Emerson 0471-0128-02 manual Quick start flowchart

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5.2Quick start flowchart

Figure 5-3details the steps required to achieve cyclic communications on the EtherCAT network. This flowchart should be used as the starting point for all configurations.

Figure 5-3 Quick start flowchart

START

Ensure the Control Techniques .xml file is in the appropriate

folder on the hard drive of the master

Check the LED status of the SM-EtherCAT module

In the master, scan the EtherCAT network

Select required PDOs

Configure the PDOs with the mappings required

Configure the Sync managers using the required PDOs

Download or activate the configuration to the master

Check the front of the SM-EtherCAT module to ensure that the LED relating to the connection being used is flashing, this confirms that communications are functioning

END

Information	Safety

Introduction

Installation	Mechanical

Installation	Electrical

Started	Getting

Protocols

support	Drive profile (DSP-402)

features	Advanced

Diagnostics

Reference	Quick

Terms	Glossary
	Of

Index

SM-EtherCAT User Guide	17
Issue Number: 2	www.controltechniques.com

Image 17

Contents SM-EtherCAT General Information Contents Quick Reference Glossary Of Terms DiagnosticsSystem design and safety of personnel Safety InformationElectrical safety general warning Environmental limits Adjusting parametersCompliance with regulations MotorGeneral safety considerations for remote operation What is EtherCAT? FeaturesSolution module identification IntroductionExample Conventions used in this guideDate code format General Installation Mechanical InstallationModule grounding Electrical InstallationSM-EtherCAT module information 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 ControlwordSequencing control Common profile features0x6041 Statusword Page Power disabled Transition Events Actions CoE state machine transition and eventsQuickstopoptioncode 2 0x605A Quick stop option code10 Quick stop value definitions 0x605A3 0x605B Shutdownoptioncode 4 0x605C Disableoperationoptioncode5 0x605E Faultreactionoptioncode 8 0x6085 Quickstopdeceleration 6 0x6060 Modesofoperation7 0x6061 Modesofoperationdisplay 23 Positionencoderresolution 10 0x608F PositionencoderresolutionProfile units 11 0x6091 GearratioBasic position control 12 0x6092 Feedconstant24 Gearratio Feed constant = feed / driving shaft revolutions15 0x6064 Positionactualvalue 16 0x60F4 Followingerroractualvalue14 0x6062 Positiondemandvalue 1 0x60C0 Interpolationsub-modeselect Interpolated position mode17 0x60FB Positioncontrolparameterset object 3 0x60C2 Interpolationtimeperiod 2 0x60C1 Interpolationdatarecord33 0x60C1 Interpolationdatarecord 34 Interpolationtimeperiod36 vl velocity mode supported objects Vl velocity mode1 0x6042 vltargetvelocity 37 vltargetvelocity4 0x6046 vlvelocityminmaxamount 2 0x6043 vlvelocitydemand3 0x6044 vlvelocityactualvalue 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 33 and 34 Homing on index pulse Method 15 and 16 ReservedMethod 17 to 30 Homing without 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 speedsSM-EtherCAT protocol support Advanced featuresDistributed clocks 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 parametersSM-EtherCAT serial number SM-EtherCAT module temperatureDrive trip display codes 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 firmwareObject Name Description Cross reference Quick ReferenceSM-EtherCAT objects 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