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SM-EtherCAT User Guide

7

Issue Number: 2

www.controltechniques.com

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1.8

General safety considerations for remote operation

SM-EtherCAT enables the possibility of remotely controlling a machine from a distance.
It is vital that when connecting to a machine remotely, adequate safety procedures are
implemented to prevent damage to the machine or injury to personnel.

Any connection to a live system has the possibility of altering the state of the machine,
adequate procedures must be implemented to cover this situation.

It is the responsibility of the machine builder to ensure that such a system is safe
and complies with current legislation.

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Summary of Contents for SM-EtherCAT

Page 1: ...User Guide Unidrive SP Affinity Digitax ST Commander SK Mentor MP Part Number 0471 0128 02 Issue 2 www controltechniques com SM EtherCAT ...

Page 2: ...parts of the product are suitable for recycling Product packaging is of good quality and can be re used Large products are packed in wooden crates while smaller products come in strong cardboard cartons which themselves have a high recycled fibre content If not re used these containers can be recycled Polythene used on the protective film and bags from wrapping product can be recycled in the same ...

Page 3: ... Installation 10 3 1 General Installation 10 4 Electrical Installation 11 4 1 SM EtherCAT module information 11 4 2 Module grounding 11 4 3 Network topology 12 4 4 Minimum node to node cable length 12 5 Getting Started 13 5 1 Quick start guide 13 5 2 Quick start flowchart 17 5 3 Saving parameters to the drive 18 5 4 Re initialising the SM EtherCAT 18 5 5 Re initialise all Solutions Modules 18 6 Pr...

Page 4: ...objects 57 9 3 Diagnostic parameters 58 9 4 Drive trip display codes 59 9 5 SM EtherCAT module temperature 59 9 6 SM EtherCAT serial number 59 9 7 SM EtherCAT error codes 60 9 8 Critical task free 61 9 9 Worst case critical task free 61 9 10 FLASH file system free 61 9 11 Updating SM EtherCAT firmware 61 10 Quick Reference 62 11 Glossary Of Terms 65 ...

Page 5: ...cessary training and experience They must read this safety information and this user guide carefully The STOP and SECURE DISABLE SAFE TORQUE OFF functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections With the ...

Page 6: ...de Mentor MP User Guide Affinity User Guide Commander SK Technical Data Guide and Digitax ST Technical Data Guide contain instructions for achieving compliance with specific EMC standards Within the European Union all machinery in which this product is used must comply with all relevant safety and EMC directives applicable to the installation 1 6 Motor Ensure the motor is installed in accordance w...

Page 7: ...ration SM EtherCAT enables the possibility of remotely controlling a machine from a distance It is vital that when connecting to a machine remotely adequate safety procedures are implemented to prevent damage to the machine or injury to personnel Any connection to a live system has the possibility of altering the state of the machine adequate procedures must be implemented to cover this situation ...

Page 8: ...l to those where ease of use and open loop control are appropriate 2 3 What is EtherCAT EtherCAT is an open high performance Ethernet based fieldbus system that overcomes the system limitations of other Ethernet solutions The Ethernet packet is no longer received then interpreted and copied as process data at every connection instead the Ethernet frame is processed on the fly The development goal ...

Page 9: ...ll 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 ...

Page 10: ...lutions Module slot located on the drive until it clicks into place 2 Note that some drives require a protective tab to be removed from the Solutions Module slot For further information refer to the appropriate drive manual Before installing or removing a Solutions Module in any drive ensure the AC supply has been disconnected for at least 10 minutes and refer to Chapter 1 Safety Information on pa...

Page 11: ...ernet ports which support segment lengths of up to 100m This means that the maximum cable length which can be used between one SM EtherCAT port and another 100BASE TX port is 100m however it is not recommended that the full 100m cable length is used The total network length is not restricted by the Ethernet standard but depends on the number of devices on the network and the transmission media cop...

Page 12: ...still operates within the constraints specified by the designer Figure 4 1 SM EtherCAT daisy chain network topology 4 4 Minimum node to node cable length There is no minimum length of cable recommended in the Ethernet standards To avoid possible problems it is recommended that you allow sufficient cable length to ensure good bend radii on cables and avoid unnecessary strain on connectors Master PL...

