SEW-Eurodrive 1821 2492, Manual, Page: 10 / 68

10
Manual – XFE24A EtherCAT Fieldbus Interface
3
Features
Introduction
3.3.2 Access to all information
MOVIAXIS
®
offers digital access to all drive parameters and functions via the EtherCAT
interface. The servo drive is controlled via fast, cyclic process data. Via this process data
channel, you can enter setpoints such as the setpoint speed, ramp generator time for
acceleration / deceleration, etc. as well as trigger various drive functions such as enable,
control inhibit, normal stop, rapid stop, etc. At the same time you can also use this chan-
nel to read back actual values from the servo inverter, such as actual speed, current,
unit status, error number or reference signals.
3.3.3 Cyclical data exchange via EtherCAT
Process data is usually exchanged cyclically between EtherCAT master and the
MOVIAXIS
®
multi-axis servo inverter. The cycle time is determined when configuring the
EtherCAT master.
3.3.4 Acyclical data exchange via EtherCAT
Acyclical READ- / WRITE services are introduced in line with the EtherCAT specifica-
tion. They are transmitted during normal cyclical operation along with the messages
without affecting the performance of the process data communication via EtherCAT.
READ / WRITE access to the drive parameters is enabled using SDO services (Service
Data Objects), which are implemented via CoE (CANopen over EtherCAT) or VoE ser-
vices (Vendor-specific over EtherCAT).
This parameter data exchange enables you to implement applications in which all the
important drive parameters are stored in the master programmable controller, so that
there is no need to make parameter settings manually on the servo drive itself.
3.3.5 Configuration of the EtherCAT option card
The EtherCAT option card is designed so that all specific fieldbus settings are made
when the EtherCAT system starts up. This means the servo inverter can be integrated
into the EtherCAT environment and switched on within a very short period of time.
61211AXX
Figure 1: EtherCAT with MOVIAXIS
®
SEW
Drive
Ether CAT
Ethernet
Header
Frame
Header
EtherCAT
Header
Data
...
EtherCAT
Master
SEW
Drive
SEW
Drive
FCS
I/O
Drive 1 Drive 2 Drive 3