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4 Commissioning

4.11 SyncManager

DX-NET-ETHERCAT-2

01/14 MN040009EN

www.eaton.com

37

4.11 SyncManager

In order to make it possible to integrate CANopen objects into the EtherCAT
protocol, EtherCAT systems feature what is referred to as a SyncManager.
This feature implements a series of Sync channels. All objects are sent to the
EtherCAT bus via these Sync channels.

In contrast to CANopen, EtherCAT makes it necessary to additionally map
SDOs and PDOs to Sync channels. SyncManager objects are available for
this purpose. Sync channels are permanently assigned to individual transfer
methods, i.e., users cannot change the transfer method for a channel.

•

Sync channel 0: mailbox frame protocol for incoming SDOs
(from master to slave)

•

Sync channel 1: mailbox frame protocol for outgoing SDOs
(from slave to master)

•

Sync channel 2: process data frame protocol for incoming PDOs
(from master to slave)

•

Sync channel 3: process data frame protocol for outgoing PDOs
(from slave to master)

The individual PDOs are configured using receive PDOs and transmit PDOs.
The Sync channels and the PDOs can only be set and configured in the
“Pre-Operational” state.

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Summary of Contents for PowerXL DX-NET-ETHERCAT-2

Page 1: ...Handbuch PowerXL DX NET ETHERCAT 2 Field bus connection EtherCAT for Variable Frequency Drives DA1 01 14 MN040009EN ...

Page 2: ...r Voice 877 ETN CARE 386 2273 option 2 option 6 8 00 a m 5 00 p m Central Time U S UTC 6 email TRCDrives Eaton com www eaton com drives Original Operating Instructions The German language edition of this document is the original operating manual Translation of the original operating manual All editions of this document other than those in German language are translations of the original German man...

Page 3: ...dip or failure This should not cause dangerous operating states even for a short time If necessary emergency stop devices should be implemented Wherever faults in the automation system may cause injury or material damage external measures must be implemented to ensure a safe operating state in the event of a fault or malfunction for example by means of separate limit switches mechanical interlocks...

Page 4: ...II ...

Page 5: ...al data 9 1 4 Features 9 1 5 Designation at DX NET ETHERCAT 2 10 1 6 Proper use 11 1 7 Maintenance and inspection 12 1 8 Storage 12 1 9 Service and warranty 12 1 10 Disposal 12 2 Engineering 13 2 1 EtherCAT 13 2 2 LED indicators 14 2 2 1 LED status display 14 2 2 2 RUN LED 14 2 2 3 LED ERR 14 2 2 4 LEDs Link Activity 15 3 Installation 17 3 1 Introduction 17 3 2 Notes on the documentation 18 3 3 No...

Page 6: ...nciple 29 4 7 CoE protocol 29 4 8 Mode parameter 30 4 9 Data Types 31 4 10 Operation 32 4 10 1 Cyclic data 32 4 10 2 PDO based cyclic communications 33 4 11 SyncManager 37 4 12 CoE communication objects 38 4 12 1 Diagnostics object 02hex 39 4 12 2 Network object 03hex 40 4 12 3 Network configuration object 04hex 40 4 12 4 Object F5hex 41 4 12 5 Application Data ADI 41 4 12 6 List of parameters 42 ...

Page 7: ...ar with handling electrical systems and machines as well as with reading technical drawings EtherCAT EtherCAT Ethernet for Controller and Automation Technology is a registered trademark and patented technology licensed from Beckhoff Automation GmbH To make it easier to understand some of the images included in this manual the housing and other safety relevant parts have been left out The component...

Page 8: ...ings of material damages 0 2 2 Hazard warnings of personal injury 0 2 3 Tips NOTICE Warns about the possibility of material damage CAUTION Warns of the possibility of hazardous situations that may possi bly cause slight injury WARNING Warns of the possibility of hazardous situations that could result in serious injury or even death DANGER Warns of hazardous situations that result in serious injury...

Page 9: ...lity ESC EtherCAT Slave Controller EtherCAT Ethernet for Controller and Automation Technology ETG EtherCAT Technology Group FB Field bus FMMU Fieldbus Memory Management Unit FS Frame Size GND Ground 0 V potential LED Light Emitting Diode LED LSB Least significant bit MAC Medium Access Controller MSB Most significant bit NIC Network Interface Card PC Personal Computer PDI Process Data Interface PNU...

Page 10: ...f these dimen sions are accompanied by their equivalents in imperial units Table 1 Unit conversion examples Designation US American value US American designation SI value Conversion value Length 1 in inch 25 4 mm 0 0394 Power 1 HP 1 014 PS horsepower 0 7457 kW 1 341 Moment of torque 1 lbf in pound force inches 0 113 Nm 8 851 Temperature 1 F TF Fahrenheit 17 222 C TC TF TC 9 5 32 Rotational speed 1...