Page 13: ... this manual and have checked that the SDO PDO configurations are correct 5 1 2 SM EtherCAT XML file Control Techniques provides an EtherCAT device description file Control Techniques SM EtherCAT xml This file provides the master with information about the SM EtherCAT module to aid with its configuration The file can be downloaded from the Control Techniques CTSupport com website or from your loca...

Page 14: ...ects are used for receiving TxPDOs from the slave to the master and transmitting RxPDOs from the master to the slave data These PDOs contain the cyclic data objects and or parameters the RxPDOs available are 1 2 6 and 22 the TxPDOs available are 1 2 3 6 and 22 for more information on these PDOs including default mappings please see section 6 1 2 RxPDO mappings on page 21 and section 6 1 3 TxPDO ma...

Page 15: ...PDO1 TxPDO6 Object 0x1600 Object 0x1A00 Object 0x1A05 Sub index 0x00 Sub index 0x00 Sub index 0x00 Size 1 Size 1 Size 1 Value 3 Value 2 Value 2 Sub index 0x01 Sub index 0x01 Sub index 0x01 Size 4 Size 4 Size 4 Value 0x60400010 Value 0x60410010 Value 0x20121610 Sub index 0x02 Sub index 0x02 Sub index 0x02 Size 4 Size 4 Size 4 Value 0x60420010 Value 0x60640020 Value 0x20141620 Sub index 0x03 Not Use...

Page 16: ... objects Index 0x1C13 Sub index 0x00 Size 1 Value 2 Setting object 0x1C13 sub index 0 to a value of 2 as above indicates that two TxPDO s will be assigned to the sync manager 3 assignment Index 0x1C13 Sub index 0x01 Size 2 Value 0x1A00 Index 0x1C13 Sub index 0x02 Size 2 Value 0x1A05 Setting object 0x1C13 sub index 1 to a value of 0x1A00 and sub index 2 to a value of 0x1A05 as above maps TxPDO1 and...

Page 17: ...e used as the starting point for all configurations Figure 5 3 Quick start flowchart Ensure the Control Techniques xml file is in the appropriate folder on the hard drive of the master Check the LED status of the SM EtherCAT module In the master scan the EtherCAT network Select required PDOs Configure the PDOs with the mappings required Check the front of the SM EtherCAT module to ensure that the ...

Page 18: ...ed Pr MM 32 will be reset to OFF 3 The SM EtherCAT will re initialise using the updated configuration 5 5 Re initialise all Solutions Modules To re initialise all Solutions Modules fitted on a Unidrive SP Affinity or Digitax ST 1 Set Pr MM 00 to 1070 2 Press the red RESET button on the drive Unidrive SP Mentor MP Affinity and Digitax ST Menu 20 applications parameters may be saved if an Applicatio...

Page 19: ...0 to 0x0FFF Data type area 0x1000 to 0x1FFF CoE communication area 0x2000 to 0x5FFF Manufacturer specific area 0x6000 to 0x9FFF Profile area 0xA000 to 0xFFFF Reserved area Table 6 2 Object description format index object name Access access Range range Size size Unit unit Default default Description description Table 6 3 Object description format with sub indices index object name Sub index 0 Acces...

Page 20: ...de and or type On a Unidrive SP in open loop or closed loop mode or a Mentor MP in closed loop mode bit 16 will be set while bits 17 and 24 will be cleared On a Unidrive SP in Servo mode or a Digitax ST bit 17 will be set while bits 16 and 24 will be cleared Table 6 5 Identity object 0x1018 Identity object Sub index 0 Access RO Range N A Size 1 byte Unit N A Default 4 Description The number of the...

Page 21: ... configuration file specified as CF in the descriptions below Table 6 6 RxPDO mappings PDO number Mapping object index Mapping object name 1 0x6040 controlword 2 0x6040 0x6060 controlword modes of operation 6 0x6040 0x6042 controlword vl_target _velocity Table 6 7 RxPDO mapping 1 0x1600 Receive PDO mapping 1 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default ...

Page 22: ...2 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Table 6 9 RxPDO mapping 6 0x1605 Receive PDO mapping 6 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to 0xFFFFFFFF Siz...

Page 23: ...4 bytes Unit N A Default 0 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Table 6 11 TxPDO mappings PDO number Mapping object index Mapping object name 1 0x6041 statusword 2 0x6041 0x6061 statuswo...

