Electrical Installation, Module grounding | Emerson 0471-0128-02

4 Electrical Installation

4.1SM-EtherCAT module information

4.1.1Bus media

The SM-EtherCAT option module incorporates two x 100 BASE-TX RJ45 interfaces.

4.1.2Cabling considerations

To ensure long-term reliability it is recommended that any cables used to connect a system together be tested using a suitable Ethernet cable tester, this is of particular importance when cables are constructed on site.

4.1.3Cable

Cables should be shielded and as a minimum, meet TIA Cat 5e requirements.

	Cabling issues are the single biggest cause of network downtime. Ensure cabling is
NOTE
	correctly routed, wiring is correct, connectors are correctly fitted and any switches or
	routers used are rated for industrial use. Office grade Ethernet equipment does not
	generally offer the same degree of noise immunity as equipment intended for industrial
	use.

4.1.4Maximum network length

The main restriction imposed on Ethernet cabling is the length of a single segment of cable. The SM-EtherCAT module has two 100BASE-TX Ethernet ports, which support segment lengths of up to 100m. This means that the maximum cable length which can be used between one SM-EtherCAT port and another 100BASE-TX port is 100m however it is not recommended that the full 100m cable length is used. The total network length is not restricted by the Ethernet standard but depends on the number of devices on the network and the transmission media (copper, fiber optic, etc.).

	The EtherCAT system designer must consider the impact that the selected network
NOTE
	structure will have on performance.

4.2 Module grounding

SM-EtherCAT is supplied with a grounding tag on the module that should be connected to the closest possible grounding point using the minimum length of cable. This will greatly improve the noise immunity of the module.

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	11
Issue Number: 2	www.controltechniques.com

Image 11

Emerson 0471-0128-02 manual Electrical Installation, SM-EtherCAT module information, Module grounding

Contents

SM-EtherCAT General Information Contents Quick Reference Glossary Of Terms Diagnostics System design and safety of personnel Safety InformationElectrical safety general warning Motor Adjusting parametersEnvironmental limits Compliance with regulations General safety considerations for remote operation Introduction FeaturesWhat is EtherCAT? Solution module identification Example Conventions used in this guideDate code format General Installation Mechanical Installation Module grounding Electrical InstallationSM-EtherCAT module information Minimum node-to-node cable length Network topology SM-EtherCAT XML file Getting StartedQuick start guide SM-EtherCAT version compatibility Configuring the SM-EtherCAT module for cyclic communications Cyclic data mapping configuration RxPDO1 TxPDO1 TxPDO6 Configuring the Sync Managers Assigning TxPDO to the Sync Manager Assigning RxPDO to the Sync Manager Quick start flowchart Quick start flowchart SM-EtherCAT re-initialise Re-initialise all Solutions ModulesSaving parameters to the drive Re-initialising the SM-EtherCAT Object description format ProtocolsCANopen over EtherCAT CoE CoE object dictionary Identity object CoE communication areaDefinitions Device type object 0x1600 RxPDO mappingsRxPDO mappings RxPDO mapping 0x1605 0x1601 12 TxPDO mapping TxPDO mappings10 RxPDO mapping 11 TxPDO mappings Transmit PDO mapping Sub-index 0 Number of mapped objects 13 TxPDO mapping14 TxPDO mapping 0x1A01 0x1A15 15 TxPDO mapping16 TxPDO mapping 0x1A05 19 Sync manager 1 PDO assignment object Sync manager configuration17 Sync manager communication type object 18 Sync manager 0 PDO assignment object 22 Feedback encoder source Feedback encoder source20 Sync manager 2 PDO assignment object 21 Sync manager 3 PDO assignment object Controlword Command codingDrive profile DSP-402 support 0x6040 Controlword Sequencing control Common profile features0x6041 Statusword Page Power disabled Transition Events Actions CoE state machine transition and events 0x605A 2 0x605A Quick stop option codeQuickstopoptioncode 10 Quick stop value definitions 3 0x605B Shutdownoptioncode 4 0x605C Disableoperationoptioncode5 0x605E Faultreactionoptioncode 8 0x6085 Quickstopdeceleration 6 0x6060 Modesofoperation7 0x6061 Modesofoperationdisplay 11 0x6091 Gearratio 10 0x608F Positionencoderresolution23 Positionencoderresolution Profile units Feed constant = feed / driving shaft revolutions 12 0x6092 FeedconstantBasic position control 24 Gearratio 15 0x6064 Positionactualvalue 16 0x60F4 Followingerroractualvalue14 0x6062 Positiondemandvalue 1 0x60C0 Interpolationsub-modeselect Interpolated position mode17 0x60FB Positioncontrolparameterset object 34 Interpolationtimeperiod 2 0x60C1 Interpolationdatarecord3 0x60C2 Interpolationtimeperiod 33 0x60C1 Interpolationdatarecord 37 vltargetvelocity Vl velocity mode36 vl velocity mode supported objects 1 0x6042 vltargetvelocity 4 0x6046 vlvelocityminmaxamount 2 0x6043 vlvelocitydemand3 0x6044 vlvelocityactualvalue 0x6047 5 0x6047 vlvelocityminmax6 0x6048 vlvelocityacceleration 41 0x6047 vlvelocityminmax 0x604A 7 0x6049 vlvelocitydeceleration8 0x604A vlvelocityquickstop 0x6049 9 0x604B vlsetpointfactor 10 0x604C vldimensionfactorCalculating the vl dimension factor 46 0x604C vldimensionfactor 48 0x6071 Targettorque Profile Torque mode47 Profile torque mode supported objects 1 0x6071 Targettorque 4 0x6087 Torqueslope Homing Mode2 0x6075 Motorratedcurrent 3 0x6078 Currentactualvalue General homing definitions Method 1 Homing on negative limit switch and index pulse Support 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 0x607C Home offset 0x2804 Freeze object55 Freeze object Freeze object 0x6099 Homing speeds 0x6098 Homing method57 Homing method 58 Homing method values SM-EtherCAT protocol support Advanced featuresDistributed clocks SM-EtherCAT firmware version DiagnosticsModule identification parameters SM-EtherCAT module ID code Network loss behavior object Network configuration objectsCommander SK / Commander SL SM-EtherCAT network loss trip Running states Diagnostic parameters SM-EtherCAT serial number SM-EtherCAT module temperatureDrive trip display codes SM-EtherCAT error codes Default Pr MM.50 Range Access SM-EtherCAT error codes12 SM-EtherCAT error codes 13 SM-EtherCAT error codes Updating SM-EtherCAT firmware Critical task % freeWorst case critical task % free Flash file system % free Object Name Description Cross reference Quick ReferenceSM-EtherCAT objects reference Provides the velocity at the motor spin 3 on Pr MM.32 SM-EtherCAT parameter referenceObject Pr MM.01 Polled data See Cyclic data Glossary Of Terms Scan rate See Poll rate Index Secure Disable Page 0471-0128-02