Emerson 0471-0128-02 manual Contents

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	Contents
1	Safety Information	5
1.1	Warnings, cautions and notes	5
1.2	Electrical safety - general warning	5
1.3	System design and safety of personnel	5
1.4	Environmental limits	6
1.5	Compliance with regulations	6
1.6	Motor	6
1.7	Adjusting parameters	6
1.8	General safety considerations for remote operation	7
2	Introduction	8
2.1	Features	8
2.2	Introduction to SM-EtherCAT	8
2.3	What is EtherCAT?	8
2.4	Solution module identification	8
2.5	Conventions used in this guide	9
3	Mechanical Installation	10
3.1	General Installation	10
4	Electrical Installation	11
4.1	SM-EtherCAT module information	11
4.2	Module grounding	11
4.3	Network topology	12
4.4	Minimum node-to-node cable length	12
5	Getting Started	13
5.1	Quick start guide	13
5.2	Quick start flowchart	17
5.3	Saving parameters to the drive	18
5.4	Re-initialising the SM-EtherCAT	18
5.5	Re-initialise all Solutions Modules	18
6	Protocols	19
6.1	CANopen over EtherCAT (CoE)	19
7	Drive profile (DSP-402) support	28
7.1	0x6040 Controlword	28
7.2	0x6041 Statusword	29
7.3	Common profile features	29
7.4	Interpolated position mode	39
7.5	vl velocity mode	41
7.6	Profile Torque mode	46
7.7	Homing Mode	47
8	Advanced features	55
8.1	Distributed clocks	55
8.2	SM-EtherCAT protocol support	55

SM-EtherCAT User Guide	3
Issue Number: 2	www.controltechniques.com

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Contents SM-EtherCAT General Information Contents Quick Reference Glossary Of Terms DiagnosticsSafety Information Electrical safety general warningSystem design and safety of personnel Motor Adjusting parametersEnvironmental limits Compliance with regulationsGeneral safety considerations for remote operation Introduction FeaturesWhat is EtherCAT? Solution module identificationConventions used in this guide Date code formatExample General Installation Mechanical InstallationElectrical Installation SM-EtherCAT module informationModule grounding Minimum node-to-node cable length Network topologySM-EtherCAT XML file Getting StartedQuick start guide SM-EtherCAT version compatibilityConfiguring 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 flowchartSM-EtherCAT re-initialise Re-initialise all Solutions ModulesSaving parameters to the drive Re-initialising the SM-EtherCATObject description format ProtocolsCANopen over EtherCAT CoE CoE object dictionaryIdentity object CoE communication areaDefinitions Device type object0x1600 RxPDO mappingsRxPDO mappings RxPDO mapping0x1605 0x160112 TxPDO mapping TxPDO mappings10 RxPDO mapping 11 TxPDO mappingsTransmit PDO mapping Sub-index 0 Number of mapped objects 13 TxPDO mapping14 TxPDO mapping 0x1A010x1A15 15 TxPDO mapping16 TxPDO mapping 0x1A0519 Sync manager 1 PDO assignment object Sync manager configuration17 Sync manager communication type object 18 Sync manager 0 PDO assignment object22 Feedback encoder source Feedback encoder source20 Sync manager 2 PDO assignment object 21 Sync manager 3 PDO assignment objectControlword Command codingDrive profile DSP-402 support 0x6040 ControlwordCommon profile features 0x6041 StatuswordSequencing control Page Power disabled Transition Events Actions CoE state machine transition and events0x605A 2 0x605A Quick stop option codeQuickstopoptioncode 10 Quick stop value definitions4 0x605C Disableoperationoptioncode 5 0x605E Faultreactionoptioncode3 0x605B Shutdownoptioncode 6 0x6060 Modesofoperation 7 0x6061 Modesofoperationdisplay8 0x6085 Quickstopdeceleration 11 0x6091 Gearratio 10 0x608F Positionencoderresolution23 Positionencoderresolution Profile unitsFeed constant = feed / driving shaft revolutions 12 0x6092 FeedconstantBasic position control 24 Gearratio16 0x60F4 Followingerroractualvalue 14 0x6062 Positiondemandvalue15 0x6064 Positionactualvalue Interpolated position mode 17 0x60FB Positioncontrolparameterset object1 0x60C0 Interpolationsub-modeselect 34 Interpolationtimeperiod 2 0x60C1 Interpolationdatarecord3 0x60C2 Interpolationtimeperiod 33 0x60C1 Interpolationdatarecord37 vltargetvelocity Vl velocity mode36 vl velocity mode supported objects 1 0x6042 vltargetvelocity2 0x6043 vlvelocitydemand 3 0x6044 vlvelocityactualvalue4 0x6046 vlvelocityminmaxamount 0x6047 5 0x6047 vlvelocityminmax6 0x6048 vlvelocityacceleration 41 0x6047 vlvelocityminmax0x604A 7 0x6049 vlvelocitydeceleration8 0x604A vlvelocityquickstop 0x60499 0x604B vlsetpointfactor 10 0x604C vldimensionfactorCalculating the vl dimension factor 46 0x604C vldimensionfactor48 0x6071 Targettorque Profile Torque mode47 Profile torque mode supported objects 1 0x6071 Targettorque4 0x6087 Torqueslope Homing Mode2 0x6075 Motorratedcurrent 3 0x6078 CurrentactualvalueGeneral homing definitions Method 1 Homing on negative limit switch and index pulseSupport 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 0x607C Home offset 0x2804 Freeze object55 Freeze object Freeze object0x6099 Homing speeds 0x6098 Homing method57 Homing method 58 Homing method valuesAdvanced features Distributed clocksSM-EtherCAT protocol support SM-EtherCAT firmware version DiagnosticsModule identification parameters SM-EtherCAT module ID codeNetwork loss behavior object Network configuration objectsCommander SK / Commander SL SM-EtherCAT network loss tripRunning states Diagnostic parametersSM-EtherCAT module temperature Drive trip display codesSM-EtherCAT serial number SM-EtherCAT error codes Default Pr MM.50 Range Access SM-EtherCAT error codes12 SM-EtherCAT error codes 13 SM-EtherCAT error codesUpdating SM-EtherCAT firmware Critical task % freeWorst case critical task % free Flash file system % freeQuick Reference SM-EtherCAT objects referenceObject Name Description Cross reference Provides the velocity at the motor spin 3 on Pr MM.32 SM-EtherCAT parameter referenceObject Pr MM.01Polled data See Cyclic data Glossary Of TermsScan rate See Poll rate Index Secure Disable Page 0471-0128-02