Page 24: ...s e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Table 6 14 TxPDO mapping 3 0x1A02 Transmit PDO mapping 3 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to 0xF...

Page 25: ...ject Bits 16 to 31 Index of the mapped object Sub index 2 2nd mapped object Access RW Range 0 to 0xFFFFFFFF Size 4 bytes Unit N A Default 0x60440010 the DSP 402 vl_control_effort 0x6044 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits...

Page 26: ...e Sub index 2 Usage of sync manager 1 Access RO Range N A Size 1 byte Unit N A Default 2 Description Sync manager 1 is used by CoE as the mailbox send channel slave to master Sub index 3 Usage of sync manager 2 Access RO Range N A Size 1 byte Unit N A Default 3 Description Sync manager 2 is used by CoE as the process data output RxPDOx master to slave Sub index 4 Usage of sync manager 3 Access RO ...

Page 27: ...he object index of an RxPDO to assign to this sync manager By default this is assigned to RxPDO mapping 6 vl_target_velocity and controlword Table 6 21 Sync manager 3 PDO assignment object 0x1C13 Sync manager 3 PDO assignment Sub index 0 Access RW Range 0 to 512 Size 1 byte Unit N A Default 1 Description The number of TxPDOs assigned to this sync manager used for process data input Sub indices 1 t...

Page 28: ...pecific h halt fr fault reset hos homing operation start eo enable operation qs quick stop ev enable voltage so switch on Table 7 1 Controlword 0x6040 Controlword Access RW Range 0 to 65535 Size Unsigned 16 Unit N A Default N A Description Provides the primary method of controlling the behavior of the drive Table 7 2 Controlword bit functions 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Reserved r oms h ...

Page 29: ...These are the supported objects used to control the drive Table 7 4 Statusword 0x6041 Statusword Access RW Range 0 to 65535 Size Unsigned 16 Unit N A Default N A Description This provides feedback about the current operating state of the drive Table 7 5 Statusword bit functions 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ms ha lla tr rm ms w sod qs ve f oe so rtso Table 7 6 State coding Statusword State...

Page 30: ...main at QUICK STOP ACTIVE the state will move to SWITCH ON DISABLED When in the OPERATION ENABLED or QUICK STOP ACTIVE states it is not possible to change the mode_of_operation object This is to ensure that the motor is stopped before changing the operation mode The SM EtherCAT master device must be in the operational state before the state machine can move from the SWITCH ON DISABLED state to the...

Page 31: ...achine diagram SWITCH ON DISABLED NOT READY TO SWITCH ON START READY TO SWITCH ON SWITCHED ON OPERATION ENABLE QUICK STOP ACTIVE FAULT FAULT REACTION ACTIVE Pr 10 01 1 Pr 10 02 0 0 Shutdown 1 2 Switch On 3 Enable operation 4 Disable operation 5 Shutdown 6 Quick stop 7 Shutdown 8 9 Disable voltage 10 Disable voltage 16 Quick stop Disable voltage 12 Any drive trip 13 Fault reaction complete 14 Fault...

Page 32: ...itched off immediately if possible and the motor shall be free to rotate if not braked 9 Disable voltage command from control device or local signal The high power shall be switched off immediately if possible and the motor shall be free to rotate if not braked 10 Disable voltage or quick stop command from control device or local signal The high power shall be switched off immediately if possible ...

Page 33: ...o 3 These values are set once and not continuously forced They are not reset when leaving the Operational state In addition the option starts to write parameters implicitly mapped by the CoE profiles when moving to the Operational state 7 3 2 0x605A Quick stop option code This object indicates what action is perfomed when the quick stop function is executed The slow down ramp is the deceleration v...

Page 34: ...state to the Ready To Switch On state Table 7 12 Shutdown_option_code values Value Definition 0 Disable drive function switch off the drive power stage 1 Slow down with slow down ramp disable the drive function Table 7 13 Disabled_operation_option_code 0x605C Disable_operation_option_code Access RW Range 0 to 1 Size Unsigned 16 Unit N A Default N A Description This object is used to control what a...

Page 35: ...s 2 The value is given in user defined acceleration units Table 7 17 Modes_of_operation 0x6060 Modes_of_operation Access RW Range 0 to 7 Size Unsigned 8 Unit N A Default 2 Description This object is used to request a change in the mode of operation Table 7 18 Modes_of_operation values Value Definition 0 No mode change 2 vl velocity mode 4 Profile torque mode 6 Homing mode 7 Interpolated position m...

