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Emerson 0471-0128-02 Switch User Manual

1. A EMERSON Industrial Automation User Guide SM EtherCAT Unidrive SP Affinity Digitax ST Commander SK Mentor MP Part Number 0471 0128 02 Issue 2 E gt CONTR ww TEC WHIQUES 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 Policy and other relevant information is available on re
2. 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 15 Fault reaction option code Fault reaction option code Access RW Range 0 to 2 Size Unsigned 16 Default N A Description This object is used to control what action is performed when a fault is detected Table 7 16 Fault reaction option code values Definition 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 2 7 3 6 0x6060 Modes of operation This object is used to reguest a change in the mode of operation UOREULMOJUI Kayes Table 7 17 Modes_of_operation Modes of operation Access RW Default 2 Range 0 to 7 Size Unsigned 8 uolonpo qu Description This object is used to request a change in the mode of operation Table 7 18 Modes_of_operation values Value Definition No mode change UonelieisuI eo1ueyoa vl velocity mode Profile torque mode uonelleysuI e911 9913 Homing mode Interpolated position mode 7 3 7 0x6061 Modes_of_operation_display This read only object indicates the active mode of operation pajejs Buje Table 7 19 Modes_of_operation_display Access RO Modes_of_operat
3. sua JO Alesso 5 SM EtherCAT User Guide 27 Issue Number 2 www controltechniques com 7 Drive profile DSP 402 support SM EtherCAT supports the following modes of the DSP 402 profile Interpolated position mode vl velocity mode Profile torque mode 7 1 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 Controlword Access RW Range 0 to 65535 Size Unsigned 16 Default N A Description Provides the primary method of controlling the behavior of the drive Table 7 2 Controlword bit functions 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Reserved r joms h fr oms hos eo qs ev so 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 3 Command coding Bits of the controlword Command Bit3 Bit 2 Bit 1 Shutdown Switch on Switch on enable operation Disable voltage Quick stop Disable operation Enable operation Fault reset NOTE Automatic transition to Enable operation state after executing SWITCHED
4. ON state functionality 28 SM EtherCAT User Guide www controltechniques com Issue Number 2 7 2 0x6041 Statusword z This provides feedback about the current operating state of the drive Table 7 4 g ES describes the format of the status word and illustrates how the individual statusword bits RE are combined to represent the current state of the drive gt Table 7 4 Statusword 3 a Access RW Range 0 to 65535 Size Unsigned 16 S Default N A Description This provides feedback about the current operating state of the drive A 3 23 Table 7 5 Statusword bit functions 38 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ms ha lla tr rm ms w sod qs ve f oe so rtso A E LEGEND ms manufacturer specific ha homing attained oms operation mode specific ila 2 5 internal limit active tr target reached rm remote w warning sod switch on disabled qs a quick stop ve voltage enabled f fault oe operation enabled so switched on rtso ready to o switch on 2 Table 7 6 State coding a Statusword 2 XXXX xxxx x0xx 0000b Not ready to switch on XXXX xxxx x1xx 0000b Switch on disabled 3 xxxx xxxx x01x 0001b Ready to switch on 8 xxxx xxxx x01x 0011b Switched on g XXXX XXXX x01x 0111b Operation enabled g XXXX xxxx x00x 0111b Quick stop active E xxxx xxxx xOxx 1111b Fault reaction active 5 8 XXXX xxxx x0xx 1000b Fault EE Pa 7 3 Common profile features 8 7 3 1 Sequencing control ee These are the supported
5. Q 9 17 Hoddns Z0t dsa alyold ana sounjeay sonsoubeiq pooueapy soualejey AAND SUL JO Hesso 56 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 i e Pr 60 PP SM EtherCAT module ID code Table 9 1 SM EtherCAT module ID code SM EtherCAT module ID code 421 SM EtherCAT RO 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 major version N A 00 00 to 99 99 RO Table 9 3 SM EtherCAT firmware minor version SM EtherCAT firmware minor version zz Unidrive SP Unidrive SPM Mentor MP The software version of the Solutions Modules can be identified by looking at Pr 15 02 Pr 16 02 or Pr 17 02 and Pr 15 51 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 displays xx yy and Pr 15 51 displays zz e g for software version 01 01 00 on a module in the middle Solu tions Module slot Pr 16 02 will display 1 01 and Pr 16 51 will disp
6. The slot configuration parameters stored in the drive are not valid SM g 9 SLX dF ae Sk RE se SL dF module EtherCAT configuration parameters This trip will also occur when an aS fitted SM EtherCAT is fitted to a previously un used slot 9 5 SM EtherCAT module temperature El o Q Table 9 10 SM EtherCAT module temperature a SM EtherCAT module temperature 3 no cm ge PRN 25 This parameter shows the option module temperature reading in degrees celcius T o N 9 6 SM EtherCAT serial number e Table 9 11 SM EtherCAT serial number d SM EtherCAT serial number 3 3 a N A 0 16777215 2 RO El 2 The serial number is loaded into the SM EtherCAT during manufacture and cannot be gt changed It contains the last eight digits of the 10 digit serial number of the label ps TO gt Q ag 33 Q SM EtherCAT User Guide 59 Issue Number 2 www controltechniques com 9 7 60 SM EtherCAT error codes Table 9 12 SM EtherCAT error codes SM EtherCAT error codes N A 0 to 255 RO 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 Table 9 13 SM EtherCAT error codes Error code No fieldbus mode has been selected Critical task over run Invalid feedback source Unknown drive type Unsupported drive type Inv
7. xml file is in the appropriate folder on the hard drive of the master Check the LED status of the SM EtherCAT module i In the master scan the EtherCAT network l Select required PDOs i Configure the PDOs with the mappings required UonelieisuI eo1ueyoa uonelieisuI jeoujoe y pees Bue P 3 2 3 le e o Hoddns Z0v dSa a1youd aaua senjeaj peoueapy Configure the Sync managers using the required PDOs sonsoubeiq 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 l EIND soualejey sua JO Messo SM EtherCAT User Guide 17 Issue Number 2 www controltechniques com 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 To store drive parameters Set Pr MM 00 to 1000 Mentor MP Pr MM 00 SAVE Press the red RESET button The drive will store all parameters except Menu 20 but the operation of the SM EtherCAT will not be affec
8. 1 UOREULOJUI Kayes Description The number of RxPDOs assigned to this sync manager used for process data output uolyonpo qu Sub indices 1 to sub index 0 Access RW Range 0x1600 to 0x17FF Size 2 bytes Unit N A Default 0x1605 Description The object index of an RxPDO to assign to this sync manager By default this is assigned to RxPDO mapping 6 vl target velocity and controlword uonelieisul jeolueyoo Table 6 21 Sync manager 3 PDO assignment object 0x1C13 Sync manager 3 PDO assignment Sub index 0 Access RW Range 0 to 512 Size 1 byte Unit N A Default 1 Description The number of TxPDOs assigned to this sync manager used for process data input Sub indices 1 to sub index 0 Access RW Range 0x1A00 to Ox1BFF Size 2 bytes Unit N A Default Ox 1A05 Description The object index of an TxPDO to assign to this sync manager By default this is assigned to TxPDO mapping 6 vl velocity actual value and statusword uonelieisul IEoupeag payejs Buen S 090 0 1d 6 1 5 Feedback encoder source Table 6 22 Feedback encoder source 0x2802 Feedback encoder source Sub index 0 Access RW Range 0 to 3 Size 1 byte Unit N A Default 0 yoddns g gt s 3 8 Do n U A 2 Y Description This object specifies the source position for position controller feedback sainyeoy sonsoubeiq OND peoueapy souaJejey
9. 43 0x6049 vl velocity deceleration vl velocity deceleration Sub index 0 Access C Range N A Size Unsigned 8 Unit N A Default 2 Description The number of last sub indexes in this object Sub index 1 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 1000 Description The value of delta speed is given in rom if the vl dimension factor and the vl setpoint factor have the value 1 otherwise the value is in user units Sub index 2 Access RW Range 0 to 65535 Size Unsigned 16 Default 2 Description The value of delta time is given in seconds 0x604A vl velocity duick stop This object is used to configure the delta speed and delta time of the slope of the deceleration ramp for guick stop Example To decelerate by 800 rpm in 10s possible values for delta speed and delta time are 8000 and 100 respectively vl velocity deceleration delta speed delta time Table 7 44 0x604A vl velocity duick stop Sub index 0 Access C Range N A Size Unsigned 8 Unit N A Default 2 Description The number of last sub indexes in this object Sub index 1 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 1000 Description The value of delta speed is given in rom if the vl dimension factor and the vl setpoint factor have the value 1 otherwise the value is in user units Sub index 2 Access RW Range 0 t
10. Default 0x00030192 Description The primary CoE functional profile is DSP 402 the value of the object is defined as follows 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 O 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 Table 6 5 Identity object 0x1018 Sub index 0 Identity object Access RO Range N A Size 1 byte Unit N A Default 4 Description Sub index 1 The number of the last sub index in this object Access RO Range N A Size 4 bytes Unit N A Default Ox000000F9 Description Sub index 2 This contains the EtherCAT Technology Group vendor ID for Control Techniques Ox000000F9 Access RO Range N A Size 4 bytes Unit N A Default See Pr MM 01 Description Sub index 3 This has the value of the option ID code Access RO Range N A Size 4 bytes Unit N A Default High word Pr MM 02 Low word Pr MM 51 Description Sub index 4 Contains the option module s
11. Range 0 to CF Size 1 byte Unit N A Default 0 Description The number of mapped objects in thle PDO Sub indices 1 to 255 1st to 255th mapped objects in this PDO Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0 Description A mapping to an object with the following format UOREUMOJUI Kayes uolonpo qu uonelieisul jeolueyoo 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 uonelieisul IEoupeag 6 1 3 TxPDO mappings Objects with the indices from 0x1A00 to 0x1BFF 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 0x6041 statusword 0x6041 statusword 0x6061 modes_of_operation_display 0x6041 statusword 0x6064 position_actual_value 0x6041 statusword 0x6044 vl velocity actual value payejs bumag S 090 0 1d 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 Transmit PDO mapping 1 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default 1 Description The number of mapped
