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0471-0128-02 manual
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70 pages, 3.59 Mb
User Guide
Unidrive SP
Affinity
Digitax ST
Commander SK
Mentor MP
Part Number: 0471-0128-02
Issue: 2
www.controltechniques.com
SM-EtherCAT
Contents
Main
User Guide
SM-EtherCAT
General Information
Environmental Statement
Software Statement
REACH legislation
Contents
1 Safety Information ..........................................................5
2 Introduction ..................................... ...............................8
3 Mechanical Installation ................................................10
4 Electrical Installation ............................................. ......11
Page
1 Safety Information
1.1 Warnings, cautions and notes
1.2 Electrical safety - general warning
1.3 System design and safety of personnel
1.4 Environmental limits
1.5 Compliance with regulations
1.6 Motor
1.7 Adjusting parameters
1.8 General safety considerations for remote operation
2 Introduction
2.1 Features
2.2 Introduction to SM-EtherCAT
2.3 What is EtherCAT?
2.4 Solution module identification
2.5 Conventions used in this guide
3 Mechanical Installation
3.1 General Installation
4 Electrical Installation
4.1 SM-EtherCAT module information
4.1.1 Bus media
4.1.2 Cabling considerations
4.1.3 Cable
4.3 Network topology
4.4 Minimum node-to-node cable length
5 Getting Started
5.1 Quick start guide
5.1.1 SM-EtherCAT version compatibility
5.1.2 SM-EtherCAT XML file
5.1.3 Configuring the SM-EtherCAT module for cyclic communications
5.1.4 Configuring the Sync Managers
0x1C12
PLC
0x1C13
Page
SM-EtherCAT User Guide 17 Issue Number: 2 www.controltechniques.com
5.2 Quick start flowchart
5.3 Saving parameters to the drive
5.4 Re-initialising the SM-EtherCAT
5.5 Re-initialise all Solutions Modules
SM-EtherCAT User Guide 19
6 Protocols
For entries having sub-indices:
6.1 CANopen over EtherCAT (CoE)
Table 6.1 CoE object dictionary
Table 6.2 Object description format
6.1.1 CoE communication area
6.1.2 RxPDO mappings
Table 6.8 RxPDO mapping 2
0x1601 Receive PDO mapping 2
Table 6.9 RxPDO mapping 6
0x1605 Receive PDO mapping 6
SM-EtherCAT User Guide 23
6.1.3 TxPDO mappings
Table 6.10 RxPDO mapping 22
Table 6.11 TxPDO mappings
Table 6.12 TxPDO mapping 1
Table 6.13 TxPDO mapping 2
0x1A01 Transmit PDO mapping 2
Table 6.14 TxPDO mapping 3
0x1A02 Transmit PDO mapping 3
SM-EtherCAT User Guide 25
Table 6.15 TxPDO mapping 6
0x1A05 Transmit PDO mapping 6
Table 6.16 TxPDO mapping 22
0x1A15 Transmit PDO mapping 22
6.1.4 Sync manager configuration
6.1.5 Feedback encoder source
SM-EtherCAT User Guide 27
Table 6.20 Sync manager 2 PDO assignment object
0x1C12 Sync manager 2 PDO assignment
Sub-indices 1 to (sub-index 0)
7 Drive profile (DSP-402) support
7.1 0x6040 Controlword
SM-EtherCAT User Guide 29 Issue Number: 2 www.controltechniques.com
7.2 0x6041 Statusword
These are the supported objects used to control the drive:
7.3 Common profile features
7.3.1 Sequencing control
Table 7.4 Statusword
Page
Power enabled
FaultPower disabled
Table 7.8 CoE state machine transition and events
7.3.2 0x605A Quick stop option code
7.3.3 0x605B Shutdown_option_code
7.3.4 0x605C Disable_operation_option_code
7.3.5 0x605E Fault_reaction_option_code
7.3.6 0x6060 Modes_of_operation
7.3.7 0x6061 Modes_of_operation_display
7.3.8 0x6085 Quick_stop_deceleration
7.3.9 Profile units
7.3.10 0x608F Position_encoder_resolution
7.3.11 0x6091 Gear_ratio
7.3.12 0x6092 Feed_constant
7.3.13 Basic position control
7.3.14 0x6062 Position_demand_value
7.3.15 0x6064 Position_actual_value
7.3.16 0x60F4 Following_error_actual_value
7.3.17 0x60FB Position_control_parameter_set object
7.4 Interpolated position mode
7.4.1 0x60C0 Interpolation_sub-mode_select
7.4.2 0x60C1 Interpolation_data_record
7.4.3 0x60C2 Interpolation_time_period
7.5 vl velocity mode
7.5.1 0x6042 vl_target_velocity
7.5.2 0x6043 vl_velocity_demand
7.5.3 0x6044 vl_velocity_actual_value
7.5.4 0x6046 vl_velocity_min_max_amount
7.5.5 0x6047 vl_velocity_min_max
7.5.6 0x6048 vl_velocity_acceleration
7.5.7 0x6049 vl_velocity_deceleration
7.5.8 0x604A vl_velocity_quick_stop
7.5.9 0x604B vl_setpoint_factor
7.5.10 0x604C vl_dimension_factor
7.6 Profile Torque mode
7.6.1 0x6071 Target_torque
7.6.2 0x6075 Motor_rated_current
7.6.3 0x6078 Current_actual_value
7.6.4 0x6087 Torque_slope
7.7 Homing Mode
Homing method
7.7.1 General homing definitions
Page
Page
Page
7.7.2 Homing mode object definitions
Page
Page
8 Advanced features
8.1 Distributed clocks
8.2 SM-EtherCAT protocol support
9 Diagnostics
9.1 Module identification parameters
9.1.1 SM-EtherCAT module ID code
9.1.2 SM-EtherCAT firmware version
9.2 Network configuration objects
9.2.1 SM-EtherCAT network loss trip
9.3 Diagnostic parameters
9.3.1 Running states
Table 9.5 SM-EtherCAT operating status
Table 9.6 Diagnostic information - running states
Table 9.7 Diagnostic information - application
9.4 Drive trip display codes
9.5 SM-EtherCAT module temperature
9.6 SM-EtherCAT serial number
9.7 SM-EtherCAT error codes
9.8 Critical task % free 9.9 Worst case critical task % free
9.10 FLASH file system % free
9.11 Updating SM-EtherCAT firmware
10 Quick Reference
Page
Table 10.2 SM-EtherCAT parameter reference
11 Glossary Of Terms
Page
Index