Emerson 0471-0128-02 manual SM-EtherCAT

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User Guide

SM-EtherCAT

Unidrive SP

Affinity

Digitax ST

Commander SK

Mentor MP

Part Number: 0471-0128-02

Issue: 2

www.controltechniques.com

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Contents SM-EtherCAT General Information Contents Quick Reference Glossary Of Terms DiagnosticsElectrical safety general warning Safety InformationSystem design and safety of personnel Environmental limits Adjusting parametersCompliance with regulations MotorGeneral safety considerations for remote operation What is EtherCAT? FeaturesSolution module identification IntroductionDate code format Conventions used in this guideExample General Installation Mechanical InstallationSM-EtherCAT module information Electrical InstallationModule grounding Minimum node-to-node cable length Network topologyQuick start guide Getting StartedSM-EtherCAT version compatibility SM-EtherCAT XML fileConfiguring the SM-EtherCAT module for cyclic communications Cyclic data mapping configuration RxPDO1 TxPDO1 TxPDO6 Configuring the Sync ManagersAssigning TxPDO to the Sync Manager Assigning RxPDO to the Sync ManagerQuick start flowchart Quick start flowchartSaving parameters to the drive Re-initialise all Solutions ModulesRe-initialising the SM-EtherCAT SM-EtherCAT re-initialiseCANopen over EtherCAT CoE ProtocolsCoE object dictionary Object description formatDefinitions CoE communication areaDevice type object Identity objectRxPDO mappings RxPDO mappingsRxPDO mapping 0x16000x1605 0x160110 RxPDO mapping TxPDO mappings11 TxPDO mappings 12 TxPDO mapping14 TxPDO mapping 13 TxPDO mapping0x1A01 Transmit PDO mapping Sub-index 0 Number of mapped objects16 TxPDO mapping 15 TxPDO mapping0x1A05 0x1A1517 Sync manager communication type object Sync manager configuration18 Sync manager 0 PDO assignment object 19 Sync manager 1 PDO assignment object20 Sync manager 2 PDO assignment object Feedback encoder source21 Sync manager 3 PDO assignment object 22 Feedback encoder sourceDrive profile DSP-402 support Command coding0x6040 Controlword Controlword0x6041 Statusword Common profile featuresSequencing control Page Power disabled Transition Events Actions CoE state machine transition and eventsQuickstopoptioncode 2 0x605A Quick stop option code10 Quick stop value definitions 0x605A5 0x605E Faultreactionoptioncode 4 0x605C Disableoperationoptioncode3 0x605B Shutdownoptioncode 7 0x6061 Modesofoperationdisplay 6 0x6060 Modesofoperation8 0x6085 Quickstopdeceleration 23 Positionencoderresolution 10 0x608F PositionencoderresolutionProfile units 11 0x6091 GearratioBasic position control 12 0x6092 Feedconstant24 Gearratio Feed constant = feed / driving shaft revolutions14 0x6062 Positiondemandvalue 16 0x60F4 Followingerroractualvalue15 0x6064 Positionactualvalue 17 0x60FB Positioncontrolparameterset object Interpolated position mode1 0x60C0 Interpolationsub-modeselect 3 0x60C2 Interpolationtimeperiod 2 0x60C1 Interpolationdatarecord33 0x60C1 Interpolationdatarecord 34 Interpolationtimeperiod36 vl velocity mode supported objects Vl velocity mode1 0x6042 vltargetvelocity 37 vltargetvelocity3 0x6044 vlvelocityactualvalue 2 0x6043 vlvelocitydemand4 0x6046 vlvelocityminmaxamount 6 0x6048 vlvelocityacceleration 5 0x6047 vlvelocityminmax41 0x6047 vlvelocityminmax 0x60478 0x604A vlvelocityquickstop 7 0x6049 vlvelocitydeceleration0x6049 0x604ACalculating the vl dimension factor 10 0x604C vldimensionfactor46 0x604C vldimensionfactor 9 0x604B vlsetpointfactor47 Profile torque mode supported objects Profile Torque mode1 0x6071 Targettorque 48 0x6071 Targettorque2 0x6075 Motorratedcurrent Homing Mode3 0x6078 Currentactualvalue 4 0x6087 TorqueslopeGeneral homing definitions Method 1 Homing on negative limit switch and index pulseSupport Drive profile DSP-402 SM-EtherCAT User Guide Method 17 to 30 Homing without index pulse Method 15 and 16 ReservedMethod 33 and 34 Homing on index pulse Homing mode object definitions 55 Freeze object 0x2804 Freeze objectFreeze object 0x607C Home offset57 Homing method 0x6098 Homing method58 Homing method values 0x6099 Homing speedsDistributed clocks Advanced featuresSM-EtherCAT protocol support Module identification parameters DiagnosticsSM-EtherCAT module ID code SM-EtherCAT firmware versionCommander SK / Commander SL Network configuration objectsSM-EtherCAT network loss trip Network loss behavior objectRunning states Diagnostic parametersDrive trip display codes SM-EtherCAT module temperatureSM-EtherCAT serial number 12 SM-EtherCAT error codes SM-EtherCAT error codes13 SM-EtherCAT error codes SM-EtherCAT error codes Default Pr MM.50 Range AccessWorst case critical task % free Critical task % freeFlash file system % free Updating SM-EtherCAT firmwareSM-EtherCAT objects reference Quick ReferenceObject Name Description Cross reference Provides the velocity at the motor spin 3 on Object SM-EtherCAT parameter referencePr MM.01 Pr MM.32Polled data See Cyclic data Glossary Of TermsScan rate See Poll rate Index Secure Disable Page 0471-0128-02