12. 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 Solution module identification The SM EtherCAT can be identified by 1 The label located on the underside of the Solutions Module 2 The colour coding across the front of the SM EtherCAT brown red Solutions Module SM EtherCAT Customer and date code Revision 0 stdJ 41 mm ET TEM Ser No 3000005001 Serial number SM EtherCAT User Guide www controltechniques com Issue Number 2 2 4 1 2 5 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 O46 would correspond to week 46 of year 2007 Conventions used in this guide The configuration of the host drive and S
13. and the size would be 4 the parameter is a 32 bit signed value NOTE The values are normally expressed in hexadecimal so care must be taken to enter the correct parameter number 14 SM EtherCAT User Guide www controltechniques com Issue Number 2 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 Object 0x1600 Object 0x1A00 Object 0x1A05 Sub index 0x00 Sub index 0x00 Sub index 0x00 Size 1 Size 1 Size 1 Value 3 Value 2 Value 2 Sub index 0x01 Sub index 0x01 Sub index 0x01 Size 4 Size 4 Size 4 Value 0x60400010 Value 0x60410010 Value 0x20121610 Sub index 0x02 Sub index 0x02 Sub index 0x02 Size 4 Size 4 Size 4 Value 0x60420010 Value 0x60640020 Value 0x20141620 Sub index 0x03 Not Used Not Used Size 4 Value 0x20141520 TE The format used to define the value of a mapped object is as follows Bit 0 to 7 Length of the mapped object in bits if a gap bit length of the gap Bit 8 to 15 Sub index of the mapped object if a gap zero Bit 16 to 31 Index of the mapped object if a gap zero TE The maximum number of mappings in one PDO is five There are no restrictions on the 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 2 x RxPDOs and 2 x
14. 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 7 3 10 0x608F Position_encoder_resolution This read only object indicates the configured encoder increments per number of motor revolutions The information is read from the drive s encoder configuration Table 7 23 Position_encoder_resolution 0x608F Positi
15. forward gain uonelleysuI IE2IuEUVEN F D si 2 o 5 uolonpo qu Kayes 8919913 z0t dsa elyoid eaua paouerpy Issue Number 2 www controltechniques com EIND JO M1essolg 7 4 2 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 33 0x60C1 Interpolation_data_record Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 1 Description This object is used to specify the target position Sub index 1 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit N A Default N A Description The set point 7 4 3 0x60C2 Interpolation_time_period Table 7 34 Interpolation_time_period Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description The number of last sub indexes in this object Sub index 1 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 Description 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 Val
16. in this PDO The number of mapped objects in thie PDO Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0 Description SM EtherCAT User Guide Issue Number 2 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 25 www controltechniques com yoddns seJnjeaj peoueapy souaJejey sua JO Auesso 5 payejs bumag S 090 0 1d g gt s 2 gt Do da U A 2 ig sonsoubeiq IND 6 1 4 26 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 utilised 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 4 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 1 Description Sync manager 0 is used by CoE as the ma
17. 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 51 Figure 7 9 Homing on positive home switch UOREUMOJUI UORRIIEISUT Uogonponul IE2IuEUVEN uopejesu e911 0913 payejs Bue Home san 1 Method 31 and 32 Reserved These methods are reserved SIO20101d 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 Homing on index pulse on page 51 Figure 7 10 Homing on index pulse Hoddns a lt o Y e EJ o fe a v 5 o LI sounjea peoueapy sonsoubeiq Index Pulse eoueJejey IND 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 drive device to be in operational enabled state sua JO Alesso 9 SM EtherCAT User Guide 51 Issue Number 2 www controltechniques com 7 7 2 52 Use of controlword and statusword The homing mode uses some bits of the controlword and the statusword for mode specific purposes Table 7 52 Definition of bits 4 and 8 o
18. machine is in the SWITCH ON OPERATION ENABLE QUICK STOP ACTIVE or READY TO SWITCH ON state then the option will transition to the SWITCH ON DISABLED state This implies that the drive will be inhibited and the motor will coast SM EtherCAT User Guide www controltechniques com Issue Number 2 Figure 7 1 CoE state machine diagram UOREULOJUI Kayes Power disabled Any arive a 13 wip Any drive trip y y START FAULT REACTION ACTIVE Drive not 0 14 tripped Pr 10 01 1 Fault reaction complete uolonpo qu uonellesui IE2IuEUEN Y FAULT y NOT READY TO SWITCH ON 1 15 Pr 10 02 0 Fault reset uopejjesu e911 9813 y SWITCH ON DISABLED 2 Shutdown peyeis Buje SIO20101d Ouick stop y 7 READY TO SWITCH OR 3 Switch On z0t dsa elyoid aaua Shutdown Power enabled Y 6 Disable SWITCHED ON 19 voltage 4 A Enable Disable Disable operation operation voltage Shutdown 5 12 16 Ouick stop OPERATION m QUICK STOP 5 SSL Disable 9 ENABLE Enable 11 ACTIVE voltage operation peoueapy sonsoubeiq souasejay OND sua JO Alesso 5 SM EtherCAT User Guide Issue Number 2 www controltechniques com 32 Table 7 8 CoE state machine transition and events Transition Event s Automatic transition after
19. power on or reset application Action s Drive device self test and or self initialisation shall be performed Automatic transition Communication shall be activated Shutdown command from control device or local signal None Switch on command received from control device or local signal Power section shall be switched on if not already switched on Enable operation command received from control device or local signal Drive function shall be enabled and clear all internal set points Disable operation command received from control device or local signal Drive function shall be disabled Shutdown command received from control device or local signal The high power shall be switched off immediately and the motor shall be free to rotate if not braked additional action depends on the shutdown option code Quick stop or disable voltage command from control device or local signal None Shutdown command from control device or local signal The high power shall be switched off immediately if possible and the motor shall be free to rotate if not braked Disable voltage command from control device or local signal The high power shall be switched off immediately if possible and the motor shall be free to rotate if not braked Disable voltage or quick stop command from control device or local signal The high power shall be switched off immediately if possible and the motor sha
20. to the process data output sync Assigning TxPDO to the Sync Manager To assign TxPDO1 to sync manager 3 PDO assignment set the values below to the following objects Index 0x1C13 Sub index 0x00 Size 1 Value 2 Setting object 0x1C13 sub index O to a value of 2 as above indicates that two TxPDO s will be assigned to the sync manager 3 assignment Index 0x1C13 Sub index 0x01 Size 2 Value 0x1A00 Index 0x1C13 Sub index 0x02 Size 2 Value 0x1A05 Setting object 0x1C13 sub index 1 to a value of 0x1A00 and sub index 2 to a value of 0x1A05 as above maps TxPDO1 and TxPDO6 to the process data input sync Download the configuration to the master After downloading the configuration to the master the LED s on the front of the 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 SM EtherCAT User Guide www controltechniques com Issue Number 2 5 2 Quick start flowchart Figure 5 3 details the steps required to achieve cyclic communications on the EtherCAT network This flowchart should be used as the starting point for all configurations UOREUMOJUI Kayes Figure 5 3 Quick start flowchart uolonpo qu l Ensure the Control Techniques
21. to 1070 2 Press the red RESET button on the drive XS 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 18 SM EtherCAT User Guide www controltechniques com Issue Number 2 6 Protocols 6 1 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 Index Object dictionary area 0x0000 to OxOFFF Data type area 0x1000 to 0x1FFF 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 lt range gt size lt unit gt Default lt default gt Description lt descriptio Sub index 1 Access lt access gt lt range gt Size lt u
22. 1 otherwise the value is in user units Positive values indicate forward direction and negative values indicate reverse direction Table 7 39 vl velocity actual value 0x6044 vl velocity actual value Access RO Range 32768 to 32767 Size Signed 16 Unit N A Default 0 Description Provides the velocity at the motor spindle or load Only available when in vl velocity mode 0x6046 vl velocity min max amount This object is used to configure the minimum and maximum velocity The value is given in rpm if the vl dimension factor has the value of 1 otherwise the value is in user units Table 7 40 vl velocity min max amount 0x6046 Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description The number of last sub indexes in this object Sub index 1 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 0 Description Used to configure the minimum velocity both in the forward and reverse 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 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 2147483647 Description Used to configure the maximum velocity both in the forward and reverse direction that the system can operate at Writing to this sub index will overwrite vl_velocity_max positive and vl velocity max nega
23. 119913 pajejs Bue 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 home offset to the home position All subsequent absolute moves shall be taken relative to this new zero position This is illustrated in Figure 7 11 Home offset definition on page 53 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 SIO20101d Hoddns g 3 lt o E e EJ o fe a v 5 o LI SoImea peoueapy Zero Home position position Home offset sonsoubeiq hh gt K Ap soueJejey IND Table 7 56 Home offset Home offset Range 32768 to ET Unit User defined 132767 Size Signed 32 position units sua JO Alesso 5 Access RW Default 0 Description Homing offset value SM EtherCAT User Guide 53 Issue Number 2 www controltechniques com 54 0x6098 Homing method This object indicates the configured homing method that shall be used Table 7 57 Homing method on page 54 specifies the object description and Table 7 58 Homing method values on page 54 specifies the value ranges for this object Table 7 57 Homing
24. 5 TxPDO mapping 6 0x1A05 Transmit PDO mapping 6 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default 2 Description Sub index 1 1st mapped object The number of mapped objects in this PDO Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60410010 the DSP 402 status word 0x6041 UOREWOJU Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Sub index 2 2nd mapped object uonelieisul Kayes uolonpo qu jeolueyoo eoujoe y Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A uonelieisul Default 0x60440010 the DSP 402 vl control effort 0x6044 Description 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 Table 6 16 TxPDO mapping 22 Transmit PDO mapping 22 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default 0 Description Sub indices 1 to 255 1st to 255th mapped objects
