Method homing method that shall be used Section 7 58 on page 64 This object indicated the configured 0x6099 Homing speeds speeds used during the homing Sectio
94. rounding point using the minimum length of cable This will greatly improve the noise immunity of the module 4 4 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 constraints specified by the designer Figure 4 2 SM EtherCAT daisy chain network topology Master PLC Unidrive SP Digitax ST SM SM SM EtherCAT EtherCAT EtherCAT 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 SM EtherCAT User Guide 13 Table 4 1 EtherCAT terminal descriptions 2 o AA _ A Transmit Transmit OV Common EE ol Reosive IST emer Sommer A Netse JA Rote e Netused e Notused RER Receive CS Receive eet El ee Issue Number 5 www controltechniques com UONEWUOJUI uole e Sul uononpo u U01 8 83SU1 T Di lt D cs 3 8 OS 29U9J9J9 J eo1UeyoaN IEOUTIOeIg S 090 01d ZOv dSQ alyold anug sonsoubeiq JO Gesso 9 1 9 1 1 5 1 2 Getting started Quick start guide This section is intended to provide a generic guide for setting up SM EtherCAT with a master controller PLC It will cover th
95. s The information is read from the drive s encoder configuration Table 7 23 Position_encoder_ resolution 0x608F Sub index 0 Access RO Unit N A SE et NA Range 0 to i l oe Access RO OxFFFFFFFF 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 UONEWUOJUI uononpo u jeoiueude uole e Sul uo e 1e sul 191139913 peyeys Bulnes 090 01d gear ratio motor shaft revolutions driving shaft revolutions Table 7 24 Gear_ratio 0x6091 Gear_ratio Sub index 0 Access RO Unit N A Default Description Sub index 1 Range 0 to eer z Access RW OxFFFFFFFF Size Unsigned 32 Unit N A Default 1 Description Motor revolutions Sub index 2 e Range 0 to we l d Access RW OxFFFFFFFF Size Unsigned 32 Unit N A Default 1 U lt D kel s e a o g Be A Le iS soinjeo paduenpy sonsoubeiq 29u93 aJa J Description Shaft revolutions jo Messo SM EtherCAT User Guide 45 Issue Number 5 www controltechniques com 7 3 13 0x6092 Feed Constant This is used to configure a feed constant This is the measurement distance per one revolution of the output shaft of the gearbox The feed constant is calculated using the following formul
96. shall be free to rotate if not braked Disable voltage or 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 The power section shall be switched off command received from control device dependant on the quick stop option code The configure fault reaction function shall Fault signal be executed e The drive function shall be disabled the Automatic transition high power may be switched off A reset of the fault condition is carried out if no fault exists currently on the drive device after leaving the Fault state the Fault reset bit in the controlword shall be cleared by the control device Fault reset command from control device or local signal Enable operation command from control device if the quick stop option code is 5 The drive function shall be enabled 6 7or8 11 Quick Stop command from control device The quick stop function shall be started or local signal 40 SM EtherCAT User Guide www controltechniques com Issue Number 5 When the SM EtherCAT module transitions from the EtherCAT Safe operational state to the EtherCAT Operational state a number of drive parameters are set to allow the CoE profiles to control the drive and motor These parameters are set in the following order UONEWUOJUI e Pr 6 42 to 0 e Pr 6 43 to On 1 e Pr 3 22 to 0 where present Pr 3 23 to On 1
97. stage Slow down with slow down ramp disable the drive function 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 Fault_reaction_option_code Range 0 to 2 Size Unsigned 16 Unit N A Default Description This is used to control what action is performed when a fault is detected Table 7 15 Fault_reaction_option_code values a Disable drive function motor is free to rotate Slow down on slow down ramp Slow down on quick stop ramp SM EtherCAT User Guide www controltechniques com Issue Number 5 7 3 6 0x6060 Modes_of_operation This object is used to request a change in the mode of operation Table 7 16 Modes_of_operation UONEWUOJUI 0x6060 Modes_of_operation Default Description This object is used to request a change in the mode of operation Access RW Range 0 to 8 Size Unsigned 8 Unit N A uononpo u Table 7 17 Modes_of_operation values 8 Rods ange Reming mode 8 Cyclic sync position mode uole e Sul jeoiueudey uoley e Sul e911J9913 7 3 7 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 Unit N A peyeys Dumec S 090 01d Default Description Use