Page 11: ... and instructions on the packaging and for handling the unpacked device Open the packaging with adequate tools and inspect the contents imme diately after receipt in order to ensure that they are complete and undamaged The packaging must contain the following parts A fieldbus connection DX NET ETHERCAT 2 the instruction leaflet IL040004ZU Figure 1 Equipment supplied with fieldbus connection DX NET...

Page 12: ...number selection and the part no for the DX NET field bus connection card have the following syntax Figure 2 Catalog number selection of field bus interface card DX NET DX NET ETHERCAT 2 Explanation 2 2 slots RJ45 ETHERCAT NET Network Network Field bus DX card accessories for the variable frequency drives of the PowerXL series ...

Page 13: ... to 127 slave cards device description file as xml file Technical Data Symbol Unit Value General Standards meets the requirements of the EN 50178 standard for electrical safety Production quality RoHS ISO 9001 Ambient conditions Operation temperature ϑ C 40 no hoarfrost up to 70 Storage temperature ϑ C 40 85 Climatic proofing pw 95 relative humidity no condensation permitted Installation altitude ...

Page 14: ...NET ETHERCAT 2 The following drawing shows the DX NET ETHERCAT 2 fieldbus connection for EtherCAT with two RJ45 ports Figure 3 Designations at DX NET ETHERCAT 2 a RUN LED b LINK Activity LEDs c EtherCAT port 1 and port 2 d LED ERROR e 50 pole adapter extension f Screws for securing DA1 variable frequency drive RUN ERR EtherCAT ...

Page 15: ...r master b EtherCAT cable c Variable frequency drive DA1 with DX NET ETHERCAT 2 connection d Motor s The EtherCAT cable coming from the master needs to be plugged into the IN RJ45 socket The outgoing connection from the DX NET ETHERCAT 2 module needs to be connected using the OUT socket Simply leave the OUT socket on the last device variable frequency drive alone A bus termination resistor is not ...

Page 16: ...no condensation permitted 1 9 Service and warranty Contact your local sales partner if you have a problem with your Eaton fieldbus connection When you call have following data ready the exact part no DX NET ETHERCAT 2 the date of purchase a detailed description of the problem which has occurred with the DX NET ETHERCAT 2 fieldbus connection Information concerning the guarantee can be found in the ...

Page 17: ...smitted quickly In EtherCAT systems the master is the only node in a segment that is allowed to actively send EtherCAT frames All other nodes simply forward the frames The last node in the segment will detect an open port and send the frame back to the master The DX NET ETHERCAT 2 EtherCAT module works as a slave within the EtherCAT network to which it is connected The module contains the entire E...

Page 18: ...LED ERROR 3 Link Activity Port 1 4 Link Activity Port 2 LED status Designation Description off Init no communication or power supply Green illuminating Operational Communications have been fully established parameter transmission Green flashing Pre operational Parameter communications have been established but process data communications have not green single flash Safe operational Limited communi...

Page 19: ...erCAT communications sta tuses LED status Designation Description off No link The EtherCAT cable is not connected or no power is being supplied Green illuminating Link sensed no activity A connection has been established but no data is being transferred Green flashing Link sensed activity detected A connection has been established data is being transferred ...

Page 20: ...2 Engineering 2 2 LED indicators 16 DX NET ETHERCAT 2 01 14 MN040009EN www eaton com ...

Page 21: ...ction In the case of DA1 variable frequency drives with sizes FS2 and FS3 the fieldbus connection will need to be plugged into the variable frequency drive from below In the case of sizes FS4 and up the fieldbus connection will need to be mounted on the right side underneath the variable frequency drive s front enclosure cover While installing and or mounting the fieldbus connection cover all vent...

Page 22: ...eaton com moeller Support by entering the document number as the search term 3 3 Notes on the mechanical surface mounting Figure 7 Make sure that the equipment is de energized when performing installation work DANGER Make sure that the equipment is fully de energized when per forming the handling and installation work required to mechani cally set up and install the fieldbus connection When instal...

Page 23: ... use a flat blade screwdriver to lift off the cover at the marked cutout without forcing it and then remove the cover by hand Figure 8 Opening the interface cover After doing so you can insert the connection and secure it with the two screws Figure 9 Inserting the fieldbus connection NOTICE Do not insert tools or other objects into the opened variable fre quency drive Ensure that foreign bodies do...

