Emerson 0471-0128-02 manual Configuring the SM-EtherCAT module for cyclic communications

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5.1.3Configuring 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 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

 

Pr 20.21

 

 

Control word

vl_target_velocity

 

 

 

 

PLC

 

 

 

 

 

 

TxPDO1

 

 

 

TxPDO6

 

0x6041

0x6064 position

 

 

Pr 18.22

Pr 20.22

Status word

actual value

 

 

 

 

 

 

RxPDO1, TxPDO1 and TxPDO6 will need to be enabled in the master. Once enabled you will need to add mappings to the PDOs.

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 and the size would be 4 (the parameter is a 32-bit signed value).

 

 

The values are normally expressed in hexadecimal, so care must be taken to enter the

 

NOTE

 

 

correct parameter number.

 

 

 

 

 

14

 

SM-EtherCAT User Guide

 

 

www.controltechniques.com

Issue Number: 2

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Contents SM-EtherCAT General Information Contents Diagnostics Quick Reference Glossary Of TermsSystem design and safety of personnel Safety InformationElectrical safety general warning Compliance with regulations Adjusting parametersEnvironmental limits MotorGeneral safety considerations for remote operation Solution module identification FeaturesWhat is EtherCAT? IntroductionExample Conventions used in this guideDate code format Mechanical Installation General InstallationModule grounding Electrical InstallationSM-EtherCAT module information Network topology Minimum node-to-node cable lengthSM-EtherCAT version compatibility Getting StartedQuick start guide SM-EtherCAT XML fileConfiguring the SM-EtherCAT module for cyclic communications Configuring the Sync Managers Cyclic data mapping configuration RxPDO1 TxPDO1 TxPDO6Assigning RxPDO to the Sync Manager Assigning TxPDO to the Sync ManagerQuick start flowchart Quick start flowchartRe-initialising the SM-EtherCAT Re-initialise all Solutions ModulesSaving parameters to the drive SM-EtherCAT re-initialiseCoE object dictionary ProtocolsCANopen over EtherCAT CoE Object description formatDevice type object CoE communication areaDefinitions Identity objectRxPDO mapping RxPDO mappingsRxPDO mappings 0x16000x1601 0x160511 TxPDO mappings TxPDO mappings10 RxPDO mapping 12 TxPDO mapping0x1A01 13 TxPDO mapping14 TxPDO mapping Transmit PDO mapping Sub-index 0 Number of mapped objects0x1A05 15 TxPDO mapping16 TxPDO mapping 0x1A1518 Sync manager 0 PDO assignment object Sync manager configuration17 Sync manager communication type object 19 Sync manager 1 PDO assignment object21 Sync manager 3 PDO assignment object Feedback encoder source20 Sync manager 2 PDO assignment object 22 Feedback encoder source0x6040 Controlword Command codingDrive profile DSP-402 support ControlwordSequencing control Common profile features0x6041 Statusword Page Power disabled CoE state machine transition and events Transition Events Actions10 Quick stop value definitions 2 0x605A Quick stop option codeQuickstopoptioncode 0x605A3 0x605B Shutdownoptioncode 4 0x605C Disableoperationoptioncode5 0x605E Faultreactionoptioncode 8 0x6085 Quickstopdeceleration 6 0x6060 Modesofoperation7 0x6061 Modesofoperationdisplay Profile units 10 0x608F Positionencoderresolution23 Positionencoderresolution 11 0x6091 Gearratio24 Gearratio 12 0x6092 FeedconstantBasic position control Feed constant = feed / driving shaft revolutions15 0x6064 Positionactualvalue 16 0x60F4 Followingerroractualvalue14 0x6062 Positiondemandvalue 1 0x60C0 Interpolationsub-modeselect Interpolated position mode17 0x60FB Positioncontrolparameterset object 33 0x60C1 Interpolationdatarecord 2 0x60C1 Interpolationdatarecord3 0x60C2 Interpolationtimeperiod 34 Interpolationtimeperiod1 0x6042 vltargetvelocity Vl velocity mode36 vl velocity mode supported objects 37 vltargetvelocity4 0x6046 vlvelocityminmaxamount 2 0x6043 vlvelocitydemand3 0x6044 vlvelocityactualvalue 41 0x6047 vlvelocityminmax 5 0x6047 vlvelocityminmax6 0x6048 vlvelocityacceleration 0x60470x6049 7 0x6049 vlvelocitydeceleration8 0x604A vlvelocityquickstop 0x604A46 0x604C vldimensionfactor 10 0x604C vldimensionfactorCalculating the vl dimension factor 9 0x604B vlsetpointfactor1 0x6071 Targettorque Profile Torque mode47 Profile torque mode supported objects 48 0x6071 Targettorque3 0x6078 Currentactualvalue Homing Mode2 0x6075 Motorratedcurrent 4 0x6087 TorqueslopeMethod 1 Homing on negative limit switch and index pulse General homing definitionsSupport Drive profile DSP-402 SM-EtherCAT User Guide Method 33 and 34 Homing on index pulse Method 15 and 16 ReservedMethod 17 to 30 Homing without index pulse Homing mode object definitions Freeze object 0x2804 Freeze object55 Freeze object 0x607C Home offset58 Homing method values 0x6098 Homing method57 Homing method 0x6099 Homing speedsSM-EtherCAT protocol support Advanced featuresDistributed clocks SM-EtherCAT module ID code DiagnosticsModule identification parameters SM-EtherCAT firmware versionSM-EtherCAT network loss trip Network configuration objectsCommander SK / Commander SL Network loss behavior objectDiagnostic parameters Running statesSM-EtherCAT serial number SM-EtherCAT module temperatureDrive trip display codes 13 SM-EtherCAT error codes SM-EtherCAT error codes12 SM-EtherCAT error codes SM-EtherCAT error codes Default Pr MM.50 Range AccessFlash file system % free Critical task % freeWorst case critical task % free Updating SM-EtherCAT firmwareObject Name Description Cross reference Quick ReferenceSM-EtherCAT objects reference Provides the velocity at the motor spin 3 on Pr MM.01 SM-EtherCAT parameter referenceObject Pr MM.32Glossary Of Terms Polled data See Cyclic dataScan rate See Poll rate Index Secure Disable Page 0471-0128-02
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