25. 6062 Position_demand Used to provide the currently demanded Section 7 3 14 on page 38 N value position value 0x6064 Position_actual This read only object provides the actual Section 7 3 15 on page 38 g value value of the position feedback device 3 This object is used to configure the 3 Quick sto deceleration rate used to stop the motor F 0x6085 bard when the guickstop function is activated Section 7 3 8 on page 35 and the quick stop code object 0x605A 2 is set to 2 or 6 o o Position encoder This read only object indicates the con S 5 0x608F re figured encoder increments per number Section 7 3 10 on page 36 8 resolution of motor revolutions 0x6091 Gear_ratio This object is used to apply scaling Section 7 3 11 on page 36 Q O 0x6092 Feed_constant This is used to configure a feed constant Section 7 3 12 on page 37 7 3 P n n ga Ox60F4 Following_error This read only object provides the actual Section 7 3 16 on page 38 Q actual value value of the following error Position_control ae Ox60FB parameter_set Seer 10 configure te positional control Section 7 3 17 on page 39 object gains SM EtherCAT User Guide Issue Number 2 www controltechniques com 63 Table 10 1 SM EtherCAT objects reference Interpolation sub mode select Description Specifies the interpolation type Cross reference Section 7 4 1 on page 39 Interpolation data record position This object is used to specify
26. T Getting Started Guide and Digitax ST Technical Data 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 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 ground connections The Unidrive SP User Guide Mentor MP User Guide Affinity User Guide Commander SK Technical Data Guide and Digitax ST Technical Data 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 all relevant safety and EMC directives applicable to the installation Motor Ensure the motor is installed in accordance with the manufacturer s recommendations Ensure the motor shaft is not exposed Standard squirrel cage induction motors are designed for single speed operation If it is intended to use the capability of the drive to run a motor at speeds above its designed maximum it is strongly recommended that the manufacturer is consulted first Low speeds may cause the motor to overheat because the cooling fan become
27. TIA Cat 5e requirements MN Cabling issues are the single biggest cause of network downtime Ensure cabling is correctly routed wiring is correct connectors are correctly fitted 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 TE The EtherCAT system designer must consider the impact that the selected network structure will have on performance 4 2 Module grounding SM EtherCAT is supplied with a grounding tag on the module that should be connected to the closest possible grounding point using the minimum length of cable This will greatly improve the noise immunity of the module SM EtherCAT User Guide 11 Issue Number 2 www controltechniques com UOREULOJUI Kayes UORRIIEISU Uononponul IE2IuEUVEN Uon
28. TxPDOs 5 1 4 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 vi_target_velocity Pr 20 21 0x1C13 TxPDO1 TxPDO6 0x6064 position Pr 18 22 Pr 20 22 actual value 0x6041 Status word SM EtherCAT User Guide 15 Issue Number 2 www controltechniques com UOREUMOJUI UonelieisuI IBOIUEUDEN uonelieisuI payeys soualejoy Suual JO Messo Kayes uolonpo qu Bue 090 01q sonsoubeiq jeoujoe y yu ES Z o E 3 o g n pe A S X peoueapy OND 16 Assigning RxPDO to the Sync Manager To assign RxPDO1 to sync manager 2 PDO assignment set the values below to the following objects Index 0x1C12 Sub index 0x00 Size 1 Value 1 Setting object 0x1C12 sub index 0 to a value of 1 as above indicates that one RxPDO will be assigned to the sync manager 2 assignment Index 0x1C12 Sub index 0x01 Size 2 Value 0x1600 Setting object 0x1C12 sub index 1 to a value of 0x1600 as above maps RxPDO1
29. UORSNPORUI payejs Bumeg9 SIO20101d SopsouBelg aes eou093 g ES j 8 o g n U A 3 YX peoueapy IND Mechanical Installation 3 Before installing or removing a Solutions Module in any drive ensure the AC supply has been disconnected for at least 10 minutes and refer to Chapter 1 Safety Information on page 5 If using a DC bus supply ensure this is fully 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 Figure 3 1 Fitting a Solutions Module 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 10 SM EtherCAT User Guide www controltechniques com Issue Number 2 4 1 4 1 1 Electrical Installation SM EtherCAT module information Bus media The SM EtherCAT option module incorporates two x 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
30. _set 7 3 14 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 Position_demand_value Access RO Range 0 to OxFFFFFFFF Size Unsigned 32 Default N A Description Used to provide the currently demanded position value 7 3 15 0x6064 Position_actual_value This read only object provides the actual value of the position feedback device The value is given in internal units Table 7 28 Position_actual_value Position_actual_value Access RO Range 0 to OxFFFFFFFF Size Unsigned 32 Default N A Description This read only object provides the actual value of the position feedback device The value is given in internal units 7 3 16 0x60F4 Following_error_actual_value This read only object provides the actual value of the following error The value is given in user defined position units Table 7 29 Following_error actual_value Following_error actual_value Access RO Range 0 to OxFFFFFFFF Size Unsigned 32 Default N A Description This read only object provides the actual value of the following error 38 SM EtherCAT User Guide www controltechniques com Issue Number 2 7 3 17 0x60FB Position control parameter set object The APC position controller kernel is used by the basic internal position control 9 The position demand value object cont
31. ad 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 TE lt is important 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 TE The minimum Winflasher firmware version with SM EtherCAT support is VO3 07 00 SM EtherCAT User Guide 61 Issue Number 2 www controltechniques com UOREUMOJUI Kayes UOo1ellelsuI uolonpo qu jeolueyoo uonelieisuI jeoujoe y 090 01q yoddns g gt Y 3 S o G n TU A roy X sainjeay sonsoubeig yano peoueapy soualejey sua JO A1essoig 10 62 Quick Reference Table 10 1 and Table 10 2 list of all the SM EtherCAT set up objects and parameters that are reguired to configure the module Table 10 1 SM EtherCAT objects reference Device type Description Specifies the device profile being used DSP 402 Cross reference Section 6 1 1 on page 20 Identity object Contains SM EtherCAT specific identity information Section 6 1 1 on page 20 Receive PDO mapping 1 Contains the mapping information for receive PDO mapping 1 Section 6 1 2 on page 21 Receive PDO mapping 2 Contains the mapping information
32. ains the value supplied by either the a 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 a 7 4 Interpolated position mode 3 Interpolated position mode operates on the Unidrive SP in servo mode closed loop 8 vector mode and RFC mode This mode also operates on the Digitax ST and Mentor MP Table 7 31 lists the objects that are supported Table 7 31 Supported Interpolated position mode objects interpolation submode select interpolation data record interpolation time period 7 4 1 0x60C0 Interpolation sub mode select Table 7 32 0x60C0 Interpolation sub mode select Access RW Size Signed 16 it E Default 0 Linear interpolation 3 Description Specifies the interpolation type The values have the following meanings 0 Linear 9 Interpolation a o D a a SM EtherCAT User Guide 39 Table 7 30 Position_control_parameter_set object Position_control_parameter_set Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description The number of control loop parameters Sub index 1 Access RW Range 0 to 65535 Size Unsigned 16 Unit 0 01 rad s rad UOREULOJUI Default 2500 Description The position controller proportional gain Sub index 2 Access RW Range 0 to 65535 Size Unsigned 16 Unit 1 1000 Default 1000 i e a gain of 1 Description The position controller speed feed
33. alid or missing application Database initialisation error File system initialisation error Error initialising fieldbus stack The option module has overheated The drive is not responding The Modbus connection has timed out Inter option communication failure Inter option communication to slot 1 timeout Inter option communication to slot 2 timeout Inter option communication to slot 3 timeout Memory allocation error File system error Configuration file error The option module background task has not been completed Software fault SM EtherCAT User Guide www controltechniques com Issue Number 2 9 8 9 9 9 10 9 11 Critical task free Table 9 14 SM EtherCAT critical task free N A 0 to 100 RO Worst case critical task free Table 9 15 Worst case critical task free N A 0 to 100 RO 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 FLASH file system free Table 9 16 SM EtherCAT FLASH file system free N A 0 to 100 RO Indicates what percentage of the flash based file system is unused and still available 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 uplo
34. and complies with current legislation SM EtherCAT User Guide Issue Number 2 www controltechniques com IN AT Ee Jeolueyoo uopeleisui eo11 0913 payejs bumag 000 01q g 2 3 3 o n U A So Y SopsouBelg AND peoueapy 80ua1ejey sue JO Hesso 2 1 2 2 2 3 2 4 Introduction Features Standard RJ45 connectivity with support for shielded twisted pair Dual 100Mbps EtherCAT interfaces for use in line topologies i e daisy chaining Supports the Unidrive SP drives range Mentor MP Affinity Digitax ST and Commander SK Control loop synchronisation e Control cycle times down to 250us CANopen over EtherCAT CoE which includes Support of CANopen DSP 402 Device Profile for Drives and Motion Interpolated position mode Velocity mode Profile torque mode Two transmit and two receive PDOs SDO access to all profile objects and drive parameters 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 lt 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
35. 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 1 2 RxPDO mappings on page 21 and section 6 1 3 TxPDO mappings on page 23 Figure 5 1 SM EtherCAT PDO configuration RxPDO1 0x6040 0x6042 Control word vl target velocity Pr 20 21 TxPDO1 TxPDO6 0x6041 0x6064 position Status word actual value Pr 18 22 Pr 20 22 RxPDO1 TxPDO1 and TxPDO6 will need to be enabled in the master Once enabled you will need to add mappings to the PDOs The format used when mapping objects to PDOs is as follows Index Object index number 0x0000 Sub index Object sub index number 0x00 Size Dependant on the size in bytes of the object to be mapped range 1 4 The format of mapping drive parameters to PDO is as follows Index 0x2000 menu number Sub index 0x00 parameter number Size Dependant on the size in bytes of the object to be mapped range 1 4 For example Pr 20 21 would be index 0x2014 sub index 0x15
