Support Drive profile DSP-402 | Emerson 0471-0128-02 guide

Method 3 and 4: Homing on positive home switch and index pulse

Using these methods as shown in Figure 7-5Homing on positive home switch and index pulse on page 49, the initial direction of movement shall be dependent on the state of the home switch. The home position shall be at the index pulse either to the left or the right of the point where the home switch changes state. If the initial position is sited so that the direction of movement shall reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

Figure 7-5 Homing on positive home switch and index pulse

Method 5 and 6: Homing on negative home switch and index pulse

Using these methods as shown in Figure 7-6Homing on negative home switch and index pulse on page 49, the initial direction of movement shall be dependent on the state of the home switch. The home position shall be at the index pulse either to the left or the right of the point where the home switch changes state. If the initial position is sited so that the direction of movement shall reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

Figure 7-6 Homing on negative home switch and index pulse

Method 7 to 14: Homing on home switch and index pulse

These methods use a home switch, which is active over only a portion of the travel; in effect the switch has a 'momentary' action as the axis's position sweeps past the switch. Using the methods 7 to 10, the initial direction of movement shall be to the right, and

SM-EtherCAT User Guide	49
Issue Number: 2	www.controltechniques.com

Information	Safety

Introduction

Installation	Mechanical

Installation	Electrical

Getting Started

Protocols

support	Drive profile (DSP-402)
features	Advanced

Diagnostics

Reference	Quick

Terms	Glossary
	Of

Index

Image 49

Contents

SM-EtherCAT General Information Contents Quick Reference Glossary Of Terms Diagnostics Electrical safety general warning Safety InformationSystem design and safety of personnel Environmental limits Adjusting parametersCompliance with regulations Motor General safety considerations for remote operation What is EtherCAT? FeaturesSolution module identification Introduction Date code format Conventions used in this guideExample General Installation Mechanical Installation SM-EtherCAT module information Electrical InstallationModule grounding Minimum node-to-node cable length Network topology Quick start guide Getting StartedSM-EtherCAT version compatibility SM-EtherCAT XML file 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 Saving parameters to the drive Re-initialise all Solutions ModulesRe-initialising the SM-EtherCAT SM-EtherCAT re-initialise CANopen over EtherCAT CoE ProtocolsCoE object dictionary Object description format Definitions CoE communication areaDevice type object Identity object RxPDO mappings RxPDO mappingsRxPDO mapping 0x1600 0x1605 0x1601 10 RxPDO mapping TxPDO mappings11 TxPDO mappings 12 TxPDO mapping 14 TxPDO mapping 13 TxPDO mapping0x1A01 Transmit PDO mapping Sub-index 0 Number of mapped objects 16 TxPDO mapping 15 TxPDO mapping0x1A05 0x1A15 17 Sync manager communication type object Sync manager configuration18 Sync manager 0 PDO assignment object 19 Sync manager 1 PDO assignment object 20 Sync manager 2 PDO assignment object Feedback encoder source21 Sync manager 3 PDO assignment object 22 Feedback encoder source Drive profile DSP-402 support Command coding0x6040 Controlword Controlword 0x6041 Statusword Common profile featuresSequencing control Page Power disabled Transition Events Actions CoE state machine transition and events Quickstopoptioncode 2 0x605A Quick stop option code10 Quick stop value definitions 0x605A 5 0x605E Faultreactionoptioncode 4 0x605C Disableoperationoptioncode3 0x605B Shutdownoptioncode 7 0x6061 Modesofoperationdisplay 6 0x6060 Modesofoperation8 0x6085 Quickstopdeceleration 23 Positionencoderresolution 10 0x608F PositionencoderresolutionProfile units 11 0x6091 Gearratio Basic position control 12 0x6092 Feedconstant24 Gearratio Feed constant = feed / driving shaft revolutions 14 0x6062 Positiondemandvalue 16 0x60F4 Followingerroractualvalue15 0x6064 Positionactualvalue 17 0x60FB Positioncontrolparameterset object Interpolated position mode1 0x60C0 Interpolationsub-modeselect 3 0x60C2 Interpolationtimeperiod 2 0x60C1 Interpolationdatarecord33 0x60C1 Interpolationdatarecord 34 Interpolationtimeperiod 36 vl velocity mode supported objects Vl velocity mode1 0x6042 vltargetvelocity 37 vltargetvelocity 3 0x6044 vlvelocityactualvalue 2 0x6043 vlvelocitydemand4 0x6046 vlvelocityminmaxamount 6 0x6048 vlvelocityacceleration 5 0x6047 vlvelocityminmax41 0x6047 vlvelocityminmax 0x6047 8 0x604A vlvelocityquickstop 7 0x6049 vlvelocitydeceleration0x6049 0x604A Calculating the vl dimension factor 10 0x604C vldimensionfactor46 0x604C vldimensionfactor 9 0x604B vlsetpointfactor 47 Profile torque mode supported objects Profile Torque mode1 0x6071 Targettorque 48 0x6071 Targettorque 2 0x6075 Motorratedcurrent Homing Mode3 0x6078 Currentactualvalue 4 0x6087 Torqueslope General homing definitions Method 1 Homing on negative limit switch and index pulse Support Drive profile DSP-402 SM-EtherCAT User Guide Method 17 to 30 Homing without index pulse Method 15 and 16 ReservedMethod 33 and 34 Homing on index pulse Homing mode object definitions 55 Freeze object 0x2804 Freeze objectFreeze object 0x607C Home offset 57 Homing method 0x6098 Homing method58 Homing method values 0x6099 Homing speeds Distributed clocks Advanced featuresSM-EtherCAT protocol support Module identification parameters DiagnosticsSM-EtherCAT module ID code SM-EtherCAT firmware version Commander SK / Commander SL Network configuration objectsSM-EtherCAT network loss trip Network loss behavior object Running states Diagnostic parameters Drive trip display codes SM-EtherCAT module temperatureSM-EtherCAT serial number 12 SM-EtherCAT error codes SM-EtherCAT error codes13 SM-EtherCAT error codes SM-EtherCAT error codes Default Pr MM.50 Range Access Worst case critical task % free Critical task % freeFlash file system % free Updating SM-EtherCAT firmware SM-EtherCAT objects reference Quick ReferenceObject Name Description Cross reference Provides the velocity at the motor spin 3 on Object SM-EtherCAT parameter referencePr MM.01 Pr MM.32 Polled data See Cyclic data Glossary Of Terms Scan rate See Poll rate Index Secure Disable Page 0471-0128-02