Emerson 0471-0128-02 6.1.3 TxPDO mappings

SM-EtherCAT User Guide 23

Issue Number: 2 www.controltechniques.com

Safety

Information Introduction Mechanical

Installation

Electrical

Installation Getting Started

Protocols

Drive profile (DSP-402)

support

Advanced

features Diagnostics Quick

Reference

Glossary Of

Terms Index

6.1.3 TxPDO mappings

Objects with the indices from 0x1A00 to 0x1BFF specify transmit PDO mappings. The

following mappings from DSP-402 are included as standard:

The PDO mapping objects are defined below. Each mapping object has the maximum

number of sub-indices (each representing an object mapped to a PDO) defined in the

XML configuration file.

Table 6.10 RxPDO mapping 22

0x1615 Receive PDO mapping 22

Sub-index 0: Number of mapped objects

Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A

Default: 0

Description: The number of mapped objects in thie PDO

Sub-indices 1 to 255: 1st to 255th mapped objects in this PDO.

Access: RW Range: 0 to 0xFFFFFFFF Size: 4 bytes Unit: N/A

Default: 0

Description: A mapping to an object with the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit parameter would have a length

of 32 or 0x20.

Bits 8 to 15: Sub-index of the mapped object.

Bits 16 to 31: Index of the mapped object.

Table 6.11 TxPDO mappings

PDO number Mapping object index Mapping object name

10x6041 statusword

20x6041

0x6061

statusword

modes_of_operation_display

30x6041

0x6064

statusword

position_actual_value

60x6041

0x6044

statusword

vl_velocity_actual_value

Table 6.12 TxPDO mapping 1

0x1A00 Transmit PDO mapping 1

Sub-index 0: Number of mapped objects

Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A

Default: 1

Description: The number of mapped objects in thie PDO

Sub-index 1: 1st mapped object

Access: RW Range: 0 to 0xFFFFFFFF Size: 4 bytes Unit: N/A

Default: 0x60410010 - the DSP-402 status word (0x6041)

Description: A mapping to an object with the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit parameter would have a length

of 32 or 0x20.

Bits 8 to 15: Sub-index of the mapped object.

Bits 16 to 31: Index of the mapped object.

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