Page 24: ...T 2 fieldbus connection must be installed inside the vari able frequency drive To do so use a standard screwdriver to turn the two screws on the front cover 90 Then proceed to remove the cover Figure 10 Opening the enclosure of DA1 variable frequency drives with size FS4 and up NOTICE Do not insert tools or other objects into the opened variable fre quency drive Ensure that foreign bodies do not e...

Page 25: ... doing so you can insert the connection on the right hand side and use the screws to secure it Then put the cover back on and use the two screws turn them 90 to secure it Figure 11 Inserting the fieldbus connection 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 L1 L2 L3 DC BR DC U V W COM 1 2 T 8 0 25 Nm 2 21 lb in ...

Page 26: ...eld bus Generally connection cables with RJ45 plugs for ETHERCAT are available as standard ready for use cables They can also be prepared individually This will require the connections shown below pinout Figure 12 RJ45 plug pinout Figure 13 Connecting the RJ45 plug Pin Meaning 1 TD 2 TD 3 RD 4 To GND via RC circuit 5 To GND via RC circuit 6 RD 7 To GND via RC circuit 8 To GND via RC circuit 1 2 3 ...

Page 27: ... cables and energy carrying mains and motor cables must be greater than 30 cm Cables should always intersect at right angles Figure 14 Routing cables for EtherCAT and mains motor cables If the system requires a parallel routing in cable ducts a partition must be installed between the field bus cable and the mains and motor cable in order to prevent electromagnetic interference on the field bus Fig...

Page 28: ...3 Installation 3 7 Install field bus 24 DX NET ETHERCAT 2 01 14 MN040009EN www eaton com ...

Page 29: ...ion data First of all complete all measures for commissioning the DA1 variable frequency drive as described in the respective manual MN04020005Z EN Check the settings and installations for the connection to the EtherCAT field bus system which are described in this manual NOTICE Make sure that there is no danger in starting the motor Disconnect the driven machine if there is a danger in an incorrec...

Page 30: ...devices on the ring Please note that you will not need to assign any addresses manually as the master will automatically do so head end controller 4 4 Bus termination resistor EtherCAT networks do not require bus termination resistors When the last node on a network is reached EtherCAT will automatically detect that there are no further nodes loopback function ...

Page 31: ... to the EtherCAT environment You will need the following components to do so Head end controller Computer for programming and configuration purposes Variable frequency drive DA1 with DX NET ETHERCAT 2 connection Figure 17 Engineering a PC with configuration tool b Head end controller master with EtherCAT interface c EtherCAT cable d Variable frequency drive DA1 with DX NET ETHERCAT 2 connection CO...

Page 32: ...the power supply Now configure the project For information on a detailed configuration please consult the manual provided by the PLC s manufacturer Check the LED indicators The head end controller must recognize the device address and the module must light up green Section 2 2 LED indicators L1 L L2 N L3 DC EtherCAT RUN ERR ...

Page 33: ...conds Since an Ethernet frame will include the data for a large number of nodes both in the transmission and reception directions this means that the payload data content will increase to more than 90 Used in conjunction with 100BASE TX s full duplex mode this method makes it possible to achieve effective data rates of almost 200 Mbit s 4 7 CoE protocol The EtherCAT fieldbus system uses the CoE CA...

Page 34: ...tion only possible in STOP ro rw Parameter read and write permissions via a fieldbus connection ro read only rw read and write read and write Value Setting of the parameter DS Default setting P1 1 1 base parameter Access rights are not shown in the drivesConnect PC software Manual PNU ID Access right Value Description DS RUN ro rw PC Software PNU Description Value Range Default Visible PNU ID Acce...

Page 35: ...th UNSIGNED8 8 bit unsigned integer b7 to b0 0 255 UNSIGNED16 16 bit unsigned integer b15 to b0 0 65535 UNSIGNED32 32 bit unsigned integer b31 to b0 0 4294967295 INTEGER8 8 bit signed integer b7 to b0 128 127 INTEGER16 16 bit signed integer b15 to b0 32768 32767 INTEGER32 32 bit signed integer b31 to b0 2147483648 2147483647 RECORD Data structure with fixed number of any types STRING Character str...

Page 36: ...atus word Status Word REF Reference Value Setpoint value ACT Actual Value Actual value PDO Process Data Out Process data output PDI Process Data In Process data input PNU Description Value 0 Value 1 0 Stop Operation 1 Clockwise rotating field FWD Anticlockwise rotating field REV 2 No action Fault Reset 3 No action free run down 4 Not used 5 No action Quick stop ramp 6 No action Fixed frequency 1 F...

