Emerson 0471-0128-02 manual Provides the velocity at the motor spin 3 on

Page 63

Table 10.1 SM-EtherCAT objects reference

Object

Name

Description

Cross reference

0x6044

vl_velocity_actual

Provides the velocity at the motor spin-

Section 7.5.3 on page 42

value

dle or load.

 

 

 

 

 

 

0x6046

vl_velocity_min

This object is used to configure the mini-

Section 7.5.4 on page 42

 

max_amount

mum and maximum velocity.

 

0x6047

vl_velocity_min

This object is used to configure the mini-

Section 7.5.5 on page 43

 

max

mum and maximum velocity.

 

0x6048

vl_velocity

This object is used to configure the delta

Section 7.5.6 on page 43

speed and delta time of the slope of the

acceleration

 

acceleration ramp.

 

 

 

 

 

 

 

 

0x6049

vl_velocity

This object is used to configure the delta

Section 7.5.7 on page 44

speed and delta time of the slope of the

deceleration

 

deceleration ramp.

 

 

 

 

 

 

 

 

0x604A

vl_velocity_quick

This object is used to configure the delta

Section 7.5.8 on page 44

speed and delta time of the slope of the

 

stop

deceleration ramp for quick stop.

 

 

 

 

 

 

 

 

0x604B

vl_setpoint

This object is used to configure the

Section 7.5.9 on page 45

numerator and denominator of the

factor

 

vl_setpoint_factor.

 

 

 

 

 

 

 

 

0x605A

Quick_stop

Specifies what action is performed in the

Section 7.3.2 on page 33

 

option_code

event of a quick stop function

 

 

 

Used to control what action is performed

 

0x605B

Shutdown_option

if there is a transition from the Operation

Section 7.3.3 on page 34

code

Enabled state to the Ready To Switch On

 

 

state.

 

 

 

 

 

 

Disable

This object is used to control what action

 

 

is performed if there is a transition from

 

0x605C

operation_option

Section 7.3.4 on page 34

 

code

the Operation Enabled state to the

 

 

Switched On state.

 

 

 

 

0x605E

Fault_reaction

This object is used to control what action

Section 7.3.5 on page 34

 

option_code

is performed when a fault is detected.

 

0x6060

Modes_of

This object is used to request a change

Section 7.3.6 on page 35

operation

in the mode of operation.

 

 

 

 

 

 

0x6061

Modes of opera-

This read only object is used to provide

Section 7.3.7 on page 35

tion display

the active mode of operation.

 

 

0x6062

Position_demand

Used to provide the currently demanded

Section 7.3.14 on page 38

 

value

position value.

 

0x6064

Position_actual

This read only object provides the actual

Section 7.3.15 on page 38

 

value

value of the position feedback device.

 

 

 

This object is used to configure the

 

0x6085

Quick_stop

deceleration rate used to stop the motor

Section 7.3.8 on page 35

when the quickstop function is activated

deceleration

 

and the quick stop code object (0x605A)

 

 

 

 

 

 

is set to 2 or 6.

 

 

 

 

 

 

Position_encoder

This read only object indicates the con-

 

0x608F

figured encoder increments per number

Section 7.3.10 on page 36

 

resolution

of motor revolutions.

 

 

 

 

 

 

 

 

0x6091

Gear_ratio

This object is used to apply scaling.

Section 7.3.11 on page 36

 

 

 

 

0x6092

Feed_constant

This is used to configure a feed constant.

Section 7.3.12 on page 37

 

 

 

 

0x60F4

Following_error

This read only object provides the actual

Section 7.3.16 on page 38

 

actual_value

value of the following error.

 

0x60FB

Position_control

Used to configure the positional control

Section 7.3.17 on page 39

parameter_set

gains.

 

object

 

 

 

 

 

 

 

 

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

63

Issue Number: 2

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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
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