98. stop_option_code 0x605D halt_option_code Ox605E fault_reaction_option_code 29u93 Jaja 0x6060 modes of operation 0x6061 modes of operation display jo esso 0x6085 quick_stop_deceleration SM EtherCAT User Guide 37 Issue Number 5 www controltechniques com 38 The behavior of the sequencing control is shown in Figure 7 1 CoE state machine diagram This state machine indicates how the drive will be controlled For clarity the Statusword is abbreviated to SW in the diagram When in the QUICK STOP ACTIVE state the currently selected mode of operation indicates how a quick stop function should be handled When the drive is stopped and the Quick stop option code doesn t indicate that the state should remain at QUICK STOP ACTIVE the state will move to SWITCH ON DISABLED When in the OPERATION ENABLED or QUICK STOP ACTIVE states it is not possible to change the mode_of_operation object This is to ensure that the motor is stopped before changing the operation mode The SM EtherCAT master device must be in the operational state before the state machine can move from the SWITCH ON DISABLED state to the READY TO SWITCH ON state If the master leaves the operational state while the state machine is in the SWITCH ON OPERATION ENABLE QUICK STOP ACTIVE or READY TO SWITCH ON state then the option will transition to the SWITCH ON DISABLED state This implies that
99. t 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 profile cycle PDO data will be copied to and from the object dictionary from and to the sync manager memory areas in the 90us period at the beginning of every profile cycle PDO data mapped to drive parameters but not SM Applications PLC parameters or other parameters accessed using Inter Option Communications will be written to those parameters in the 90us period at the beginning of every control loop cycle SM EtherCAT protocol support The following are supported e Four Sync Managers Two are used for the Mailbox Protocol non cyclic data and two are used for process data cyclic data e Distributed Clocks CANopen over EtherCAT CoE Ethernet over EtherCAT EoE e CMP protocol through Modbus RTU only on the Unidrive SP Digitax ST Mentor MP and Affinity Menu 61 General Module Setup Parameter 1 00 shortcut Table 8 1 Parameter 1 00 shortcut Parameter 1 00 shortcut Default Pr 61 01 0 to 32767 This Parameter can be used as a shortcut to Pr 1 00 as DSP 402 objects do not permit access to parameter zero SM EtherCAT User Guide www controltechniques com Issue Number 5 8 3 2 Drive synchronization control Table 8 2 Drive synchronization control UONEWUOJUI Drive synchronization control Table 8 3 synchronization control values Independent Modul
100. t that the filename of the SM EtherCAT firmware application file is not altered doing so may result in problems with the firmware upload process It is strongly recommended that the latest firmware be used where possible to ensure that all features are supported CN The minimum Winflasher firmware version with SM EtherCAT support is VO3 07 00 82 SM EtherCAT User Guide www controltechniques com Issue Number 5 10 Quick reference Table 10 1 and Table 10 3 list of all the SM EtherCAT set up objects and parameters that are required to configure the module Table 10 1 SM EtherCAT objects reference jobject Name Description EE Specifies the device profile being used 0x1000 Device type DSP 402 Section 6 3 1 on page 23 g Contains SM EtherCAT specific identity 0x1018 Identity object Section 6 3 1 on page 23 0x1600 Receive PDO Contains the mapping information for Section 6 3 2 on page 24 mapping 1 receive PDO mapping 1 Receive PDO Contains the mapping information for 0x1601 mapping 2 receive PDO mapping 2 Section 6 3 2 on page 24 Receive PDO Contains the mapping information for E 0x1605 mapping 6 receive PDO mapping 6 Section 6 3 2 on page 24 Receive PDO Contains the mapping information for e 0x1615 mapping 22 receive PDO mapping 22 Section 6 3 2 on page 24 Transmit PDO Contains the mapping information for Ox1A00 mapping 1 transmit PDO mapping 1 Section 6 3 3 on page 27 Transmit PDO Contains the mapping informati
