Digitax ST User Guide
75
Issue: 5
9.10 Saving parameters to the drive
To avoid loss of the configured settings when the drive is powered down
it is necessary to write 1000 to Pr
17.00
followed by pressing the reset
button to perform a drive save.
To store drive parameters:
•
Set Pr
17.00
to 1000.
•
Press the red RESET button.
The drive will store all parameters (except Menu 20) but the operation of
the EtherCAT interface will not be affected. Changes made to the
EtherCAT interface configuration parameters will not take effect until the
EtherCAT interface is reset.
Menu 20 applications parameters may be saved if an Applications
Module is installed, menu 20 is stored in the Applications Module’s
memory. See the relevant Applications Module documentation for more
information. If the drive is running on backup supply only, Pr
17.00
must
be set to 1001 to perform a save.
This saves only drive and module parameters and not EtherCAT
interface related objects.
9.11 EtherCAT interface Node address
Table 9-4 EtherCAT interface Node address
It is not necessary for a user to set a node address manually in order to
initiate EtherCAT communications; however, this parameter can be used
to configure an EtherCAT Station Alias. When changed, this value will be
stored in the option non-volatile storage upon a transition from the INIT
state to the PRE-OPERATIONAL state; this change will also cause an
AL Status Code to be set to indicate that the option needs to be reset. It
will be possible to read the value at the 16-bit word address 0x0004 of
the SII (Slave Information Interface) data, and in EtherCAT register
0x0012 (a 16-bit word).
9.12 EtherCAT interface RUN
Table 9-5 EtherCAT interface RUN
This parameter displays the EtherCAT interface RUN state as required
by the EtherCAT indicator and Marking Specification. It will contain one
of the values in Table 9-6.
Table 9-6 EtherCAT State Machine State
Although this parameter has the read/write attribute, it will be forced to
the state value continuously to prevent it being written by another entity.
9.13 Re-initializing the EtherCAT interface
Table 9-7 EtherCAT interface re-initialize
Changes to the EtherCAT interface configuration in menu 17 parameters
will not take effect until the EtherCAT interface has been re-initialized.
To re-initialize EtherCAT interface:
1. Set Pr
17.32
to ON.
2. When the sequence has been completed, Pr
17.32
will be reset to
OFF.
3. The EtherCAT interface will re-initialize using the updated
configuration.
The above sequence does NOT store the EtherCAT interface
configuration parameters in the drive or the EtherCAT interface’s internal
FLASH memory. This parameter will change back to OFF immediately
and as such the change may not be visible on the display. related
objects.
9.14 Process Data Objects (PDOs)
Cyclic data is implemented on EtherCAT networks by using "Process
Data Objects" or PDOs. Separate data objects are used for transmitting
(TxPDOs) and receiving (RxPDOs) data. PDO configuration objects are
usually pre-configured in the EtherCAT master controller and
downloaded to the EtherCAT interface at network Initialization using
SDOs.
9.14.1 PDO Priority
If 2 PDOs are mapped in a sync manager then the second PDO will
always be considered to be low priority (and, as such, should not be
used for deterministic process data).
Mappings to slow parameters (such as SM-Applications PLC
parameters, etc) should always be placed in the second PDO. When
there is more than one PDO mapping in a Sync Manager, placing a slow
parameter in the first PDO will trigger an SDO abort code. If only one
PDO is mapped to a sync manager, then placing a slow parameter in
that PDO will make it low priority (so slow parameter accesses should
not be placed in PDOs where deterministic data access is required).
It is possible to map any drive parameters in PDOs.
9.15 Service Data Object (SDO) parameter
access
The service data object (SDO) provides access to all objects in the
EtherCAT object dictionary and the drive parameters are mapped into
the object dictionary as 0x2XXX objects in the following way:
Index: menu
Sub-index: parameter
For example Pr
20.21
would be index 0x2014 and the sub-index would
be 0x15. The values are usually expressed in base 16 (hexadecimal), so
care must be taken to enter the correct parameter number.
All other supported entries in the EtherCAT interface object dictionary
can also be accessed using SDOs. Refer to the master controller
documentation for full details about implementing SDO transfers within
the particular master controller.
Sub-index 0 for any menu will return the highest sub-index available for
the object (i.e. the highest parameter number). Pr
17.00
in any drive can
only be accessed as Pr
61. 01
(0x203D, sub-index changes to 1).
The following SDO services are supported:
EtherCAT interface Node address
Pr
17.03
Default
0
Range
0 to 65535
Access
RW
EtherCAT interface RUN
Pr
17.04
Default
1
Range
1 to 8
Access
RW
Value
ESM State
1
INIT
2
PRE-OPERATIONAL
4
SAFE-OPERATIONAL
8
OPERATIONAL
NOTE
NOTE
EtherCAT interface re-initialize
Pr
17.32
Default
0 (OFF)
Range
0 (OFF) to 1 (ON)
Access
RW
NOTE
NOTE
NOTE
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