Emerson 0471-0128-02 manual Saving parameters to the drive, Re-initialising the SM-EtherCAT

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5.3Saving 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 affected. 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
NOTE
	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.
	This saves only drive and module parameters and not SM-EtherCAT related objects.
NOTE

5.4		Re-initialising the SM-EtherCAT
		Table 5.4 SM-EtherCAT re-initialise
		SM-EtherCAT re-initialise
			Default	0 (OFF)
		Pr MM.32	Range	0 (OFF) to 1 (ON)
			Access	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.
		The above sequence does NOT store the SM-EtherCAT configuration parameters in the
	NOTE
		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.

5.5Re-initialise all Solutions Modules

NOTE

NOTE

To re-initialise all Solutions Modules fitted on a Unidrive SP, Affinity or Digitax ST:

1.Set Pr MM.00 to 1070.

2.Press the red RESET button on the drive.

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

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Contents SM-EtherCAT General Information Contents Diagnostics Quick Reference Glossary Of TermsSafety Information Electrical safety general warningSystem design and safety of personnel Compliance with regulations Adjusting parametersEnvironmental limits MotorGeneral safety considerations for remote operation Solution module identification FeaturesWhat is EtherCAT? IntroductionConventions used in this guide Date code formatExample Mechanical Installation General InstallationElectrical Installation SM-EtherCAT module informationModule grounding 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 ControlwordCommon profile features 0x6041 StatuswordSequencing control Page Power disabled CoE state machine transition and events Transition Events Actions10 Quick stop value definitions 2 0x605A Quick stop option codeQuickstopoptioncode 0x605A4 0x605C Disableoperationoptioncode 5 0x605E Faultreactionoptioncode3 0x605B Shutdownoptioncode 6 0x6060 Modesofoperation 7 0x6061 Modesofoperationdisplay8 0x6085 Quickstopdeceleration Profile units 10 0x608F Positionencoderresolution23 Positionencoderresolution 11 0x6091 Gearratio24 Gearratio 12 0x6092 FeedconstantBasic position control Feed constant = feed / driving shaft revolutions16 0x60F4 Followingerroractualvalue 14 0x6062 Positiondemandvalue15 0x6064 Positionactualvalue Interpolated position mode 17 0x60FB Positioncontrolparameterset object1 0x60C0 Interpolationsub-modeselect 33 0x60C1 Interpolationdatarecord 2 0x60C1 Interpolationdatarecord3 0x60C2 Interpolationtimeperiod 34 Interpolationtimeperiod1 0x6042 vltargetvelocity Vl velocity mode36 vl velocity mode supported objects 37 vltargetvelocity2 0x6043 vlvelocitydemand 3 0x6044 vlvelocityactualvalue4 0x6046 vlvelocityminmaxamount 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 15 and 16 Reserved Method 17 to 30 Homing without index pulseMethod 33 and 34 Homing on 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 speedsAdvanced features Distributed clocksSM-EtherCAT protocol support 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 module temperature Drive trip display codesSM-EtherCAT serial number 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 firmwareQuick Reference SM-EtherCAT objects referenceObject Name Description Cross 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