101. ta 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 Index 0x2000 menu Sub index parameter For example Pr 20 21 would be index 0x2014 and the sub index would be 0x15 The values are usually expressed in base 16 hexadecimal so care must be taken to enter the correct parameter number gJ SE lt D po O D gJ Ku y E Oo X seJn ea peoueApy All other supported entries in the SM EtherCAT object dictionary can also be accessed using SDOs Refer to the master controller documentation for full details about implementing SDO transfers within the particular master controller Sub index 0 for any menu will return the highest sub index available for the object i e the highest parameter number Pr MM 00 in any drive can only be accessed as Pr 61 01 Ox203D sub index changes to 1 sonsoubeiq SOUSIOJOI CU he following SDO services are supported e Initiate SDO Download Write e Initiate SDO Upload Read e Abort SDO Transfer Error JO Messo SM EtherCAT User Guide 21 Issue Number 5 www controltechniques com 6 3 CANopen over EtherCAT CoE The CoE protocol over EtherCAT uses a modified form of the CANopen object dictionary This is specified in Table 6 1 Table 6 1 CoE object dictionary Object dictionary area
102. ta 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 Issue Number 5 www controltechniques com UONEWUOJUI uole 2 SUI uo ejje su s n e peoueApY SOUSIOJOI uononpo u 090 0 q sonsoubeiq eo1ueyoaN e911J99 3 UO lt O e Si D g Wa Me A O Y jo lesso 5 88 Scan rate See Poll rate Screening A connection to provide additional immunity to noise used on a network cable Shielding A connection to provide additional immunity to noise used on a network cable Status word A value that denotes the status of the drive Each bit within the word will have a specific meaning Word A collection of sixteen binary digits SM EtherCAT User Guide www controltechniques com Issue Number 5 O 3 D p O A 3 ATEOS EE 87 S B 3 Ee E 87 SE 87 a S C F elle 6 SE E lege WON EE 87 Cycle E diia 87 z m Cyclic sync position mode EEN 65 SS o 8 D D gt Data EE 87 p BE 87 3 Biel Cie 74 2 A hed catia a Seeded 87 2 E y ESTIMO O td a 87 S Electrical E ET e EE 12 S Geer EE 5 A A 6 FOR HA re EE 78 z O F z Funcional PIOCKS ET 21 7 G 8 GOING SAMO WEE 14 3 Ee e EEN 87 E 13 A H n HOMINO OC EE 57 gt E
103. therCAT module is connected correctly to the master If the network is configured correctly the SM EtherCAT node s should be visible in the PLC master uone e sul jeouo9 F Decide on the input output data you wish to send cyclically objects and or parameters Cyclic data is implemented on CoE networks by using Process Data Objects or PDOs Separate data objects are used for receiving TxPDOs from the slave to the master and transmitting RxPDOs from the master to the slave data These PDOs contain the cyclic data objects and or parameters the RxPDOs available are 1 2 6 and 22 the TxPDOs available are 1 2 3 6 and 22 for more information on these PDOs including default mappings please see section 6 3 2 RxPDO mappings on page 24 and section 6 3 3 TxPDO mappings on page 27 Figure 5 1 SM EtherCAT PDO configuration O o a 3 Y m E D a U 3 O Ki Q Q 2 n RxPDO1 0x6040 0x6042 vi_target_velocity meee yoddns ZOv dSQ e1youd anug TxPDO1 TxPDO6 0x6041 0x6064 position Pr 18 22 Pr 20 22 Status word actual value RxPDO1 TxPDO1 and TxPDO6 will need to be enabled in the master Once enabled you will need to add mappings to the PDOs sounjeo DeOUEADN The format used when mapping objects to PDOs is as follows e Index Object index number 0x0000 e Sub index Object sub index number 0x00 e Size Dependant on the size in bytes of the object to be mapped range 1 4 sonsoubeiq Q