Page 37: ...s value will be scaled with a factor of 0 1 in the application Process data input 3 PDI 3 Configured with parameter P5 14 The following settings can also be modified during operation Process data input 4 PDI 4 Configured with parameter P5 13 The following settings can also be modified during operation Status word The status word consisting of any error messages and the device status provides infor...

Page 38: ...rent at variable frequency drive output Motor overload Overtemperature on variable frequency drive heat sink 04 I t trp Motor thermal overload 05 SAFE 1 Short circuit at safety circuit input 06 O Volts Overvoltage DC link 07 V volts undervoltage DC link 08 O t Overtemperature heat sink 09 V t Undertemperature heat sink 0A P dEf Default settings parameters have been loaded 0B E trip External error ...

Page 39: ...annel error 25 Enc 08 Encoder I O communications loss 26 Enc 09 Encoder incorrect type 27 Enc 10 Encoder 28 AtF 01 Motor stator resistance fluctuating between phases 29 AtF 02 The motor s stator resistance is too high 2B AtF 03 Motor inductance too low 2B AtF 04 Motor inductance too high 2C AtF 05 The motor parameters do not match the motor 32 SC FO1 Fault Modbus communication loss error 33 SC F02...

Page 40: ...meter P5 12 The following settings can also be modified during operation Process data output 4 PDO 4 Configured with parameter P5 08 The following settings can also be modified during operation Value Description DS Field bus module PDO 3 output 0 Output current 1 Output power 2 DI status 3 AI2 signal level 4 Heat sink temperature 5 User register 1 6 User register 2 7 P0 80 0 Value Description DS F...

Page 41: ...els SyncManager objects are available for this purpose Sync channels are permanently assigned to individual transfer methods i e users cannot change the transfer method for a channel Sync channel 0 mailbox frame protocol for incoming SDOs from master to slave Sync channel 1 mailbox frame protocol for outgoing SDOs from slave to master Sync channel 2 process data frame protocol for incoming PDOs fr...

Page 42: ...ex 1011hex Restore parameters 00hex Largest sub index supported U8 ro 01hex Restore all default parameters U32 rw Restore all parameters 1018hex Identity Object 00hex Number of entries U8 ro Configuration of entries 01hex Vendor ID U32 ro These entries are managed by EtherCAT object F5hex 02hex Product Code U32 ro 03hex Revision Number U32 ro 04hex Serial Number U32 ro 1600hex Receive PDO Mapping ...

Page 43: ...mation Bytes 0 and 1 will be replaced with the value in attribute 3 EtherCAT CoE emergency frames are used to transfer error messages between master and slave More specifically CoE emergency frames are used directly to transfer the EMCY messages defined in CANopen 1C13hex SyncManager Tx PDO Assign 00hex Number of Assigned PDOs U8 ro Assignment between Sync channel and a PDO 01hex Assigned PDO U16 ...

Page 44: ...Data ro BOOLE True 5 PDO Write ro UINT16 PDO size currently being written 6 PDO Read ro UINT16 PDO size currently being read 7 Exception Information ro UINT8 Additional information when the module throws an exception 01 data type not available 02 Error message for GET_INSTANCE_NUMBER_BY_ORDER 03 Error message for GET_ATTRIBUTE Highest Instance Number 04 Error message for GET_ATTRIBUTE Number of In...

Page 45: ...cyclic Parameter In order to configure and diagnose nodes acyclic communications can be used to access the variables available to the network The mailbox frame is used for acyclic data transfers The SDO services make it possible to have read and write access to the drive parameters Name Access Type Value Meaning 1 Name Get String EtherCAT Property Name 2 Revision Get UINT8 01hex Revision 3 Number ...

Page 46: ...ex 27 P1 07 Motor rated operating voltage rw 107 206Bhex 28 P1 08 Motor rated operational current rw 108 206Chex 29 P1 09 Motor rated frequency rw 109 206Dhex 30 P1 10 Motor rated speed rw 110 206Ehex 31 P1 11 Output voltage at zero frequency rw 111 206Fhex 32 P1 12 Control level rw 112 2070hex 33 P1 13 Digital input function rw 113 2071hex 34 P1 14 Parameter range access code depends on P2 40 and...

Page 47: ...gnal range rw 233 20E9hex 79 P2 34 AI2 scaling factor rw 234 20EAhex 80 P2 35 AI2 Offset rw 235 20EBhex 81 P2 36 REAF Start function with automatic restart control signal terminals rw 236 20EChex 82 P2 37 REAF start function with automatic restart rw 237 20EDhex 83 P2 38 Response in the event of a power failure rw 238 20EEhex 84 P2 39 Parameter access lock rw 239 20EFhex 85 P2 40 Access codes menu...

