Emerson 0471-0128-02 manual

0471-0128-02

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Contents

SM-EtherCAT General Information Contents Diagnostics Quick Reference Glossary Of Terms Electrical safety general warning Safety InformationSystem design and safety of personnel Compliance with regulations Adjusting parametersEnvironmental limits Motor General safety considerations for remote operation Solution module identification FeaturesWhat is EtherCAT? Introduction Date code format Conventions used in this guideExample Mechanical Installation General Installation SM-EtherCAT module information Electrical InstallationModule grounding Network topology Minimum node-to-node cable length SM-EtherCAT version compatibility Getting StartedQuick start guide 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-initialising the SM-EtherCAT Re-initialise all Solutions ModulesSaving parameters to the drive SM-EtherCAT re-initialise CoE object dictionary ProtocolsCANopen over EtherCAT CoE Object description format Device type object CoE communication areaDefinitions Identity object RxPDO mapping RxPDO mappingsRxPDO mappings 0x1600 0x1601 0x1605 11 TxPDO mappings TxPDO mappings10 RxPDO mapping 12 TxPDO mapping 0x1A01 13 TxPDO mapping14 TxPDO mapping Transmit PDO mapping Sub-index 0 Number of mapped objects 0x1A05 15 TxPDO mapping16 TxPDO mapping 0x1A15 18 Sync manager 0 PDO assignment object Sync manager configuration17 Sync manager communication type object 19 Sync manager 1 PDO assignment object 21 Sync manager 3 PDO assignment object Feedback encoder source20 Sync manager 2 PDO assignment object 22 Feedback encoder source 0x6040 Controlword Command codingDrive profile DSP-402 support Controlword 0x6041 Statusword Common profile featuresSequencing control Page Power disabled CoE state machine transition and events Transition Events Actions 10 Quick stop value definitions 2 0x605A Quick stop option codeQuickstopoptioncode 0x605A 5 0x605E Faultreactionoptioncode 4 0x605C Disableoperationoptioncode3 0x605B Shutdownoptioncode 7 0x6061 Modesofoperationdisplay 6 0x6060 Modesofoperation8 0x6085 Quickstopdeceleration Profile units 10 0x608F Positionencoderresolution23 Positionencoderresolution 11 0x6091 Gearratio 24 Gearratio 12 0x6092 FeedconstantBasic position control Feed constant = feed / driving shaft revolutions 14 0x6062 Positiondemandvalue 16 0x60F4 Followingerroractualvalue15 0x6064 Positionactualvalue 17 0x60FB Positioncontrolparameterset object Interpolated position mode1 0x60C0 Interpolationsub-modeselect 33 0x60C1 Interpolationdatarecord 2 0x60C1 Interpolationdatarecord3 0x60C2 Interpolationtimeperiod 34 Interpolationtimeperiod 1 0x6042 vltargetvelocity Vl velocity mode36 vl velocity mode supported objects 37 vltargetvelocity 3 0x6044 vlvelocityactualvalue 2 0x6043 vlvelocitydemand4 0x6046 vlvelocityminmaxamount 41 0x6047 vlvelocityminmax 5 0x6047 vlvelocityminmax6 0x6048 vlvelocityacceleration 0x6047 0x6049 7 0x6049 vlvelocitydeceleration8 0x604A vlvelocityquickstop 0x604A 46 0x604C vldimensionfactor 10 0x604C vldimensionfactorCalculating the vl dimension factor 9 0x604B vlsetpointfactor 1 0x6071 Targettorque Profile Torque mode47 Profile torque mode supported objects 48 0x6071 Targettorque 3 0x6078 Currentactualvalue Homing Mode2 0x6075 Motorratedcurrent 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 17 to 30 Homing without index pulse Method 15 and 16 ReservedMethod 33 and 34 Homing on index pulse Homing mode object definitions Freeze object 0x2804 Freeze object55 Freeze object 0x607C Home offset 58 Homing method values 0x6098 Homing method57 Homing method 0x6099 Homing speeds Distributed clocks Advanced featuresSM-EtherCAT protocol support SM-EtherCAT module ID code DiagnosticsModule identification parameters SM-EtherCAT firmware version SM-EtherCAT network loss trip Network configuration objectsCommander SK / Commander SL Network loss behavior object Diagnostic parameters Running states Drive trip display codes SM-EtherCAT module temperatureSM-EtherCAT serial number 13 SM-EtherCAT error codes SM-EtherCAT error codes12 SM-EtherCAT error codes SM-EtherCAT error codes Default Pr MM.50 Range Access Flash file system % free Critical task % freeWorst case critical task % free Updating SM-EtherCAT firmware SM-EtherCAT objects reference Quick ReferenceObject Name Description Cross reference Provides the velocity at the motor spin 3 on Pr MM.01 SM-EtherCAT parameter referenceObject Pr MM.32 Glossary Of Terms Polled data See Cyclic data Scan rate See Poll rate Index Secure Disable Page 0471-0128-02