Emerson 0471-0128-02 manual Scan rate See Poll rate

Page 66

Scan rate: See Poll rate.

Screening: A connection to provide additional immunity to noise used on a network cable.

Shielding: A connection to provide additional immunity to noise used on a network cable.

Status word: A value that denotes the status of the drive. Each bit within the word will have a specific meaning.

Word: A collection of sixteen binary digits.

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

Image 66

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