Page 48: ...ave Adress rw 501 21F5hex 127 P5 02 CANopen baud rate rw 502 21F6hex 128 P5 03 Modbus RTU Baud rate rw 503 21F7hex 129 P5 04 Modbus RTU data format Parity type rw 504 21F8hex 130 P5 05 Timeout at communications dropout rw 505 21F9hex 131 P5 06 Response in the event of a communications dropout rw 506 21FAhex 132 P5 07 Ramp via field bus rw 507 21FBhex 133 P5 08 Field bus module PDO 4 output rw 508 ...

Page 49: ...rvice interval reset rw 625 2271hex 171 P6 26 AO1 scaling rw 626 2272hex 172 P6 27 AO1 Offset rw 627 2273hex 173 P6 28 Display index P0 80 rw 628 2274hex 174 P6 29 Save parameters as default rw 629 2275hex 175 P6 30 Access code for menu level 3 rw 630 2276hex 176 P7 01 Motor stator resistance rw 701 22BDhex 177 P7 02 Rotor resistance rw 702 22BEhex 178 P7 03 Motor leakage inductance d rw 703 22BFh...

Page 50: ...ntrol source start signal 1 FWD rw 903 2387hex 219 P9 04 Control source start signal 2 REV rw 904 2388hex 220 P9 05 Control source Stay put function rw 905 2389hex 221 P9 06 Control source enable REV rw 906 238Ahex 222 P9 07 Control source reset rw 907 238Bhex 223 P9 08 Control source external fault rw 908 238Chex 224 P9 09 Control source terminal control rw 909 238Dhex 225 P9 10 Source Speed 1 rw...

Page 51: ... feedback rw 939 23ABhex 255 P9 40 Source torque control reference rw 940 23AChex 256 P9 41 Function choices Relay output 3 4 5 rw 941 23ADhex 266 DI 1 ro 1001 23E9hex 267 DI 2 ro 1002 23EAhex 268 DI 3 ro 1003 23EBhex 269 DI 4 ro 1004 23EChex 270 DI 5 ro 1005 23EDhex 271 DI 6 ro 1006 23EEhex 272 DI 7 ro 1007 23EFhex 273 DI 8 ro 1008 23F0hex 274 AO 1 ro 1009 23F1hex 275 AO 2 ro 1010 23F2hex 276 DO ...

Page 52: ... Field bus User ramp rw 1045 2415hex 311 Scope index 1 2 rw 1046 2416hex 312 Scope index 3 4 rw 1047 2417hex 313 24hour timer rw 1048 2418hex 314 User display Ctrl rw 1049 2419hex 315 User display value rw 1050 241Ahex 326 AI 1 Q12 ro 1061 2425hex 327 AI 1 ro 1062 2426hex 328 AI 2 Q12 ro 1063 2427hex 329 AI 2 ro 1064 2428hex 330 DI status ro 1065 2429hex 331 Speed reference ro 1066 242Ahex 332 Val...

Page 53: ... torque ro 1091 2443hex 358 Expansion IO input status ro 1093 2445hex 361 ID Plug in module ro 1096 2448hex 362 ID field bus boards ro 1097 2449hex 366 Scope channel 1 data ro 1101 244Dhex 367 Scope channel 2 data ro 1102 244Ehex 368 Scope channel 3 data ro 1103 244Fhex 369 Scope channel 4 data ro 1104 2450hex 370 OLED language number ro 1105 2451hex 371 OLED version ro 1106 2452hex 372 power sect...

Page 54: ...4 Commissioning 4 12 CoE communication objects 50 DX NET ETHERCAT 2 01 14 MN040009EN www eaton com ...

Page 55: ...ended use 11 Mounting 17 19 20 E EMC 5 Engineering 27 Environmental Conditions 9 Equipment supplied 7 Error Messages 34 ESC 5 ESI file 25 ETG 5 EtherNet IP connections 9 F Failure code 34 FB field bus 5 FMMU 5 FS Frame Size 5 G GND ground 5 H Hazard warnings 4 Head end controller 11 Hotline 12 I Inspection 12 Installation 17 Instructional leaflet 7 IL4020010Z 18 IL4020011Z 18 K Key to part numbers...

Page 56: ...ameter number 5 Process data frame protocol 29 Production quality 9 R Rated operational data 9 RJ45 plug connection 22 Pinout 22 S setpoint value 33 Signal cables 23 Standards 9 Status word 33 Storage temperature 9 12 SW see Status Word 5 SyncManager 37 U UL underwriters laboratories 5 Units of measurement 6 V Vibration 9 W Warranty 12 Writing conventions 4 ...

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