36. byte PC Personal computer sua JO K1essol9 PLC Programmable logic controller Poll rate The rate at which cyclic data is sent and received on the network Polled data See Cyclic data SM EtherCAT User Guide 65 Issue Number 2 www controltechniques com 66 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 2 Index zg RE A 2 RE E O OO aera E nga bts anc 65 8 Adjusting parameters ee ee Re ee Re RR Re Re ee ee Re ee Re ee ee ee ee 6 B EE A 65 35 AE EE 65 a3 c 38 Control Word ici aa 65 Gydlie data ss se DE Ee ne od One 65 A m D 5 F Data tate EA EE ENE E RM DE ENS EEN EE RA ESE 65 Device a 9 Diagnostics ee A ed RE 56 Ej DOMAIN cris EO EE RE hs 65 g E g oa RE DE OT OO EE EE 65 y Electrical installation ee ee ee ee ee ee ee ee ee ee ee ee ee 11 8 A ARE RE AA Ee GR SE AR Ed eee 5 Fa F 9 Functional DIOCKS sites ER EE ER ER EE he rea a 19 a 3 Getting started is iii 13 El Ee Tao cin iaa 65 N H Ls HOMING mode ss ace ee GE ed EE EE EG 47 E I 3 UPR NE OE N RE IE 67 8 E ie io AE EO OE AK weet 8 L 85 Lo
37. ctrical Installation cccccccceeeeeeeeeeeeesseseseneeeaeeees 11 SM EtherCAT module information ee ee ee ee Re ee ee ee 11 Mod legroundiNg OR ER EE iaa 11 Network topology nesses sad Minimum node to node cable length 12 Getting Started ese EE ER RE RE EER RE RR RR RR EE Ee ER EE Quick Start quid ER EE N OE Quick start flowchart ooooocococonoccocnnoonoonnonnnonnnonnonononanonnnonnnonnnonncnnncnncnnnnns Saving parameters to the drive is Re initialising the SM EtherCAT ee ee ek Re Re ee Re Ge Re ek ee Re initialise all Solutions Modules PrOtOCOlS EE EE RE EE N EE CANopen over EtherCAT CoE Drive profile DSP 402 support ees ER Ee 28 0x6040 Controlword eee eee ee ee ee GR Re Re ke Re ee ke ke ek OX6041 StatusWOrd n se EE EE EL ER GE RE ER De es Common profile features Interpolated position mode ie ee ee Re ee RR AA Re Re ee ee ee Vi Velocity MOTE tissa ER RS ee oe ea HE Profile Torgue mode es EE RE ide Homing Mode ss ok Re e EEE EER Bae Advanced features iese ss Re RR ee Ee ER RR Re Ge EE Re ee Ge ee Distributed clocks EE ESE DE EE EA cidad SM EtherCAT protocol support iese ee ese ee ee ee Re ee ee ee Re eke ee ee 55 www controltechniques com 9 1 9 2 9 3 9 4 9 5 9 6 9 7 9 8 9 9 9 10 9 11 10 11 Diagnostics ese ee ee Module identification parameters Network configuration objects eie ee ee ek RR AA e
38. digital input O or 1 Sub index 2 Access RW Range 0 to 1 Size Unsigned 8 Unit N A Default O Description Use the feedback source freeze for homing This will cause the freeze from the selected feedback device to be used instead of the index marker pulse when it is required during homing SM EtherCAT User Guide www controltechniques com Issue Number 2 0x2804 Freeze object This object is used to configure the freeze function that can be used within the Homing mode profile Table 7 55 Freeze object on page 53 specifies the object description Table 7 55 Freeze object 0x2804 Freeze object Sub index 0 Access RO Range N A Size Unigned 8 Unit N A Default 2 UOREUMOJUI Kayes uolonpo qu Description The number of the last sub index in this object Sub index 1 Access RW Range 0 to 1 Size Unsigned 8 Unit N A Default 0 uonelleysuI Jeo1ueyooyy 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 Sub index 2 Access RW Range 0 to 1 Size Unsigned 8 Unit N A Default 0 Description Option to drive freeze invert Setting a value of 1 will invert the freeze signal routed onto the drive from the option input 0 if 0x2804 sub index 1 is set to 1 This value will be read only on a transition from 0 to 1 in sub index 1 uoneljeisui 89
39. 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 fitting 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 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 current information on how this requirement applies in relatio
40. e Re ee Re ek ee Diagnostic parameters iese ee ee AR Ge AA Re Re AA ek ee ee ee Re Ak ee Drive trip display codes HE EE SE cence ncaa en SM EtherCAT module temperature iese esse ee ee ek ke ee ee Re Re ee ee 59 SM EtherCAT serial number id SM EtherCAT error codes sees ese ee ee ee ee pe ee pe ge ee ee Critical task free RT OR OE iA aaiae Eai Worst case critical task fr oo ee se ee Ge Re Re Ge Re ek ee cnn 61 FLASH file system free issie ese see ese ke bee Ee see EER Ee see PER ese DER ese Re RE hei 61 Updating SM EtherCAT firmware i esse ee eke Re Re Re ee ee GR Re ek ee 61 Quick Reference uiii orriren RE Re AR RARR EE Ee RA AR RE EE Ee EE 62 Glossary Of Terms ee ees Ee EER RR RE EER EER RE RE EER RR RR EE EER EE 65 SM EtherCAT User Guide www controltechniques com Issue Number 2 1 Safety Information UOREULOJUI 1 1 Warnings cautions and notes UORONPONUI A A Warning contains information which is essential for avoiding a safety hazard WARNING WARNING uoney e su Jeolueyoopy A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment uopeleisui eou1 09 3 M2 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 nece
41. ellessuI IEomJer3 P 3 2 3 Q o 17 Hoddns ZOv dSa aloud aaua Saimeay SopsouBelg OND peoueapy souaejoy sua JO Hesso 4 3 4 4 12 Network topology Control Techniques recommend implementing daisy chaining on EtherCAT networks see Figure 4 1 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 1 SM EtherCAT daisy chain network topology Master PLC Unidrive SP Digitax ST SM SM SM EtherCAT EtherCAT EtherCAT 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 www controltechniques com Issue Number 2 5 Getting Started UOREULOJUI Kayes 5 1 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 the basic steps required to get cyclic data communicating using the CANopen over EtherCAT CoE protocol on the SM EtherCAT module 5 3 Qa c a 9 a 5z 5 1 1 SM EtherCAT version compatibility E Table 5 1 SM EtherCAT version compatibility 38 Drive Type Drive Firmware SM EtherCAT firmware m Unidrive SP V01 08 00
42. ending 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 49 0x6075 Motor_rated_current Motor_rated_current Access RO Range 0 to OxFFFFFFFF Size Unsigned 32 Default 0 UOREUMOJUI Description Indicates the configured motor rated current Pr 5 07 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 50 0x6078 Current actual value Current actual value Access RO Range 32768 to 432767 Size Signed 16 Unit 0 1 of rated current Default 0 Description Provides the actual value of the current 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 51 Torque_slope 0x6087 Torque_slope Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit 0 1 of rated torque per second Default 0 Description Indicates the configured rate of change of torque Homing Mode This section describes the method by which a drive seeks the home position also called the datum reference point or zero point Figure 7 2 Homing mode function on page 47 shows the defined input objects as well as t
43. f the vl dimension factor has the value of 1 otherwise the value is in user units Positive values indicate forward direction and negative values indicate reverse direction seJnjeaj peoueapy Table 7 37 vl target velocity sonsoubeiq vl target velocity Access RW Range 32768 to 32767 Size Signed 16 Default 0 EIND 39U91 9 9Y Description Used to set the required velocity of the system sua JO Alesso 5 SM EtherCAT User Guide 41 Issue Number 2 www controltechniques com 7 5 2 7 5 3 7 5 4 42 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 vl dimension factor and the vl setpoint factor have the value 1 otherwise the value is in user units Positive values indicate forward direction and negative values indicate reverse direction Table 7 38 vl velocity demand 0x6043 vl velocity demand Access RO Range 32768 to 32767 Size Signed 16 Unit rpm Default 0 Description Provides the instantaneous velocity demand generated by the drive ramp function 0x6044 vl 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 vl velocity demand The value is given in rpm if the vl dimension factor has the value of
44. f the controlword on page 52 defines the values for bits 4 and 8 of the controlword Table 7 52 Definition of bits 4 and 8 of the controlword Definition Do not start homing procedure Start or continue homing procedure Enable bit 4 Stop axis according to halt option code 0x605D Table 7 53 Definition of bits 10 and 12 of the statusword on page 52 defines the values for bits 10 and 12 of the statusword Table 7 53 Definition of bits 10 and 12 of the statusword Bit 12 Bit 10 Definition Homing procedure is in progress Homing procedure is interrupted or not started Homing is attained but target is not reached Homing procedure was completed successfully Homing error occurred velocity is not 0 Homing error occurred velocity is 0 Reserved Homing mode object definitions 0x2803 Homing source This object indicates the configured source of the homing switch used during the homing procedure Table 7 54 Homing source on page 52 specifies the object description Table 7 54 Homing source Sub index 0 Access RO Range N A Size Unigned 8 Unit N A Default 2 Description The number of the last sub index in this object Sub index 1 Access RW Range 1 to 8 Size Unsigned 8 Unit N A Default 5 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
45. gth of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Table 6 9 RxPDO mapping 6 Receive PDO mapping 6 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60400010 the DSP 402 control word 0x6040 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Sub index 2 2nd mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60600008 the DSP 402 modes of operation object 0x6060 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object SM EtherCAT User Guide www controltechniques com Issue Number 2 Table 6 10 RxPDO mapping 22 0x1615 Receive PDO mapping 22 Sub index 0 Number of mapped objects Access RW
46. he output objects The user may specify the speeds acceleration and the method of homing There is a further object home offset which allows the user to displace zero in the user s coordinate system from the home position There is no output data except for those bits in the statusword which return the status or result of the homing process and the demand to the position control loops Figure 7 2 Homing mode function Controlword 6040 Statusword 6041 Homing method 6098 Homing Speeds 6099 Homing method Homing acceleration 609A Position demand value 6062 Home offset 607C SM EtherCAT User Guide 47 Issue Number 2 www controltechniques com uonelleysuI IE2IuEUEN uopejesu 1919913 souasejoy IND sua JO Alesso 5 uolonpo qu peyeys Bue SIO20101d sonsoubeiq Kayes g 2 lt o E e EJ o fe a v 5 o LI peoueapy 7 7 1 48 By choosing a homing method the following behaviour 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 Figure 7 3 to Figure 7 10 indicates the code for selection of this homing position The direction of movement is also indicated 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 diagram
