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Emerson 0471-0128-02 manual Configuring the Sync Managers

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For this example the following objects will need to be set in order to achieve the mappings of the parameters/objects in the PDOs.

	Table 5.3 Cyclic data mapping configuration
	RxPDO1:		TxPDO1:		TxPDO6:
	Object:	0x1600	Object:	0x1A00	Object:	0x1A05
	Sub-index:	0x00	Sub-index:	0x00	Sub-index:	0x00
	Size:	1	Size:	1	Size:	1
	Value:	3	Value:	2	Value:	2

	Sub-index:	0x01	Sub-index:	0x01	Sub-index:	0x01
	Size:	4	Size:	4	Size:	4
	Value:	0x60400010	Value:	0x60410010	Value:	0x20121610

	Sub-index:	0x02	Sub-index:	0x02	Sub-index:	0x02
	Size:	4	Size:	4	Size:	4
	Value:	0x60420010	Value:	0x60640020	Value:	0x20141620

	Sub-index:	0x03	Not Used		Not Used
	Size:	4
	Value:	0x20141520

	The format used to define the value of a mapped object is as follows:
NOTE
	Bit 0 to 7: Length of the mapped object in bits (if a gap, bit length of the gap).
	Bit 8 to 15: Sub-index of the mapped object (if a gap, zero).
	Bit 16 to 31: Index of the mapped object (if a gap, zero).
	The maximum number of mappings in one PDO is five. There are no restrictions on the
NOTE
	data length of these 5 parameters (i.e. It is possible to map five, 32-bit parameters in
	one PDO). It is also possible to use a maximum of 2 x RxPDOs and 2 x TxPDOs.

5.1.4Configuring the Sync Managers

The Sync manager is used to control the transmission of CANopen PDOs over the EtherCAT network.

The following objects 0x1C12 - Sync manager 2 PDO assignment (RxPDO) and 0x1C13 - Sync manager 3 PDO assignment (TxPDO) are required to assign PDOs to the synchronization task. For the purpose of the example assign one RxPDO to sync manager 2 and two TxPDOs to sync manager 3.

Figure 5-2 SM-EtherCAT sync manager configuration

0x1C12

RxPDO1

	0x6040	0x6042	Pr 20.21
	Control word	vl_target_velocity	Pr 20.21
	Control word	vl_target_velocity

PLC	0x1C13
	0x1C13
	TxPDO1	0x6064	TxPDO6
	0x6041	0x6064
	0x6041	position	Pr 18.22	Pr 20.22
	Status word	position	Pr 18.22	Pr 20.22
	Status word	actual value
		actual value

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	15
Issue Number: 2	www.controltechniques.com

Image 15

Emerson 0471-0128-02 manual Configuring the Sync Managers, Cyclic data mapping configuration RxPDO1 TxPDO1 TxPDO6