Page 36: ...und up or down It is possible to change these values non cyclically i e using SDOs in which case the scaling numerator and denominator is recalculated in the background It is also necessary to re scale velocity limit values with the new factor It is not possible to change these values cyclically i e by mapping PDOs to them 7 3 10 0x608F Position_encoder_resolution This read only object indicates t...

Page 37: ...e It works on the Digitax ST and Mentor MP but is not supported in open loop or regen mode on any of the drives If is also not available on Commander SK or Affinity The position control described here is used under the interpolated position mode of operation Table 7 24 Gear_ratio 0x6091 Gear_ratio Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description Sub index 1 Access RW ...

Page 38: ...2 position_demand_value 0x6064 position_actual_value 0x6065 following_error_window 0x6067 position_window 0x60F4 following_error_actual_value 0x60FB position_control_parameter_set Table 7 27 Position_demand_value 0x6062 Position_demand_value Access RO Range 0 to 0xFFFFFFFF Size Unsigned 32 Unit N A Default N A Description Used to provide the currently demanded position value Table 7 28 Position_ac...

Page 39: ...able 7 31 lists the objects that are supported 7 4 1 0x60C0 Interpolation_sub mode_select Table 7 30 Position_control_parameter_set object 0x60FB Position_control_parameter_set Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description The number of control loop parameters Sub index 1 Access RW Range 0 to 65535 Size Unsigned 16 Unit 0 01 rad s rad Default 2500 Description The p...

Page 40: ...ault N A Description The set point Table 7 34 Interpolation_time_period 0x60C2 Interpolation_time_period Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description The number of last sub indexes in this object Sub index 1 Access RW Range 0 to 255 Size Unsigned 8 Unit sub index 2 Default 250 units are dependant on the value in sub index 2 Description The number of time units bet...

Page 41: ...e s speed handling and ramps When the attached drive is in either of the closed loop or servo operating modes the scaled velocity is written to the drive internal speed shortcut When the attached drive is in an open loop operating mode the scaled velocity is written to the user preset reference parameter Pr 1 21 Table 7 36 lists the objects that are supported 7 5 1 0x6042 vl_target_velocity This o...

Page 42: ... is in user units Table 7 38 vl_velocity_demand 0x6043 vl_velocity_demand Access RO Range 32768 to 32767 Size Signed 16 Unit rpm Default 0 Description Provides the instantaneous velocity demand generated by the drive ramp function Table 7 39 vl_velocity_actual_value 0x6044 vl_velocity_actual_value Access RO Range 32768 to 32767 Size Signed 16 Unit N A Default 0 Description Provides the velocity at...

Page 43: ...gned 32 Unit rpm Default 0 Description Used to configure the minimum positive velocity at which the system can operate Sub index 2 Access RW Range 0 to 0xFFFFFFFF Size Unsigned 32 Unit rpm Default 2147483647 Description Used to configure the maximum positive velocity at which the system can operate Sub index 3 Access RW Range 0 to 0xFFFFFFFF Size Unsigned 32 Unit rpm Default 0 Description Used to ...

Page 44: ...it N A Default 2 Description The number of last sub indexes in this object Sub index 1 Access RW Range 0 to 0xFFFFFFFF Size Unsigned 32 Unit rpm Default 1000 Description The value of delta speed is given in rpm if the vl_dimension_factor and the vl_setpoint_factor have the value 1 otherwise the value is in user units Sub index 2 Access RW Range 0 to 65535 Size Unsigned 16 Unit s Default 2 Descript...

Page 45: ...unit A value of 0 must not be used Velocity user defined unit Dimension factor rpm user defined unit Velocity rpm The vl_target_velocity object is re read every new profile cycle It is scaled to appropriate units using the vl_dimension_factor and vl_setpoint_factor objects and then written to the drive preset reference 1 parameter Pr 1 21 Table 7 45 0x604B vl_setpoint_factor 0x604B vl_setpoint_fac...

Page 46: ...velocity_acceleration object is updated and if the drive deceleration rate preset is changed Pr 2 21 the vl_velocity_deceleration object is updated 7 6 Profile Torque mode The profile torque mode is supported on Unidrive SP Digitax ST Affinity Mentor MP and Commander SK It is possible to use this profile in regen mode on the Unidrive SP On the Unidrive SP and Digitax ST in closed loop or servo mod...