47. id values are 250us 500us or any multiple of 1ms An attempt to write other values results in an SDO Abort code Sub index 2 Access RW Range 6 to 0 Size Signed 8 Unit N A Default 6 a time unit of 1us Description 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 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 35 for more information Table 7 35 Interpolation time period units 1 second 0 1 of a second 0 01 of a second 0 001 of a second 0 0001 of a second 0 00001 of a second 0 000001 of a second 40 SM EtherCAT User Guide www controltechniques com Issue Number 2 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 Every interpolator time period a value
48. ilbox receive channel master to slave Sub index 2 Usage of sync manager 1 Access RO Range N A Size 1 byte Unit N A Default 2 Description 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 3 Description Sync manager 2 is used by CoE as the process data output RxPDOx master to slave Sub index 4 Usage of sync manager 3 Access RO Range N A Size 1 byte Unit N A Default 4 Description Sync manager 3 is used by CoE as the process data input TxPDOs slave to master Table 6 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 Description Number of assigned PDOs The mailbox received sync manager can never have 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 Description Number of assigned PDOs The mailbox send sync manager can never have PDOs assigned to it SM EtherCAT User Guide www controltechniques com Issue Number 2 Table 6 20 Sync manager 2 PDO assignment object 0x1C012 Sync manager 2 PDO assignment Sub index 0 Access RW Range 0 to 512 Size 1 byte Unit N A Default
49. ing to the values set in the object vi velocity min max which is read every profile cycle The object vl velocity min max amount is mapped to vl velocity min max 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 vl dimension factor and vl setpoint factor and writes the value to the vl velocity demand object On a closed loop drive the speed feedback is read from the drive internally every profile cycle scaled to the same units as 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 vl velocity actual value object The vl 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 vl velocity deceleration object is updated Profile Tordue mode The profile torgue mode is supported on Unidrive SP Digitax ST Affinity Mentor MP and Commander SK It is possible to use thi
50. ion_display Range 0 to 7 Size Unsigned 8 Default N A Description Used to provide the active mode of operation SIO20101d Table 7 20 Modes of operation display values Value Definition No mode change Hoddns vl velocity mode 5 3 lt o fe EJ o g a v 5 o LI Profile torque mode Homing mode Interpolated position mode seJnjeaj peoueapy 7 3 8 0x6085 uick 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 0x605A is set to 2 or 6 The quick stop deceleration is also used if the fault reaction code object 0x605E is 2 The value is given in user defined acceleration units sonsoubeiq Table 7 21 Quick_stop_deceleration Quick_stop_deceleration Unit N A souasejoy JNO Sub index 0 Access RW Default 2 Range 0 to OxFFFFFFFF Size Unsigned 32 sua JO Alesso 5 Description Quick stop function for the positioning related modes 35 SM EtherCAT User Guide Issue Number 2 www controltechniques com 7 3 9 Profile units The implementation provides a means to convert profile units into position controller and drive units All scaling values are standard profile objects The following objects are Supported Table 7 22 Supported profile units position encoder resolution gear ratio
51. is being formatted Verify file system The file system is being verified Check boot mode The required boot mode is being checked Loading application The requested application image is being copied from the file system to memory Launching application The application is being launched Default mode www controltechniques com The bootloader has finished but no application was launched SM EtherCAT User Guide Issue Number 2 9 4 Drive trip display codes a If the SM EtherCAT detects an error during operation it will force a trip on the drive 3 However the trip code displayed on the drive will only indicate which slot initiated the ad trip The exact reason for the trip will be indicated in the SM EtherCAT error code i parameter Pr MM 50 3 o Table 9 9 shows the possible trip codes that will be displayed on the drive when a 5 problem is detected with SM EtherCAT or when SM EtherCAT initiates a trip 8 Table 9 9 Drive trip display codes 2e ao Description E a2 SLX HF Hardware The drive has detected that a Solutions Module is present but is unable S 8 to communicate with it If this occurs please contact your supplier or SL HF fault A local Control Techniques Drive Centre Sm 172 a ei Error Error trip generated by SM EtherCAT a 3 SLX nF Not fitted This trip will occur if a drive slot is configured for an option module but i SL nF no module is fitted in the slot Different
52. is read from this buffer The correct number of data points for a specific interpolation mode are stored internally When a new position command is loaded in the oldest position command in the data set is discarded UOREULMOJUI Kayes uolyonpo qu 7 5 vl 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 This mode uses the drive s speed handling and ramps UonelieisuI Jeolueyooy When the attached 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 attached drive is in an open loop operating mode the scaled velocity is written to the user preset reference parameter Pr 1 21 Table 7 36 lists the objects that are supported UonelieisuI IEonoea Table 7 36 vi velocity mode supported objects pajejs Buje vl target velocity vl velocity demand vl velocity actual value SIOOO1OId vl velocity min max amount vl velocity min max vl velocity accleration vl velocity deceleration vl velocity aguick stop Hoddns vl setpoint factor vl dimension factor 5 3 lt o e EJ o g a v 5 o LI 7 5 1 0x6042 vl target velocity This object is used to set the required velocity of the system It is multiplied by the vl dimension factor and the vl setpoint factor The value is given in rpm I
53. lay 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 being the position nearest the control terminal connections 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 on a module in the middle Solu tions Module slot Pr 16 02 will display 1 01 and Pr 16 51 will display 0 SM EtherCAT User Guide www controltechniques com Issue Number 2 ER The software version of the Solutions Module can be identified by looking at Pr 15 02 and 30 35 Pr 15 51 s 5 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 1 01 and 2 o Pr 15 51 will display 0 S 9 3 9 2 Network configuration objects A Ed 9 2 1 SM EtherCAT network loss trip ae A 2 a2 Table 9 4 Network loss behavior object Ss a 530 0x2813 Network loss behavior Sub index 0 5 2 m Access RO Range N A Size 1 byte Unit N A a 3 23 Default 2 E 9 Description The number of last sub indexes in this object Sub index 1 Maximum time interval Access RW Range 0 to 65535 Size 2 bytes Unit ms g 9 Default 0 by default the network loss behavior is disabled aS Description The maximum time in ms allowed bet
54. ll be free to rotate if not braked Quick stop command from control device or local signal The quick stop function shall be started Automatic transition when the quick stop function is completed and quick stop option code 1 2 3 or 4 disable voltage command received from control device dependant on the quick stop option code The power section shall be switch off Fault signal The configure fault reaction function shall be executed Automatic transition The drive function shall be disabled the high power may be switched off Fault reset command from control device or local signal A reset of the fault condition is carried out if no fault exists currently on the drive device after leaving the Fault state the Fault reset bit in the controlword shall be cleared by the control device Enable operation command from control device if the quick stop option code is 5 6 70r8 www controltechniques com The drive function shall be enabled SM EtherCAT User Guide Issue Number 2 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 unless object 0x2805 has been set to disable this These parameters are set in the following order UOREWOJU Kayes Pr 6 42 to 0 Pr 6 43 to On Pr 3 22 to 0 where present Pr 3 23 to On where p
55. locit This object is used to configure the delta og 0x6049 oe Y speed and delta time of the slope of the Section 7 5 7 on page 44 deceleration deceleration ramp wl Velocity quick This object is used to configure the delta 2 A 0x604A eas speed and delta time of the slope of the Section 7 5 8 on page 44 a P deceleration ramp for quick stop gf TEEN This object is used to configure the 0x604B eee numerator and denominator of the Section 7 5 9 on page 45 oo vl setpoint factor yz oS n or 22 0x605A Quick_stop Specifies what action is performed in the Section 7 3 2 on page 33 option_code event of a quick stop function Used to control what action is performed 7 Shutdown_option if there is a transition from the Operation L 3 0x695B code Enabled state to the Ready To Switch On Section 3 2 0 page 34 8 state Disable This object is used to control what action g 0x605C operation_option is performed if there is a transition from Section 7 3 4 on page 34 5 code the Operation Enabled state to the di Ges Switched On state 5 Fault_reaction This object is used to control what action S 9 Ox605E option_code is performed when a fault is detected Section 7 3 5 on page 34 fe 0x6060 Modes_of This object is used to request a change Section 7 3 6 on page 35 N operation in the mode of operation 0x6061 Modes of opera This read only object is used to provide Section 7 3 7 on page 35 ae tion display the active mode of operation 25 el rr A oo 0x
56. method Homing Method Access RW Range 0 35 Size Unsigned 8 Unit N A Default 0 Description The homing method that shall be used Table 7 58 Homing method values Value Definition No homing method assigned Method 1 shall be used Method 34 shall be used Method 35 shall be used 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 59 Homing speeds on page 54 specifies the object description Table 7 59 Homing speeds Homing speeds Sub index 0 Access C Range 2 Size Signed 8 Unit N A Default 2 Description The number of supported sub indices Sub index 1 Access RW Range Unsigned 32 Size Unsigned 32 Unit N A Default 0 Description Speed during search for a switch Sub index 2 Access RW Range Unsigned 32 Size Unsigned 32 Unit N A Default 0 Description Speed during search for a zero 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 60 Homing acceleration on page 54 specifies the object description Table 7 60 Homing acceleration Homing acceleration Access RW Range Unsigned 32 Size Unsigned 32 Unit User defined acceleration units Default 0 Indicate