Contents

SM-EtherCAT General Information Contents Quick Reference Glossary Of Terms DiagnosticsSafety Information Electrical safety general warningSystem design and safety of personnel Motor Adjusting parametersEnvironmental limits Compliance with regulationsGeneral safety considerations for remote operation Introduction FeaturesWhat is EtherCAT? Solution module identificationConventions used in this guide Date code formatExample General Installation Mechanical InstallationElectrical Installation SM-EtherCAT module informationModule grounding Minimum node-to-node cable length Network topologySM-EtherCAT XML file Getting StartedQuick start guide SM-EtherCAT version compatibilityConfiguring the SM-EtherCAT module for cyclic communications Cyclic data mapping configuration RxPDO1 TxPDO1 TxPDO6 Configuring the Sync ManagersAssigning TxPDO to the Sync Manager Assigning RxPDO to the Sync ManagerQuick start flowchart Quick start flowchartSM-EtherCAT re-initialise Re-initialise all Solutions ModulesSaving parameters to the drive Re-initialising the SM-EtherCATObject description format ProtocolsCANopen over EtherCAT CoE CoE object dictionaryIdentity object CoE communication areaDefinitions Device type object0x1600 RxPDO mappingsRxPDO mappings RxPDO mapping0x1605 0x160112 TxPDO mapping TxPDO mappings10 RxPDO mapping 11 TxPDO mappingsTransmit PDO mapping Sub-index 0 Number of mapped objects 13 TxPDO mapping14 TxPDO mapping 0x1A010x1A15 15 TxPDO mapping16 TxPDO mapping 0x1A0519 Sync manager 1 PDO assignment object Sync manager configuration17 Sync manager communication type object 18 Sync manager 0 PDO assignment object22 Feedback encoder source Feedback encoder source20 Sync manager 2 PDO assignment object 21 Sync manager 3 PDO assignment objectControlword Command codingDrive profile DSP-402 support 0x6040 ControlwordCommon profile features 0x6041 StatuswordSequencing control Page Power disabled Transition Events Actions CoE state machine transition and events0x605A 2 0x605A Quick stop option codeQuickstopoptioncode 10 Quick stop value definitions4 0x605C Disableoperationoptioncode 5 0x605E Faultreactionoptioncode3 0x605B Shutdownoptioncode 6 0x6060 Modesofoperation 7 0x6061 Modesofoperationdisplay8 0x6085 Quickstopdeceleration 11 0x6091 Gearratio 10 0x608F Positionencoderresolution23 Positionencoderresolution Profile unitsFeed constant = feed / driving shaft revolutions 12 0x6092 FeedconstantBasic position control 24 Gearratio16 0x60F4 Followingerroractualvalue 14 0x6062 Positiondemandvalue15 0x6064 Positionactualvalue Interpolated position mode 17 0x60FB Positioncontrolparameterset object1 0x60C0 Interpolationsub-modeselect 34 Interpolationtimeperiod 2 0x60C1 Interpolationdatarecord3 0x60C2 Interpolationtimeperiod 33 0x60C1 Interpolationdatarecord37 vltargetvelocity Vl velocity mode36 vl velocity mode supported objects 1 0x6042 vltargetvelocity2 0x6043 vlvelocitydemand 3 0x6044 vlvelocityactualvalue4 0x6046 vlvelocityminmaxamount 0x6047 5 0x6047 vlvelocityminmax6 0x6048 vlvelocityacceleration 41 0x6047 vlvelocityminmax0x604A 7 0x6049 vlvelocitydeceleration8 0x604A vlvelocityquickstop 0x60499 0x604B vlsetpointfactor 10 0x604C vldimensionfactorCalculating the vl dimension factor 46 0x604C vldimensionfactor48 0x6071 Targettorque Profile Torque mode47 Profile torque mode supported objects 1 0x6071 Targettorque4 0x6087 Torqueslope Homing Mode2 0x6075 Motorratedcurrent 3 0x6078 CurrentactualvalueGeneral homing definitions Method 1 Homing on negative limit switch and index pulseSupport 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 0x607C Home offset 0x2804 Freeze object55 Freeze object Freeze object0x6099 Homing speeds 0x6098 Homing method57 Homing method 58 Homing method valuesAdvanced features Distributed clocksSM-EtherCAT protocol support SM-EtherCAT firmware version DiagnosticsModule identification parameters SM-EtherCAT module ID codeNetwork loss behavior object Network configuration objectsCommander SK / Commander SL SM-EtherCAT network loss tripRunning states Diagnostic parametersSM-EtherCAT module temperature Drive trip display codesSM-EtherCAT serial number SM-EtherCAT error codes Default Pr MM.50 Range Access SM-EtherCAT error codes12 SM-EtherCAT error codes 13 SM-EtherCAT error codesUpdating SM-EtherCAT firmware Critical task % freeWorst case critical task % free Flash file system % freeQuick Reference SM-EtherCAT objects referenceObject Name Description Cross reference Provides the velocity at the motor spin 3 on Pr MM.32 SM-EtherCAT parameter referenceObject Pr MM.01Polled data See Cyclic data Glossary Of TermsScan rate See Poll rate Index Secure Disable Page 0471-0128-02