Emerson 0471-0128-02 manual Features, Introduction to SM-EtherCAT, What is EtherCAT?

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2 Introduction

2.1Features

•Standard RJ45 connectivity with support for shielded twisted pair.

•Dual 100Mbps EtherCAT interfaces for use in line topologies i.e. daisy chaining.

•Supports the Unidrive SP drives range, Mentor MP, Affinity, Digitax ST and Commander SK.

•Control loop synchronisation.

•Control cycle times down to 250µs.

•CANopen over EtherCAT (CoE) which includes:

•Support of CANopen DSP-402 (Device Profile for Drives and Motion)

•Interpolated position mode

•Velocity mode

•Profile torque mode

•Two transmit and two receive PDOs.

•SDO access to all profile objects and drive parameters.

2.2Introduction to SM-EtherCAT

SM-EtherCAT is a Solutions Module that enables the Control Techniques range of variable speed drives to be connected to an EtherCAT network as a slave device. It can be used in a variety of applications, from those requiring accurate synchronization and precise motion control, to those where ease of use and open loop control are appropriate.

2.3What is EtherCAT?

EtherCAT is an open high performance Ethernet-based fieldbus system that overcomes the system limitations of other Ethernet solutions. The Ethernet packet is no longer received, then interpreted and copied as process data at every connection; instead the Ethernet frame is processed on the fly. The development goal of EtherCAT was to apply Ethernet to automation applications that require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. Typical application fields for EtherCAT are machine controls (e.g. semiconductor tools, metal forming, packaging, injection moulding, assembly systems, printing machines, robotics and many others).

2.4Solution module identification

The SM-EtherCAT can be identified by:

1.The label located on the underside of the Solutions Module.

2.The colour coding across the front of the SM-EtherCAT (brown-red).

Figure 2-1 SM-EtherCAT label Solutions Module name

SM-EtherCAT

Customer

Hardware

Revision: 0 stdJ 41

and date code

issue

number

Ser No:3000005001

Serial number

8	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 TermsSystem design and safety of personnel Safety InformationElectrical safety general warning Adjusting parameters Environmental limitsCompliance with regulations MotorGeneral safety considerations for remote operation Features What is EtherCAT?Solution module identification IntroductionExample Conventions used in this guideDate code format Mechanical Installation General InstallationModule grounding Electrical InstallationSM-EtherCAT module information Network topology Minimum node-to-node cable lengthGetting Started Quick start guideSM-EtherCAT version compatibility 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-initialise all Solutions Modules Saving parameters to the driveRe-initialising the SM-EtherCAT SM-EtherCAT re-initialiseProtocols CANopen over EtherCAT CoECoE object dictionary Object description formatCoE communication area DefinitionsDevice type object Identity objectRxPDO mappings RxPDO mappingsRxPDO mapping 0x16000x1601 0x1605TxPDO mappings 10 RxPDO mapping11 TxPDO mappings 12 TxPDO mapping13 TxPDO mapping 14 TxPDO mapping0x1A01 Transmit PDO mapping Sub-index 0 Number of mapped objects15 TxPDO mapping 16 TxPDO mapping0x1A05 0x1A15Sync manager configuration 17 Sync manager communication type object18 Sync manager 0 PDO assignment object 19 Sync manager 1 PDO assignment objectFeedback encoder source 20 Sync manager 2 PDO assignment object21 Sync manager 3 PDO assignment object 22 Feedback encoder sourceCommand coding Drive profile DSP-402 support0x6040 Controlword ControlwordSequencing control Common profile features0x6041 Statusword Page Power disabled CoE state machine transition and events Transition Events Actions2 0x605A Quick stop option code Quickstopoptioncode10 Quick stop value definitions 0x605A3 0x605B Shutdownoptioncode 4 0x605C Disableoperationoptioncode5 0x605E Faultreactionoptioncode 8 0x6085 Quickstopdeceleration 6 0x6060 Modesofoperation7 0x6061 Modesofoperationdisplay 10 0x608F Positionencoderresolution 23 PositionencoderresolutionProfile units 11 0x6091 Gearratio12 0x6092 Feedconstant Basic position control24 Gearratio Feed constant = feed / driving shaft revolutions15 0x6064 Positionactualvalue 16 0x60F4 Followingerroractualvalue14 0x6062 Positiondemandvalue 1 0x60C0 Interpolationsub-modeselect Interpolated position mode17 0x60FB Positioncontrolparameterset object 2 0x60C1 Interpolationdatarecord 3 0x60C2 Interpolationtimeperiod33 0x60C1 Interpolationdatarecord 34 InterpolationtimeperiodVl velocity mode 36 vl velocity mode supported objects1 0x6042 vltargetvelocity 37 vltargetvelocity4 0x6046 vlvelocityminmaxamount 2 0x6043 vlvelocitydemand3 0x6044 vlvelocityactualvalue 5 0x6047 vlvelocityminmax 6 0x6048 vlvelocityacceleration41 0x6047 vlvelocityminmax 0x60477 0x6049 vlvelocitydeceleration 8 0x604A vlvelocityquickstop0x6049 0x604A10 0x604C vldimensionfactor Calculating the vl dimension factor46 0x604C vldimensionfactor 9 0x604B vlsetpointfactorProfile Torque mode 47 Profile torque mode supported objects1 0x6071 Targettorque 48 0x6071 TargettorqueHoming Mode 2 0x6075 Motorratedcurrent3 0x6078 Currentactualvalue 4 0x6087 TorqueslopeMethod 1 Homing on negative limit switch and index pulse General homing definitionsSupport Drive profile DSP-402 SM-EtherCAT User Guide Method 33 and 34 Homing on index pulse Method 15 and 16 ReservedMethod 17 to 30 Homing without index pulse Homing mode object definitions 0x2804 Freeze object 55 Freeze objectFreeze object 0x607C Home offset0x6098 Homing method 57 Homing method58 Homing method values 0x6099 Homing speedsSM-EtherCAT protocol support Advanced featuresDistributed clocks Diagnostics Module identification parametersSM-EtherCAT module ID code SM-EtherCAT firmware versionNetwork configuration objects Commander SK / Commander SLSM-EtherCAT network loss trip Network loss behavior objectDiagnostic parameters Running statesSM-EtherCAT serial number SM-EtherCAT module temperatureDrive trip display codes SM-EtherCAT error codes 12 SM-EtherCAT error codes13 SM-EtherCAT error codes SM-EtherCAT error codes Default Pr MM.50 Range AccessCritical task % free Worst case critical task % freeFlash file system % free Updating SM-EtherCAT firmwareObject Name Description Cross reference Quick ReferenceSM-EtherCAT objects reference Provides the velocity at the motor spin 3 on SM-EtherCAT parameter reference ObjectPr MM.01 Pr MM.32Glossary Of Terms Polled data See Cyclic dataScan rate See Poll rate Index Secure Disable Page 0471-0128-02