57. methods use a home switch which is active over only a portion of the travel in effect the switch has a momentary action as the axis s position sweeps past the switch Using the methods 7 to 10 the initial direction of movement shall be to the right and SM EtherCAT User Guide 49 Issue Number 2 www controltechniques com 50 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 50 and Figure 7 8 Homing on home switch and index pulse negative initial motion on page 50 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 j j j j Home Switch 3 7 Positive Limit Switch A A E O Figure 7 8 Homing on home switch and index pulse negative initial motion Index Pulse Home ENE Negative Limit Switch EE A a N SM EtherCAT User Guide www controltechniques com Issue Number 2 Method 15 and 16 Reserved These methods are reserved Kayes Method 17 to 30 Homing without
58. n about the SM EtherCAT module to aid with its configuration The file can be downloaded from the Control Techniques CTSupport com website or from your local Control Techniques Drive Centre or supplier lt should be placed in the directory specified by the master e g When using TwinCAT this could be C TwinCAT lo EtherCAT sua JO Messo YE The master may have to be re started for the file to be loaded SM EtherCAT User Guide 13 Issue Number 2 www controltechniques com 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 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 In the master scan the network ensuring that the SM EtherCAT 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 Decide on the input output data you wish to send cyclically objects
59. n 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 O March 2009 Control Techniques Ltd Issue Number 2 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 3 1 4 1 4 2 4 3 4 4 5 1 5 2 5 3 5 4 5 5 6 1 7 1 7 2 7 3 7 4 75 7 6 7 1 8 1 8 2 SM EtherCAT User Guide Issue Number 2 Contents Safety Information ese ee ER RE RE EER RE EER RR RR EE EER ER EE 5 Warnings Cautions and notes ee ee ee Re Re Re ee ee ee RA ee 5 Electrical safety general warning eie eek ee ee Re ee AR Re ee Re ee 5 System design and safety of personnel ie ee AR Re Re ee ee 5 Environmental limits e Compliance with regulations eie ee Re AA ER RR Re ee ee RA ee Mee EE AE EE IE IE EE OE Adjusting parameters iese ee Re ee Re ee General safety considerations for remote operation INtFOMUCTION ie Re EES RS Un is MR ER EE EE EE congener can ated ata rertadals Introduction to SM EtherCAT ees ees ee ee ee ee ee Re Re ee Re ee Re ee What is EtherCAT aanaeio ae Solution module identification ccc ee ee ee Re ee ee Conventions used in this guide ee ee ee ER RR ee Re Re ee Mechanical Installation sesse Re RR RR RR ER EER GR Gee Ee EE Ee 10 General Installation si RE se EL AN cli den N no eg eel ig 10 Ele
60. ng Werda EE GR BE GE ee es ee 65 s8 KA EE EE ED ED OR Ee OR 65 M Zo oO Mechanical installation uie ee ee eke ek ek ee Ge ek ee eek Ge Ge ek ee eek ee 10 S g ds EE N e RE EE dada 65 N o NOde ns 65 a 8 NON CYClIG dates ss EE tee ie its ted othe a ea eae 65 a O o O 65 SM EtherCAT User Guide 67 Issue Number 2 www controltechniques com AS EE RE EO N 65 die EA EO EE AN Ed 65 Pollrat s ER DER ED ia GEE eee 65 Q Quick Reference EE EE N 62 S Safety considerations ETE IERE daa 7 Safety information si EER EER KS n dee RE see eal 5 SECURE DISABLE EE ita 5 E AA ee deta O OA E 66 Ww Wold RE EER OO Ashihara eda 66 SM EtherCAT User Guide www controltechniques com Issue Number 2 0471 0128 02
61. nit gt Default lt default gt Description lt descriptio Access lt access gt lt range gt size lt unit gt Default lt default gt Description lt descriptio Sub index n 1 UOpeuojU uonelieisul jeolueyoo uonelieisul IE2oupeag sounjeay peoueapy Access lt access gt lt range gt size lt unit gt uolonpo qu payejs Bumeg9 S 090 0 1d sonsoubeiq Kayes g gt s Ez S Do n U A 2 D ono Default lt default gt Description lt descriptio Sub index n Access lt access gt Range lt range gt Size lt unit gt Default lt default gt Description lt description gt SM EtherCAT User Guide 19 Issue Number 2 www controltechniques com 39U9 9 9Y sua JO Alesso 5 6 1 1 20 Definitions lt index gt A signed 16 bit number This is the index of the object dictionary entry specified in four hexadecimal characters lt access gt A value describing how the object may be accessed RW read write RO read only and WO write only lt size gt The size of the object sub index in bytes lt unit gt The physical unit e g ms counts per second etc COE communication area The first set of objects specify general communication settings Table 6 4 Device type object 0x1000 Access RO Device type Range N A Size 4 bytes Unit N A
62. o 65535 Size Unsigned 16 Default 2 Description The value of delta time is given in seconds SM EtherCAT User Guide www controltechniques com Issue Number 2 7 5 9 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 O must not be used Table 7 45 0x604B vl setpoint factor 0x6048 Sub index 0 Access C Range N A Size Unsigned 8 Unit N A Default 2 UOREWOJU Kayes uolonpo qu uoneljeisui IE2IuEUVEN Description The number of last sub indexes in this object Sub index 1 Access RW Range 32768 to 32767 Size Signed 16 Unit N A Default 1 8919913 uonellersul Description vl setpoint factor numerator a value of 0 is not valid Sub index 2 Access RW Range 32768 to 32767 Size Signed 16 Unit N A Default 1 Description vl setpoint factor denominator a value of 0 is not valid peyeis Buje 7 5 10 0x604C vl dimension factor This object is used to configure the numerator and denominator of the vl dimension factor The vl dimension factor is used to scale the user units so that they can be used in a way that relates to the specific application SIO20101d Calculating the vl dimension factor E
63. objects in thie PDO Sub index 1 1st mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60410010 the DSP 402 status word 0x6041 g gt s E S Do n U A 2 D seJnjeaj paouerpy sonsoubeiq IND Description A mapping to an object with the following format souaJejey 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 sua JO Auesso 5 SM EtherCAT User Guide 23 Issue Number 2 www controltechniques com Table 6 13 TxPDO mapping 2 Transmit PDO mapping 2 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60410010 the DSP 402 status word 0x6041 Description 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 Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60610008 the DSP 402 modes of operation display objec
64. objects used to control the drive E E Table 7 7 Sequencing control supported objects ca g controlword 8 statusword 2 shutdown option code a disable_operation_option_code 2 quick_stop_option_code g 2 halt_option_code 3 fault_reaction_option_code modes_of_operation m 2 modes of operation display 3 3 quick_stop_deceleration 9 SM EtherCAT User Guide 29 Issue Number 2 www controltechniques com 30 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
65. oftware version number the major and minor version parameter are placed in the high word of this object and the sub version parameter is the low word Access RO Range N A Size 4 bytes Unit N A Default See Pr MM 35 Description Contains the option hardware serial number SM EtherCAT User Guide www controltechniques com Issue Number 2 6 1 2 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 UOREULOJUI Kayes Table 6 6 RxPDO mappings PDO number Mapping object index Mapping object name 0x6040 controlword 0x6040 controlword uolonpo qu 0x6060 modes of operation 0x6040 controlword 0x6042 vl target _ velocity uonelieisul jeolueyoo The RxPDO mappings 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 specified as CF in the descriptions below Table 6 7 RxPDO mapping 1 Receive PDO mapping 1 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default 1 uonelieisul IE2oupeag payejs Buen Description The number of mapped objects in thie PDO Sub index 1 1st mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Defa
66. olutions 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 menu 15 for the Commander SK in menu 15 or 16 for Affinity and in menu 15 16 or 17 for the Unidrive SP Digitax ST and Mentor MP depending on the slot the module is fitted into The menu is determined by the number before the decimal point The method used to determine the menu or parameter is as follows Pr xx 00 signifies any menu and parameter number 00 Pr MM xx where MM signifies the menu allocated to the Solution Module this could be 15 16 or 17 on the Unidrive SP Digitax ST or Mentor MP 15 or 16 on the Affinity but will always be 15 on the Commander SK and xx signifies the parameter number 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 RS485 port as these are not supported on SM Applications 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 SM EtherCAT User Guide 9 that all features are supported Issue Number 2 www controltechniques com UOREUUOJUI UonelieisuI eo1ueyoa uonelieisuI 80USJeleM sue JO Aessoig
67. on_encoder_resolution Sub index 0 Access RO Range N A Size Unsigned 8 Default Description Sub index 1 Access RO Range 0 to OxFFFFFFFF Size Unsigned 32 Unit N A Default 1 Description Encoder increments Sub index 2 Access RO Range 0 to OxFFFFFFFF Size Unsigned 32 Unit N A Default 1 Description Motor revolutions 7 3 11 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 gear ratio motor shaft revolutions driving shaft revolutions 36 SM EtherCAT User Guide www controltechniques com Issue Number 2 Table 7 24 Gear ratio 0x6091 Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default Description Sub index 1 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit N A Default 1 UOREULOJUI Description Sub index 2 Motor revo lutions uonelleysuI IE2IuEUVEN uolonpo qu Kayes Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit N A Default 7 Description Shaft revolutions UonelieisuI e9110913 7 3 12 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 constan
68. or later 01 00 00 or later a 2 Affinity VO1 02 00 or later V01 00 00 or later g Digitax ST VO1 02 00 or later VO1 00 00 or later a Commander SK VO1 06 00 or later VO1 00 00 or later oo Mentor MP V01 00 00 or later VO1 02 00 or later el a Do For the purpose of the example this section will follow the steps reguired to set up cyclic communications using one RxPDO and two TxPDOs These PDOs will consist of the y mappings shown in Table 5 2 5 Table 5 2 PDO test mappings o RxPDO1 TxPDO1 TxPDO6 o 0x6040 controlword 0x6041 statusword Pr 18 22 16 bits 3 16 bits 16 bits 8 0x6042 0x6064 Pr 20 21 32 bits E vl_target_velocity position_actual_value N 16 bits 32 bits 8 Pr 20 21 32 bits N A gt It is strongly recommended that the latest firmware be used where possible to ensure E that all features are supported 63 Due to the large number of different masters that support CoE details cannot be g provided for a specific master Generic support is available through your supplier or amp local Control Techniques Drive Centre Before contacting your supplier or local Control 2 Techniques Drive Centre for support please ensure you have read section s 9 Diagnostics on page 56 of this manual and have checked that the SDO PDO configurations are correct Lo 5 1 2 SM EtherCAT XML file 2 Control Techniques provides an EtherCAT device description file Control Techniques SM EtherCAT xml This file provides the master with informatio
