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

Page 68

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Emerson 0471-0128-02 manual Secure Disable

Contents

SM-EtherCAT General Information Contents Diagnostics Quick Reference Glossary Of Terms System design and safety of personnel Safety InformationElectrical safety general warning Adjusting parameters Environmental limitsCompliance with regulations Motor General safety considerations for remote operation Features What is EtherCAT?Solution module identification Introduction Example Conventions used in this guideDate code format Mechanical Installation General Installation Module grounding Electrical InstallationSM-EtherCAT module information Network topology Minimum node-to-node cable length Getting Started Quick start guideSM-EtherCAT version compatibility SM-EtherCAT XML file Configuring the SM-EtherCAT module for cyclic communications Configuring the Sync Managers Cyclic data mapping configuration RxPDO1 TxPDO1 TxPDO6 Assigning RxPDO to the Sync Manager Assigning TxPDO to the Sync Manager Quick start flowchart Quick start flowchart Re-initialise all Solutions Modules Saving parameters to the driveRe-initialising the SM-EtherCAT SM-EtherCAT re-initialise Protocols CANopen over EtherCAT CoECoE object dictionary Object description format CoE communication area DefinitionsDevice type object Identity object RxPDO mappings RxPDO mappingsRxPDO mapping 0x1600 0x1601 0x1605 TxPDO mappings 10 RxPDO mapping11 TxPDO mappings 12 TxPDO mapping 13 TxPDO mapping 14 TxPDO mapping0x1A01 Transmit PDO mapping Sub-index 0 Number of mapped objects 15 TxPDO mapping 16 TxPDO mapping0x1A05 0x1A15 Sync manager configuration 17 Sync manager communication type object18 Sync manager 0 PDO assignment object 19 Sync manager 1 PDO assignment object Feedback encoder source 20 Sync manager 2 PDO assignment object21 Sync manager 3 PDO assignment object 22 Feedback encoder source Command coding Drive profile DSP-402 support0x6040 Controlword Controlword Sequencing control Common profile features0x6041 Statusword Page Power disabled CoE state machine transition and events Transition Events Actions 2 0x605A Quick stop option code Quickstopoptioncode10 Quick stop value definitions 0x605A 3 0x605B Shutdownoptioncode 4 0x605C Disableoperationoptioncode5 0x605E Faultreactionoptioncode 8 0x6085 Quickstopdeceleration 6 0x6060 Modesofoperation7 0x6061 Modesofoperationdisplay 10 0x608F Positionencoderresolution 23 PositionencoderresolutionProfile units 11 0x6091 Gearratio 12 0x6092 Feedconstant Basic position control24 Gearratio Feed constant = feed / driving shaft revolutions 15 0x6064 Positionactualvalue 16 0x60F4 Followingerroractualvalue14 0x6062 Positiondemandvalue 1 0x60C0 Interpolationsub-modeselect Interpolated position mode17 0x60FB Positioncontrolparameterset object 2 0x60C1 Interpolationdatarecord 3 0x60C2 Interpolationtimeperiod33 0x60C1 Interpolationdatarecord 34 Interpolationtimeperiod Vl velocity mode 36 vl velocity mode supported objects1 0x6042 vltargetvelocity 37 vltargetvelocity 4 0x6046 vlvelocityminmaxamount 2 0x6043 vlvelocitydemand3 0x6044 vlvelocityactualvalue 5 0x6047 vlvelocityminmax 6 0x6048 vlvelocityacceleration41 0x6047 vlvelocityminmax 0x6047 7 0x6049 vlvelocitydeceleration 8 0x604A vlvelocityquickstop0x6049 0x604A 10 0x604C vldimensionfactor Calculating the vl dimension factor46 0x604C vldimensionfactor 9 0x604B vlsetpointfactor Profile Torque mode 47 Profile torque mode supported objects1 0x6071 Targettorque 48 0x6071 Targettorque Homing Mode 2 0x6075 Motorratedcurrent3 0x6078 Currentactualvalue 4 0x6087 Torqueslope Method 1 Homing on negative limit switch and index pulse General homing definitions Support Drive profile DSP-402 SM-EtherCAT User Guide Method 33 and 34 Homing on index pulse Method 15 and 16 ReservedMethod 17 to 30 Homing without index pulse Homing mode object definitions 0x2804 Freeze object 55 Freeze objectFreeze object 0x607C Home offset 0x6098 Homing method 57 Homing method58 Homing method values 0x6099 Homing speeds SM-EtherCAT protocol support Advanced featuresDistributed clocks Diagnostics Module identification parametersSM-EtherCAT module ID code SM-EtherCAT firmware version Network configuration objects Commander SK / Commander SLSM-EtherCAT network loss trip Network loss behavior object Diagnostic parameters Running states SM-EtherCAT serial number SM-EtherCAT module temperatureDrive trip display codes SM-EtherCAT error codes 12 SM-EtherCAT error codes13 SM-EtherCAT error codes SM-EtherCAT error codes Default Pr MM.50 Range Access Critical task % free Worst case critical task % freeFlash file system % free Updating SM-EtherCAT firmware Object Name Description Cross reference Quick ReferenceSM-EtherCAT objects reference Provides the velocity at the motor spin 3 on SM-EtherCAT parameter reference ObjectPr MM.01 Pr MM.32 Glossary Of Terms Polled data See Cyclic data Scan rate See Poll rate Index Secure Disable Page 0471-0128-02

PLC

SM-EtherCAT User Guide