Emerson 0471-0128-02 manual Advanced features, Distributed clocks, SM-EtherCAT protocol support

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8 Advanced features

8.1Distributed clocks

		SM-EtherCAT supports Distributed clocks. This is the scheme used by EtherCAT to
		accurately time synchronize slave devices. Position, speed and current control loops
		can all be synchronized.
		When the option module is connected to a drive which can take a time synchronization
		signal (e.g. a Unidrive SP or Digitax ST), the EtherCAT distributed clocks facility can be
		used to provide this signal so the drive speed and current tasks are synchronized to the
		network. The position controller, and appropriate motion features will also be
		synchronized to the drive speed task.
		In CoE interpolated position mode the position command provided by the master every
	NOTE
		interpolation cycle time is used to generate a position command for the drive every
		250µs.
8.2		SM-EtherCAT protocol support
		The following are supported:

•Four Sync Managers. Two are used for the Mailbox Protocol (non-cyclic data) and two are used for process data (cyclic data)

•Distributed Clocks

•CANopen over EtherCAT (CoE)

•CMP protocol through Modbus RTU (only on the Unidrive SP, Digitax ST, Mentor MP and Affinity)

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	55
Issue Number: 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 Motor Adjusting parametersEnvironmental limits Compliance with regulationsGeneral safety considerations for remote operation Introduction FeaturesWhat is EtherCAT? Solution module identificationDate code format Conventions used in this guideExample General Installation Mechanical InstallationSM-EtherCAT module information Electrical InstallationModule 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 Controlword0x6041 Statusword Common profile featuresSequencing control Page Power disabled Transition Events Actions CoE state machine transition and events0x605A 2 0x605A Quick stop option codeQuickstopoptioncode 10 Quick stop value definitions5 0x605E Faultreactionoptioncode 4 0x605C Disableoperationoptioncode3 0x605B Shutdownoptioncode 7 0x6061 Modesofoperationdisplay 6 0x6060 Modesofoperation8 0x6085 Quickstopdeceleration 11 0x6091 Gearratio 10 0x608F Positionencoderresolution23 Positionencoderresolution Profile unitsFeed constant = feed / driving shaft revolutions 12 0x6092 FeedconstantBasic position control 24 Gearratio14 0x6062 Positiondemandvalue 16 0x60F4 Followingerroractualvalue15 0x6064 Positionactualvalue 17 0x60FB Positioncontrolparameterset object Interpolated position mode1 0x60C0 Interpolationsub-modeselect 34 Interpolationtimeperiod 2 0x60C1 Interpolationdatarecord3 0x60C2 Interpolationtimeperiod 33 0x60C1 Interpolationdatarecord37 vltargetvelocity Vl velocity mode36 vl velocity mode supported objects 1 0x6042 vltargetvelocity3 0x6044 vlvelocityactualvalue 2 0x6043 vlvelocitydemand4 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 17 to 30 Homing without index pulse Method 15 and 16 ReservedMethod 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 valuesDistributed clocks Advanced featuresSM-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 parametersDrive trip display codes SM-EtherCAT module temperatureSM-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 % freeSM-EtherCAT objects reference Quick 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