69. quest 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 whilst 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 favours easily recyclable materials of low environmental impact and regular reviews identify opportunities for improvement When preparing to recycle or
70. quick stop ramp and stay in Quick stop active sua JO Alesso 5 SM EtherCAT User Guide 33 Issue Number 2 www controltechniques com 7 3 3 7 3 4 7 3 5 34 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 11 Shutdown option code Shutdown option code Access RW Range 0 to 1 Size Unsigned 16 Default N A Description 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 12 Shutdown option code values Definition Disable drive function switch off the drive power stage Slow down with slow down ramp disable the drive function 0x605C Disable operation option code Disable drive function switch off the drive power stage This object is used to control what action is performed if there is a transition from the Operation Enabled state to the Switched On state Table 7 13 Disabled operation option code Disable operation option code Access RW Range 0 to 1 Size Unsigned 16 Default N A Description 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 14 Disable operation option code values Definition Disable drive function switch off the drive power stage
71. receive PDO mapping 2 Section 6 1 2 on page 21 Receive PDO mapping 6 Contains the mapping information receive PDO mapping 6 Section 6 1 2 on page 21 Receive PDO mapping 22 Contains the mapping information receive PDO mapping 22 Section 6 1 2 on page 21 Transmit PDO mapping 1 Contains the mapping information transmit PDO mapping 1 Section 6 1 3 on page 23 Transmit PDO mapping 2 Contains the mapping information transmit PDO mapping 2 Section 6 1 3 on page 23 Transmit PDO mapping 3 Contains the mapping information transmit PDO mapping 3 Section 6 1 3 on page 23 Transmit PDO mapping 6 Contains the mapping information transmit PDO mapping 6 Section 6 1 3 on page 23 Transmit PDO mapping 22 Contains the mapping information transmit PDO mapping 22 Section 6 1 3 on page 23 Sync manager communication type This read only object provides sync manager usage details Section 6 1 4 on page 26 Sync manager 0 PDO assignment This read only object contains information relating to the non cyclic receive mailbox Section 6 1 4 on page 26 Sync manager 1 PDO assignment This read only object contains information relating to the non cyclic send mailbox Section 6 1 4 on page 26 Sync manager 2 PDO assignment Contains the currently in use receive PDOs Section 6 1 4 on page 26 Sync manager 3 PDO assignment Con
72. resent Pr 3 13 to Off In open loop operating modes Pr 2 10 to 1 Pr 2 20 to 1 Pr 2 02 to On Pr 1 04 to 0 Pr 1 21 to 0 Pr 1 38 to 0 Pr 1 08 to Off Pr 1 10 to On Pr 1 09 to Off Pr 1 15 to 1 Pr 1 14 to 3 UORRIIEISU Uononponul IE2IuEUVEN UonelieisuI e911 0813 pajejs Buje SIO20101d 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 perfomed when the quick stop function is executed The slow down ramp is the deceleration value of the used mode of operations 5 Ad lt o 8 e EJ o g a v 5 o LI Table 7 9 uick stop option code O uick stop option code Access RW Range 0 to 6 Size Unsigned 16 peoueapy Default 2 Description Specifies what action is performed in the event of a quick stop function See Table 7 8 CoE state machine transition and events for more information sonsoubeiq Table 7 10 Quick stop value definitions Definition Disable drive function IND Slow down on slow down ramp and transit into Switch on disabled souasejoy Slow down on quick stop ramp and transit into Switch on disabled Slow down on slow down ramp and stay in Quick stop active Slow down on
73. s 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 Mentor MP Affinity and Digitax ST or Pr 0 06 in Commander SK This affects the thermal protection of the motor Adjusting parameters Some parameters and or objects 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 especially if a remote user can access the drive parameters SM EtherCAT User Guide www controltechniques com Issue Number 2 1 8 General safety considerations for remote operation SM EtherCAT enables the possibility of remotely controlling a machine from a distance It is vital that when connecting to a machine remotely adequate safety procedures are implemented to prevent damage to the machine or injury to personnel Any connection to a live system has the possibility of altering the state of the machine adequate procedures must be implemented to cover this situation It is the responsibility of the machine builder to ensure that such a system is safe
74. s object is used to configure the delta speed and delta time of the slope of the acceleration ramp 3 lt o 8 e EJ o fe a v 5 o LI Example To ramp to 1000 rpm in 5s possible values for delta speed and delta time are 10000 and 50 respectively seImea peoueapy vl velocity acceleration delta speed delta time Table 7 42 0x6048 vl velocity acceleration 0x6048 vl velocity acceleration Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 sonsoubeiq IND Description The number of last sub indexes in this object Sub index 1 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 1000 Souaejay sua JO Alesso 5 Description The value of delta speed is given in rpm if the vl dimension factor and the vl setpoint factor have the value 1 otherwise the value is in user units Sub index 2 Access RW Range 0 to 65535 Size Unsigned 16 Default 2 Description The value of delta time is given in seconds SM EtherCAT User Guide 43 Issue Number 2 www controltechniques com 7 5 7 7 5 8 44 0x6049 vl velocity deceleration This object is used to configure the delta speed and delta time of the slope of the deceleration ramp Example To decelerate by 800 rpm in 10s possible values for delta speed and delta time are 8000 and 100 respectively vl velocity deceleration delta speed delta time Table 7
75. s of homing sequences shown below 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 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 48 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 gt Index Pulse Negative Limit Switch l 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 48 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 Positive Limit Switch SM EtherCAT User Guide www controltechniques com Issue Number 2 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 p
76. s 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 vl velocity auick stop will be used in the event of a quick stop also for quick stop option codes 2 and 6 the 0x6049 vl velocity deceleration object will be used Table 7 47 shows the objects that are supported Table 7 47 Profile torque mode supported objects Target_torque Motor_rated_current Current_actual_value 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 48 0x6071 Target_torque Target_torque Access RW Range 32768 to 32767 Size Signed 16 Unit 0 1 of rated torque Default 0 Description Indicates the configured input value for the torque controller in profile torque mode SM EtherCAT User Guide www controltechniques com Issue Number 2 7 6 2 7 6 3 7 6 4 7 7 0x6075 Motor_rated_current This object indicates the configured motor rated current It is taken from the motor s name plate Dep
77. s the configured acceleration and deceleration to be used during homing operation Description SM EtherCAT User Guide www controltechniques com Issue Number 2 8 Advanced features 8 1 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 position controller and appropriate motion features will also be synchronized to the drive speed task In CoE interpolated position mode the position command provided by the master every interpolation cycle time is used to generate a position command for the drive every 250us 8 2 SM EtherCAT protocol support The following are supported Four Sync Managers Two are used for the Mailbox Protocol non cyclic data and two are used for process data cyclic data Distributed Clocks CANopen over EtherCAT CoE CMP protocol through Modbus RTU only on the Unidrive SP Digitax ST Mentor MP and Affinity SM EtherCAT User Guide 55 Issue Number 2 www controltechniques com UOpeuojU Kayes UORRIIEISU Uononponul IE2IuEUVEN uopejjesu 1e9u 29 3 D 9 3
78. ssary at all times when working with or adjacent to the drive payejs Bume9 Specific warnings are given at the relevant places in this user guide 000 01q 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 commissioning 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 SECURE DISABLE SAFE TORQUE OFF functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections With the sole exception of the SECURE DISABLE SAFE TORQUE OFF function none of the drive functions must be used to ensure safety of personnel i e they must not be used for safety related functions The SECURE DISABLE SAFE TORQUE OFF function is only a
79. t 0x2813 ge Q 8 Q a 39 da 9 SM EtherCAT User Guide 57 Commander SK Commander SL Issue Number 2 www controltechniques com 9 3 9 3 1 58 Diagnostic parameters Table 9 5 SM EtherCAT operating status SM EtherCAT operating status N A 9999 to 9999 Running states Meaning Link established RO Table 9 6 Diagnostic information running states Description A link has been established but no frames are being transmitted or received Handled messages per second Meaning Application started The number of cyclic PDO messages that the active EtherCAT is handling per second application Description The main application has been launched Initialising file system The file system is initialising Initialising databases The databases are initialising Initialising fieldbus The fieldbus is initialising Starting fieldbus The fieldbus is starting Initialisation complete Meaning Boot loader start The option module has initialised correctly but no network communication is taking place i e no EtherCAT frames have been transmitted or received bootloader Description The bootloader is starting up Initialising memory The memory manager is being initialised Initialising file system The file system handler is being initialised Format file system The file system
80. t 0x6061 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Table 6 14 TxPDO mapping 3 Transmit PDO mapping 3 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60410010 the DSP 402 status word 0x6041 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Sub index 2 2nd mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 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 SM EtherCAT User Guide www controltechniques com Issue Number 2 Table 6 1
