Emerson 0471-0128-02 manual Getting Started, Quick start guide, SM-EtherCAT version compatibility

5 Getting Started

5.1Quick start guide

This section is intended to provide a generic guide for setting up SM-EtherCAT with a master/controller PLC. It will cover the basic steps required to get cyclic data communicating using the CANopen over EtherCAT (CoE) protocol on the SM-EtherCAT module.

5.1.1SM-EtherCAT version compatibility

Table 5.1 SM-EtherCAT version compatibility

Drive Type	Drive Firmware	SM-EtherCAT firmware
Unidrive SP	V01.08.00 or later	V01.00.00 or later
Affinity	V01.02.00 or later	V01.00.00 or later
Digitax ST	V01.02.00 or later	V01.00.00 or later
Commander SK	V01.06.00 or later	V01.00.00 or later
Mentor MP	V01.00.00 or later	V01.02.00 or later

For the purpose of the example this section will follow the steps required to set up cyclic communications using one RxPDO and two TxPDOs. These PDOs will consist of the mappings shown in Table 5.2:

Table 5.2 PDO test mappings

		RxPDO1	TxPDO1	TxPDO6
	Mapping 1	0x6040 (controlword)	0x6041 (statusword)	Pr 18.22 (16-bits)
		(16-bits)	(16-bits)
	Mapping 2	0x6042	0x6064	Pr 20.21 (32-bits)
		(vl_target_velocity)	(position_actual_value)
		(16-bits)	(32-bits)
	Mapping 3	Pr 20.21 (32-bits)	N/A	N/A
	It is strongly recommended that the latest firmware be used where possible to ensure
NOTE
	that all features are supported.

Due to the large number of different masters that support CoE, details cannot be provided for a specific master. Generic support is available through your supplier or local Control Techniques Drive Centre. Before contacting your supplier or local Control Techniques Drive Centre for support please ensure you have read section 9 Diagnostics on page 56 of this manual and have checked that the SDO/PDO configurations are correct.

5.1.2SM-EtherCAT XML file

Control Techniques provides an EtherCAT device description file (Control Techniques SM-EtherCAT.xml). This file provides the master with information about the SM- EtherCAT module to aid with its configuration. The file can be downloaded from the Control Techniques CTSupport.com website or from your local Control Techniques Drive Centre or supplier. It should be placed in the directory specified by the master e.g. When using TwinCAT this could be C:\TwinCAT\Io\EtherCAT.

	The master may have to be re-started for the file to be loaded.
NOTE

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	13
Issue Number: 2	www.controltechniques.com