104. tion 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 SM EtherCAT User Guide 67 interpolation cycle time is used to generate a position command for the drive every 250us Time synchronization support When the option module is connected to a drive which can take a time synchronization signal e g a Unidrive SP or Digitax ST the EtherCAT Distributed Clocks facility can be used to provide this signal so the drive speed and current tasks are synchronized to the network The position controller and appropriate motion features will also be synchronized to the drive speed task The time between edges of the drive synchronization square wave referred to as the drive synchronization interval will be an integer multiple of 250us up to a maximum value of 15ms The position controller will be executed at the interval defined in the Distributed Clock settings if Distributed Clocks is disabled the controller will execute each 250us When the profile torque or velocity control mode is used with Distributed Clocks enabled a new profile cycle will be started every sync interval in the control loop cycle starting at the sync signal edge as shown in Figure 8 1 This will be referred to as a profile cycle When Distributed Clocks are not enabled a new profile cycle will be started every 250us Figure 8 1 Profile
105. top active EE Slow down on quick stop ramp and stay in Quick stop active jo Gesso SM EtherCAT User Guide 41 Issue Number 5 www controltechniques com 7 3 3 7 3 4 7 3 5 42 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 0x605B Shutdown_option_code Default Range 0 to 1 Size Unsigned 16 Unit N A Used to control what action is performed if there is a transition from the Operation Description Enabled state to the Ready To Switch On state Table 7 11 Shutdown_option_code values Definition a a 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 Disable_operation_option_code Range 0 to 1 Size Unsigned 16 Unit N A Default This is used to control what action is performed if there is a transition from Description the Operation Enabled state to the Switched On state Table 7 13 Disable_operation_option_code values ae E Disable drive function switch off the drive power
106. troltechniques com Issue Number 5 Figure 7 8 Homing on home switch and index pulse negative initial motion UONEWUOJU jeomeyosy HOTT uole e Sul uO e e sul eo11J9913 Index Pulse Home Switch SS em Negative Limit Switch Y Method 15 and 16 Reserved These methods are reserved Method 17 to 30 Homing without index pulse These methods are similar to methods 1 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions For example methods 19 and 20 are similar to methods 3 and 4 as shown in Figure 7 9 Homing on positive home switch on page 61 Figure 7 9 Homing on positive home switch paye s Bue S 090 0Jd jioddns el lt y kel o o g Wa A E i N s 1N e 4 DeOUEADN sonsoubeiq 29u9 aJ9 Home O Method 31 and 32 Reserved These methods are reserved JO Messo SM EtherCAT User Guide 61 Issue Number 5 www controltechniques com 62 Method 33 and 34 Homing on index pulse Using these methods the direction of homing is negative or positive respectively The home position shall be at the index pulse found in the selected direction as shown in Figure 7 10 Figure 7 10 Homing on index pulse Index Pulse Method 35 Homing on index pulse In this method the current position shall be taken to be the home position This method does not require the dri
107. ues com Issue Number 5 11 SM EtherCAT User Guide 87 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 Cyclic Data that is transmitted at regular intervals over the network Data rate Determines the communication speed of the network the higher the value the more data can be sent across the network in the same time period Device A piece of equipment connected to a network this may be any type of equipment including repeaters hubs masters or slaves Double word A 32 bit word this may be signed or unsigned Earthing Grounding Describes the electrical safety or shielding connections for the module LED Light 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 Da
108. ul e911J99 3 090 01q J e H lt D po O D O n N gt O 2 sounjea esuelajal ano E osueapy sua jo Messo 9 8 9 8 1 78 Table 9 13 SM EtherCAT error codes Error code 1 No fieldbus mode has been selected Critical task over run 2 3 Invalid feedback source 4 Unknown drive type Unsupported drive type 10 Invalid or missing application 02 The option module has overheated The Modbus connection has timed out Inter option communication failure Inter option communication to slot 3 timeout Configuration file error The option module background task has not been completed Software fault Network loss trip Error handling The following objects are provided to indicate an error condition Table 9 14 Error handling objects DE rer Error register Table 9 15 Error register 0x1001 Error register Access RO Range 0 to 255 Size Unsigned 8 Unit N A Default 0 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 SM EtherCAT User Guide www controltechniques com Issue Number 5 9 8 2 Error code Table 9 16 Error code 0x603F Error code UONEWUOJUI Default Range
