Emerson 0471-0128-02 manual Contents

	Contents
1	Safety Information	5
1.1	Warnings, cautions and notes	5
1.2	Electrical safety - general warning	5
1.3	System design and safety of personnel	5
1.4	Environmental limits	6
1.5	Compliance with regulations	6
1.6	Motor	6
1.7	Adjusting parameters	6
1.8	General safety considerations for remote operation	7
2	Introduction	8
2.1	Features	8
2.2	Introduction to SM-EtherCAT	8
2.3	What is EtherCAT?	8
2.4	Solution module identification	8
2.5	Conventions used in this guide	9
3	Mechanical Installation	10
3.1	General Installation	10
4	Electrical Installation	11
4.1	SM-EtherCAT module information	11
4.2	Module grounding	11
4.3	Network topology	12
4.4	Minimum node-to-node cable length	12
5	Getting Started	13
5.1	Quick start guide	13
5.2	Quick start flowchart	17
5.3	Saving parameters to the drive	18
5.4	Re-initialising the SM-EtherCAT	18
5.5	Re-initialise all Solutions Modules	18
6	Protocols	19
6.1	CANopen over EtherCAT (CoE)	19
7	Drive profile (DSP-402) support	28
7.1	0x6040 Controlword	28
7.2	0x6041 Statusword	29
7.3	Common profile features	29
7.4	Interpolated position mode	39
7.5	vl velocity mode	41
7.6	Profile Torque mode	46
7.7	Homing Mode	47
8	Advanced features	55
8.1	Distributed clocks	55
8.2	SM-EtherCAT protocol support	55

SM-EtherCAT User Guide	3
Issue Number: 2	www.controltechniques.com