Page 47: ...int or zero point Figure 7 2 Homing mode function on page 47 shows the defined input objects as well as the output objects The user may specify the speeds acceleration and the method of homing There is a further object home offset which allows the user to displace zero in the user s coordinate system from the home position There is no output data except for those bits in the statusword which retur...

Page 48: ...he right is the maximum position 7 7 1 General homing definitions Method 1 Homing on negative limit switch and index pulse Using this method as shown in Figure 7 3 Homing on negative limit switch and index pulse on page 48 the initial direction of movement shall be leftward if the negative limit switch is inactive here low The home position shall be at the first index pulse to the right of the pos...

Page 49: ...tate of the home switch Figure 7 5 Homing on positive home switch and index pulse Method 5 and 6 Homing on negative home switch and index pulse Using these methods as shown in Figure 7 6 Homing on negative home switch and index pulse on page 49 the initial direction of movement shall be dependent on the state of the home switch The home position shall be at the index pulse either to the left or th...

Page 50: ...x pulse on either side of the rising or falling edges of the home switch as shown in Figure 7 7 Homing on home switch and index pulse positive initial motion on page 50 and Figure 7 8 Homing on home switch and index pulse negative initial motion on page 50 If the initial direction of movement leads away from the home switch the drive shall reverse on encountering the relevant limit switch Figure 7...

Page 51: ... limit switch transitions For example methods 19 and 20 are similar to methods 3 and 4 as shown in Figure 7 9 Homing on positive home switch on page 51 Figure 7 9 Homing on positive home switch Method 31 and 32 Reserved These methods are reserved Method 33 and 34 Homing on index pulse Using these methods the direction of homing is negative or positive respectively The home position shall be at the...

Page 52: ...art or continue homing procedure 8 0 Enable bit 4 1 Stop axis according to halt option code 0x605D Bit 12 Bit 10 Definition 0 0 Homing procedure is in progress 0 1 Homing procedure is interrupted or not started 1 0 Homing is attained but target is not reached 1 1 Homing procedure was completed successfully 0 0 Homing error occurred velocity is not 0 0 1 Homing error occurred velocity is 0 1 X Rese...

Page 53: ... to this new zero position This is illustrated in Figure 7 11 Home offset definition on page 53 The value of this object shall be given in user defined position units Negative values indicate the opposite direction Figure 7 11 Home offset definition Table 7 56 Home offset 0x2804 Freeze object Sub index 0 Access RO Range N A Size Unigned 8 Unit N A Default 2 Description The number of the last sub i...

Page 54: ...n user defined acceleration units Table 7 60 Homing acceleration on page 54 specifies the object description Table 7 60 Homing acceleration 0x6098 Homing Method Access RW Range 0 35 Size Unsigned 8 Unit N A Default 0 Description The homing method that shall be used Value Definition 0 No homing method assigned 1 Method 1 shall be used to 34 Method 34 shall be used 35 Method 35 shall be used 0x6099 ...

Page 55: ...on signal e g a Unidrive SP or Digitax ST the EtherCAT distributed clocks facility can be used to provide this signal so the drive speed and current tasks are synchronized to the network The position controller and appropriate motion features will also be synchronized to the drive speed task 8 2 SM EtherCAT protocol support The following are supported Four Sync Managers Two are used for the Mailbo...

Page 56: ... of xx yy zz where Pr 15 02 displays xx yy and Pr 15 51 displays zz e g for software version 01 01 00 on a module in the middle Solu tions Module slot Pr 16 02 will display 1 01 and Pr 16 51 will display 0 Digitax ST Unidrive ES Affinity The software version of the Solutions Modules can be identified by looking at Pr 15 02 or Pr 16 02 and Pr 15 51 or Pr 16 51 Menu 15 or 16 is Solutions Module slot...

Page 57: ...Once the trip has been armed a minimum of one of the above messages must be received or transmitted in each time period set in sub index 2 of the Network loss behavior object 0x2813 Table 9 4 Network loss behavior object 0x2813 Network loss behavior Sub index 0 Access RO Range N A Size 1 byte Unit N A Default 2 Description The number of last sub indexes in this object Sub index 1 Maximum time inte...