109. urrent 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 May 2011 Control Techniques Ltd Issue Number 5 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 2 1 2 2 2 3 2 4 2 5 2 6 3 1 4 1 4 2 4 3 4 4 4 5 5 1 5 2 5 3 5 4 9 0 5 6 5 7 6 1 6 2 6 4 SM EtherCAT User Guide Issue Number 5 Contents Safety information ocooccconccnccconococanonanonnrnnnanenarenarenannnnanos 5 Warnings Cautions and notes ccccccccccccsceesseeseeceeecessaeaeesseeseeseeeeeeesaas 5 Electrical safety general warning ANERER REENEN NENNEN ENNEN ENNEN 5 System design and safety of personnel ccecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeess 5 EnVIFON Mental lis iii cia 6 Compliance with regulations NEEN 6 A O tiene eee ane vette cre rere 7 AUSTIN Beien e 7 Electrical installato EE 7 Jh d e ee Te d Le RE 8 EIER 8 mtrod ction to SM EtherCAT EE 8 What SWE HACC RA ee 8 Solution module identification AA 9 Product Conformance Certificate ooooooncnocononnccccononononnnnnnnnnnnnonononnns 9 Conventions used in this guide NEE 9 Mechanical installation oococcccnncnnoccccnocnnannnanononan 11 General instalation lt a dee Eege ee 11 Electrical installation oooonconccccccnncnncnnoccc
110. ve 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 53 Definition of bits 4 and 8 of the controlword on page 62 defines the values for bits 4 and 8 of the controlword Table 7 53 Definition of bits 4 and 8 of the controlword AR Y Vale e 4 Do not start homing procedure Start or continue homing procedure Enable bit 4 Stop axis according to halt option code 0x605D Table 7 54 Definition of bits 10 and 12 of the statusword eRe eR IN INS DN O proceduresinproaress EE GE o omingis ateined but target is not reached 7 Fring eee was omnes 0 o Reming eror occured velos snot 0 f r mag enor occured vosy Resend SM EtherCAT User Guide www controltechniques com Issue Number 5 7 7 2 Homing mode object definitions 0x2803 Homing source S This object indicates the configured source of the homing switch used during the 5 homing procedure Table 7 55 Homing source on page 63 specifies the object description S Table 7 55 Homing source S O Description The source of the homing switch This will specify a digital input as follows 1 to 6 The number of a drive digital input 7 to 8 SM EtherCAT option module digital input 0 or 1 Sub index 2 Access RW Range 0 to 1 Size Unsigned 8 Unit N A Default 0 uole e Sul jeoiueude IEOUIOeIz uoley e Sul payejs Bu
111. wn_option if there is a transition from the Operation Enabled state to the Ready To Switch On state This object is used to control what action is performed if there is a transition from the Operation Enabled state to the Switched On state Fault_reaction This object is used to control what action PAPINE is performed when a fault is detected FECHO Aa ON page ta 0x6060 Modes_of This object is used to request a change in Section 7 3 6 on page 43 operation the mode of operation 0x6061 Modes of This read only object is used to provide Section 7 3 7 on page 43 operation display the active mode of operation 84 SM EtherCAT User Guide www controltechniques com Issue Number 5 0x2830 Section 8 18 on page 73 vi_ velocity 0x6043 demand 0x605B Section 7 3 3 on page 42 Disable 0x605C operation_optionc ode Section 7 3 4 on page 42 Object Name Description Cross reference 0x6062 Position_ demand Used to provide the currently demanded Section 7 3 15 on page 46 value position value Position_actual This read only object provides the actual e E value of the position feedback device SEON o No On page 47 This object indicates the configured input 0x6071 Target_torque value for the torque controller in profile Section 7 6 1 on page 56 torque mode 0x6075 Motor_rated_curr This object indicates the motor rated Section 7 6 2 on page 56 ent current 0x6077 Torque_actual_va This object provides the actual tor

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