Conventions used in this guide, Example | Emerson 0471-0128-02

2.4.1Date code format

The date code is split into two sections: a letter followed by a number.

The letter indicates the year and the number indicates the week number (within the year) in which the Solutions Module was built.

The letters are alphabetical in order, starting with A in 1991 (B in 1992, C in 1993 etc.).

Example:

A date code of Q46 would correspond to week 46 of year 2007.

2.5Conventions used in this guide

The configuration of the host drive and Solutions Module is done using menus and parameters. A menu is a logical collection of parameters that have similar functionality. In the case of a Solutions Module, the parameters will appear in menu 15 for the Commander SK, in menu 15 or 16 for Affinity and in menu 15, 16 or 17 for the Unidrive SP, Digitax ST and Mentor MP depending on the slot the module is fitted into. The menu is determined by the number before the decimal point. The method used to determine the menu or parameter is as follows:

•Pr xx.00 - signifies any menu and parameter number 00.

•Pr MM.xx - where MM signifies the menu allocated to the Solution Module (this could be 15, 16 or 17 on the Unidrive SP, Digitax ST or Mentor MP, 15 or 16 on the Affinity, but will always be 15 on the Commander SK) and xx signifies the parameter number.

		All references in this manual to SM-Applications/Plus should also extend to SM-Applica-
NOTE
		tions Lite/Lite V2. The exceptions to this are references to SM-Applications/Plus input/
		output, CTSync or the RS485 port, as these are not supported on SM-Applications Lite/
		Lite V2. For full details of the differences see the SM-Applications Modules and Motion
		Processors User Guide.
		It is strongly recommended that the latest firmware be used where possible to ensure
NOTE
		that all features are supported.

Information	Safety

Introduction
Installation	Mechanical

Installation	Electrical

Getting Started

Protocols

support	Drive profile (DSP-402)

features	Advanced

Diagnostics

Reference	Quick

Terms	Glossary
	Of

Index

SM-EtherCAT User Guide	9
Issue Number: 2	www.controltechniques.com

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Emerson 0471-0128-02 manual Conventions used in this guide, Date code format, Example

Contents

SM-EtherCAT General Information Contents Quick Reference Glossary Of Terms Diagnostics Safety Information Electrical safety general warningSystem 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 Conventions used in this guide Date code formatExample General Installation Mechanical Installation Electrical Installation SM-EtherCAT module informationModule 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 Common profile features 0x6041 StatuswordSequencing 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 4 0x605C Disableoperationoptioncode 5 0x605E Faultreactionoptioncode3 0x605B Shutdownoptioncode 6 0x6060 Modesofoperation 7 0x6061 Modesofoperationdisplay8 0x6085 Quickstopdeceleration 23 Positionencoderresolution 10 0x608F PositionencoderresolutionProfile units 11 0x6091 Gearratio Basic position control 12 0x6092 Feedconstant24 Gearratio Feed constant = feed / driving shaft revolutions 16 0x60F4 Followingerroractualvalue 14 0x6062 Positiondemandvalue15 0x6064 Positionactualvalue Interpolated position mode 17 0x60FB Positioncontrolparameterset object1 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 2 0x6043 vlvelocitydemand 3 0x6044 vlvelocityactualvalue4 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 15 and 16 Reserved Method 17 to 30 Homing without index pulseMethod 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 Advanced features Distributed clocksSM-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 SM-EtherCAT module temperature Drive trip display codesSM-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 Quick Reference SM-EtherCAT objects 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