81. t is calculated using the following formula pajejs Buje feed constant feed driving shaft revolutions SIO20101d The feed should be provided in user defined position units Table 7 25 Feed constant 0x6092 Feed_constant Sub index 0 Access RO Unit N A Default Range N A Size Unsigned 8 Description Sub index 1 Access RW Default 3 lt o fe EJ o g a v 5 o LI Range 0 to OxFFFFFFFF Size Unsigned 32 Unit N A Description Sub index 2 Access RW Default 1 peoueapy Range 0 to OxFFFFFFFF Size Unsigned 32 Unit N A Shaft revolutions Description sonsoubeiq 7 3 13 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 If is also not available on Commander SK or Affinity The position control described here is used under the interpolated position mode of operation souasejay JNO sua JO Alesso 5 SM EtherCAT User Guide 37 Issue Number 2 www controltechniques com Table 7 26 lists the objects that are supported Table 7 26 Basic position control supported objects position_demand_value position_actual_value following_error_window position_window following_error_actual_value position_control_parameter
82. tains the currently in use transmit PDOs Section 6 1 4 on page 26 Network loss behavior object Used to configure the network loss trip behavior watchdog Provides the primary method of control Section 9 2 1 on page 57 0x6040 Controlword ling the behavior of the drive Section 7 1 on page 28 0x6041 Statusword This provides feedback about the current Section 7 2 on page 29 operating state of the drive 0x6042 vl target velocity Used to set the required velocity of the Section 7 5 1 on page 41 system vi velocit Provides the instantaneous velocity 0x6043 nds demand generated by the drive ramp Section 7 5 2 on page 42 function SM EtherCAT User Guide www controltechniques com Issue Number 2 Table 10 1 SM EtherCAT objects reference 5 Object Description Cross reference S o av 0x6044 vi_velocity_actual Provides the velocity at the motor spin Section 7 5 3 on page 42 ae value dle or load 2 0x6046 vl velocity min This object is used o configure the mini Section 7 5 4 on page 42 3 max amount mum and maximum velocity el 0x6047 vl velocity min This object is used O configure the mini Section 7 5 5 on page 43 8 max mum and maximum velocity 3 VI velocit This object is used to configure the delta 0x6048 Weke speed and delta time of the slope of the Section 7 5 6 on page 43 a acceleration ramp 2 ie vi ve
83. ted Changes made to the SM EtherCAT configuration parameters will not take effect until the SM EtherCAT is reset Unidrive SP Mentor MP Affinity and Digitax ST Menu 20 applications parameters may be saved if an Application Module is fitted menu 20 is stored in the Application Module s memory See the relevant Application 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 CN This saves only drive and module parameters and not SM EtherCAT related objects 5 4 Re initialising the SM EtherCAT Table 5 4 SM EtherCAT re initialise 0 OFF 0 OFF to 1 ON RW Changes to the SM EtherCAT configuration in menu 15 16 or 17 parameters menu 15 and 16 on Affinity menu 15 on Commander SK will not take effect until the SM EtherCAT has been re initialised To re initialise 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 initialise using the updated configuration TE The above sequence does NOT store the SM EtherCAT configuration parameters in the 5 5 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 initialise all Solutions Modules To re initialise all Solutions Modules fitted on a Unidrive SP Affinity or Digitax ST 1 Set Pr MM 00
84. the target Section 7 4 2 on page 40 Interpolation ime period The number of time units between inter polator re starts Table 10 2 SM EtherCAT parameter reference Object Description SM EtherCAT module ID code Default Section 7 4 3 on page 40 Cross reference Section 9 1 1 on page 56 SM EtherCAT firmware major version 00 00 to 99 99 Section 9 1 2 on page 56 SM EtherCAT operating status 9999 to 9999 Section 9 3 on page 58 SM EtherCAT re initialise 0 OFF to 1 ON Section 5 4 on page 18 SM EtherCAT serial number 0 16777215 Section 9 6 on page 59 SM EtherCAT module temperature 0 255 Section 9 5 on page 59 Critical task free 0 to 100 Section 9 8 on page 61 Worst case criti cal task free 0 to 100 Section 9 9 on page 61 Flash file system free 0 to 100 Section 9 10 on page 61 SM EtherCAT error code 0 to 255 Section 9 7 on page 60 SM EtherCAT firmware minor version 0 to 99 Section 9 1 2 on page 56 SM EtherCAT User Guide www controltechniques com Issue Number 2 11 Glossary Of Terms Kayes UOREULOJUI Address This is the unigue 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 uoljonpo q
85. tive SM EtherCAT User Guide www controltechniques com Issue Number 2 7 5 5 0x6047 vl velocity min max This object is used to configure the minimum and maximum velocity The value is given in rpm if the vl dimension factor has the value of 1 otherwise the value is in user units UOREULOJUI Kayes Table 7 41 0x6047 vl velocity min max vl velocity min max Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 4 uolonpo qu Description The number of last sub indexes in this object UonelieisuI eo1ueyoay Sub index 1 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 0 Description Used to configure the minimum positive velocity at which the system can operate Sub index 2 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 2147483647 UonelieisuI e91 0813 Description Used to configure the maximum positive velocity at which the system can operate Sub index 3 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 0 pajejs Bue Description Used to configure the minimum negative velocity at which the system can operate Sub index 4 Access RW Range 0 to OxFFFFFFFF Size Unsigned 32 Unit rpm Default 2147483647 SIO20101d Description Used to configure the maximum negative velocity at which the system can operate 7 5 6 0x6048 vl velocity acceleration Thi
86. u 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 uopeleisui jeolueyoo 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 uonelieisuI jeoujoe y 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 peueis Bume9 Device A piece of equipment connected to a network this may be any type of equipment including repeaters hubs masters or slaves P 3 2 3 3 9 17 Double word A 32 bit word this may be signed or unsigned Earthing Grounding Describes the electrical safety or shielding connections for the module yoddns ZOv dSa emoid aaua LED Light emmiting diode Long word A 32 bit data word that may be signed or unsigned seJnjea peouenpy 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 sonsoubeiq Non cyclic data Data that is requested or sent as required and not on a regular basis souaJejey AAND Octet A collection of eight binary digits which form a
87. ulse on page 49 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 5 Homing on positive home switch and index pulse sl vogsnpomu EL IE2IuEUEN uopejesu e911 0913 payejs Bue Index Pulse Home Switch E SIO20101d 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 49 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 Homing on negative home switch and index pulse Hoddns a lt o Y e EJ o fe a v 5 o LI sainyeay sonsoubeiq peoueapy soueJejey IND Index Pulse Home Switch sua JO Alesso 5 Method 7 to 14 Homing on home switch and index pulse These
88. ult 0x60400010 the DSP 402 control word 0x6040 S 090 0 1d Description 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 yoddns g gt 3 E 9 Do n U A 2 D sainjeoy sonsoubeiq OND peoueapy souaJejey sua JO Alesso 5 SM EtherCAT User Guide 21 Issue Number 2 www controltechniques com Table 6 8 RxPDO mapping 2 0x1601 Receive PDO mapping 2 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60400010 the DSP 402 control word 0x6040 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Sub index 2 2nd mapped object Access RW Range 0 to OxFFFFFFFF Size 4 bytes Unit N A Default 0x60600008 the DSP 402 modes of operation object 0x6060 Description A mapping to an object with the following format Bits 0 to 7 Len
89. vailable as standard on the Unidrive SP Digitax ST The Affinity Commander SK and Mentor MP drives do not have such a feature The SECURE DISABLE function on Unidrive SP and the SAFE TORQUE OFF function of the Digitax ST meet the requirements of EN954 1 category 3 for the prevention of unexpected starting of the drive They may be used in a safety related application The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards g 2 3 3 o g n U A So Us SopsouBelg AND peoueapy 80ua1ejey sue JO Hesso SM EtherCAT User Guide 5 Issue Number 2 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 Environmental limits Instructions in the Unidrive SP User Guide Mentor MP User Guide Affinity User Guide Commander SK Getting Started Guide Commander SK Technical Data Guide Digitax S
90. very 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 vl dimension factor is to convert this specific unit to the revolutions minute unit A value of O must not be used 3 lt o 2 e EJ o g a v 5 o LI Velocity user defined unit Dimension factor rpm user defined unit Velocity rpm Table 7 46 0x604C vl dimension factor 0x604C Sub index 0 Access C Range N A Size Unsigned 8 Unit N A Default 2 seJnjeaj peoueapy Description The number of last sub indexes in this object Sub index 1 sonsoubeiq Access RW Range 32768 to 32767 Size Signed 16 Unit N A Default 1 IND Description vl dimension factor numerator a value of 0 is not valid Sub index 2 Access RW Range 32768 to 32767 Size Signed 16 Unit N A Default 1 soueJejey sua JO Auesso 5 Description vl dimension factor denominator a value of 0 is not valid The vl target velocity object is re read every new profile cycle lt is scaled to appropriate units using the v _dimension_factor and vl setpoint factor objects and then written to the drive preset reference 1 parameter Pr 1 21 SM EtherCAT User Guide 45 Issue Number 2 www controltechniques com 7 6 7 6 1 46 The object vl velocity min max is handled every profile cycle The vi target velocity is limited accord
91. ween accesses to PDOs read or write If 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 I o Sub index 2 Trip type 8 Access RW Range 0 to 2 Size 1 byte Unit N A v Default 0 Description 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 gu previously described If this value is set to 1 the network loss trip will occur only after the 3 motor has been stopped according to the Fault reaction option code If the value is set to 2 o the network loss trip will occur immediately on network loss this implies that the motor will GCG coast 2 A 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 ae lt EtherCAT error code parameter Pr MM 50 will show 120 28 o o PERE a n Q After power up or reset the network loss trip is not armed until one of the following events occur o i D SYNC message is received e fe RXPDO is received A me a 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 2 behavior objec

Emerson 0471-0128-02 Switch User Manual

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