Page 58: ...itialising 30 Initialising fieldbus The fieldbus is initialising 25 Starting fieldbus The fieldbus is starting 1 Initialisation complete The option module has initialised correctly but no network communication is taking place i e no EtherCAT frames have been transmitted or received Table 9 8 Diagnostic information bootloader Pr MM 06 Meaning Description 199 Boot loader start The bootloader is star...

Page 59: ...r The serial number is loaded into the SM EtherCAT during manufacture and cannot be changed It contains the last eight digits of the 10 digit serial number of the label Table 9 9 Drive trip display codes Trip Code Fault Description SLX HF SL HF Hardware fault The drive has detected that a Solutions Module is present but is unable to communicate with it If this occurs please contact your supplier o...

Page 60: ...cal task over run 3 Invalid feedback source 4 Unknown drive type 5 Unsupported drive type 10 Invalid or missing application 62 Database initialisation error 63 File system initialisation error 64 Error initialising fieldbus stack 74 The option module has overheated 75 The drive is not responding 76 The Modbus connection has timed out 80 Inter option communication failure 81 Inter option communicat...

Page 61: ...ownloaded from CTSupport com To upload firmware to the SM EtherCAT module the use of Winflasher is required this application is also available from your local Control Techniques Drive Centre or supplier Table 9 14 SM EtherCAT critical task free SM EtherCAT critical task free Pr MM 46 Default N A Range 0 to 100 Access RO Table 9 15 Worst case critical task free SM EtherCAT worst case critical task ...

Page 62: ...g 3 Section 6 1 3 on page 23 0x1A05 Transmit PDO mapping 6 Contains the mapping information for transmit PDO mapping 6 Section 6 1 3 on page 23 0x1A21 Transmit PDO mapping 22 Contains the mapping information for transmit PDO mapping 22 Section 6 1 3 on page 23 0x1C00 Sync manager communication type This read only object provides sync manager usage details Section 6 1 4 on page 26 0x1C10 Sync manag...

Page 63: ...ection 7 3 3 on page 34 0x605C Disable operation_option code This object is used to control what action is performed if there is a transition from the Operation Enabled state to the Switched On state Section 7 3 4 on page 34 0x605E Fault_reaction option_code This object is used to control what action is performed when a fault is detected Section 7 3 5 on page 34 0x6060 Modes_of operation This obje...

Page 64: ...n N A 00 00 to 99 99 Section 9 1 2 on page 56 Pr MM 06 SM EtherCAT operating status N A 9999 to 9999 Section 9 3 on page 58 Pr MM 32 SM EtherCAT re initialise 0 OFF 0 OFF to 1 ON Section 5 4 on page 18 Pr MM 35 SM EtherCAT serial number N A 0 16777215 Section 9 6 on page 59 Pr MM 44 SM EtherCAT module temperature N A 0 255 Section 9 5 on page 59 Pr MM 46 Critical task free N A 0 to 100 Section 9 8...

Page 65: ... Data that is transmitted at regular intervals over the network Data rate Determines the communication speed of the network the higher the value the more data can be sent across the network in the same time period Device A piece of equipment connected to a network this may be any type of equipment including repeaters hubs masters or slaves Double word A 32 bit word this may be signed or unsigned E...

Page 66: ...ction to provide additional immunity to noise used on a network cable Shielding A connection to provide additional immunity to noise used on a network cable Status word A value that denotes the status of the drive Each bit within the word will have a specific meaning Word A collection of sixteen binary digits ...

Page 67: ...eference Glossary Of Terms Index Index A Address 65 Adjusting parameters 6 B Bit 65 Byte 65 C Control word 65 Cyclic data 65 D Data rate 65 Device 65 Diagnostics 56 Domain 65 E Earthing 65 Electrical installation 11 Electrical safety 5 F Functional blocks 19 G Getting started 13 Glossary of terms 65 H Homing mode 47 I Index 67 Introduction 8 L Long word 65 LSB 65 M Mechanical installation 10 MSB 6...

Page 68: ...8 SM EtherCAT User Guide www controltechniques com Issue Number 2 P PC 65 PLC 65 Poll rate 65 Q Quick Reference 62 S Safety considerations 7 Safety information 5 SECURE DISABLE 5 Status word 66 W Word 66 ...

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Page 70: ...0471 0128 02 ...

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