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Stober SC6 Series, Operating Manual

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Stober SC6 Series Operating Manual Download Page 75

STOBER

10 | Appendix

02/2020 | ID 443025.06

75

10

Appendix

10.1

Supported communication objects

10.1.1

ETG.1000.6 EtherCAT specification: 1000 hex – 1FFF hex

The following table includes the supported communication objects for the standardized profile ETG.1000.6 EtherCAT
specification – CANopen over EtherCAT (CoE) Communication Area as well as how the objects are mapped to the
corresponding parameters of STOBER.

Index

Subindex

TxPDO

RxPDO

Name

Comment

1000 hex

0 hex

—

—

Device type

Constant value 20192 hex
Bit 0 – 15: Device profile
number, 192 hex = 402
Bit 16 – 23: Type, 2 Hex = Servo
drive
Bit 24 – 31: Reserved

1001 hex

0 hex

—

—

Error register

1600 hex

1st RxPDO mapping parameter

1600 hex

0 hex

—

✓

Number of mapped application
objects in RxPDO

Constant value of 24

1600 hex

1 hex – 24 hex

—

✓

Application objects

A225[0] - A225[23]

1601 hex

2nd RxPDO mapping parameter

1601 hex

0 hex

—

✓

Number of mapped application
objects in RxPDO

Constant value of 24

1601 hex

1 hex – 24 hex

—

✓

Application objects

A226[0] - A225[23]

1602 hex

3rd RxPDO mapping parameter

1602 hex

0 hex

—

✓

Number of mapped application
objects in RxPDO

Constant value of 24

1602 hex

1 hex – 24 hex

—

✓

Application objects

A227[0] - A227[23]

1603 hex

4th RxPDO mapping parameter

1603 hex

0 hex

—

—

Number of mapped application
objects in RxPDO

Constant value of 24

1603 hex

1 hex – 24 hex

—

—

Application objects

A228[0] - A228[23]

1A00 hex

1st TxPDO mapping parameter

1A00 hex

0 hex

—

✓

Number of mapped application
objects in TxPDO

Constant value of 24

1A00 hex

1 hex – 24 hex

—

✓

Application objects

A233[0] - A233[23]

1A01 hex

2nd TxPDO mapping parameter

1A01 hex

0 hex

—

✓

Number of mapped application
objects in TxPDO

Constant value of 24

1A01 hex

1 hex – 24 hex

—

✓

Application objects

A234[0] - A234[23]

Summary of Contents for SC6 Series

Page 1: ...EtherCAT SC6 and SI6 Operating manual en US 02 2020 ID 443025 06 ...

Page 2: ...ersonnel 10 3 3 Intended use 10 3 4 Operational environment and operation 10 3 5 Disposal 11 4 Network structure 12 5 Connection 13 5 1 Selecting suitable lines 13 5 2 X200 X201 Fieldbus connection 13 6 What you should know before commissioning 14 6 1 Program interfaces 14 6 1 1 DS6 Structure of the program interface 14 6 1 2 AS6 Structure of the program interface 16 6 1 3 TwinCAT 3 Structure of t...

Page 3: ...iguration 35 7 2 8 Checking the functionality of the axes 35 7 2 9 Special case Adding to the PDO transmission 36 7 3 TwinCAT 3 Putting the EtherCAT system into operation 37 7 3 1 Creating and exporting an ESI file 37 7 3 2 Activating the EtherCAT master 38 7 3 3 Scanning the hardware environment 39 7 3 4 Configuring synchronization using distributed clocks 40 7 3 5 Parameterizing an axis 40 7 3 6...

Page 4: ...ng a module from the ESI file 74 10 Appendix 75 10 1 Supported communication objects 75 10 1 1 ETG 1000 6 EtherCAT specification 1000 hex 1FFF hex 75 10 1 2 Manufacturer specific parameters 2000 hex 53FF hex 77 10 1 3 CiA 402 Drives and motion control 6000 hex 65FF hex 78 10 1 4 Manufacturer specific parameters A000 hex D3FF hex 81 10 1 5 CiA 402 Drives and motion control 6800 hex 6DFF hex 82 10 1...

Page 5: ...th the MC6 motion controller as an EtherCAT master Together with the associated AS6 development environment STOBER gives you a complete and uniform solution with regard to EtherCAT communication Drive controllers of the SC6 and SI6 series successfully passed the EtherCAT as well as Fail Safe over EtherCAT FSoE Conformance Test There the communication interface was tested to ensure the reliability ...

Page 6: ... pass on this documentation if the product is transferred or sold to a third party 2 2 Described product SC6 or SI6 series drive controller in conjunction with the DriveControlSuite software DS6 in V 6 4 E or higher and associated firmware in V 6 4 E EC or higher 2 3 Timeliness Check whether this document is the latest version of the documentation We make the latest document versions for our produ...

Page 7: ...lly highlighted ATTENTION Notice This indicates that damage to property may occur if the stated precautionary measures are not taken CAUTION Caution This word with a warning triangle indicates that minor personal injury may occur if the stated precautionary measures are not taken WARNING Warning This word with a warning triangle means there may be a considerable risk of fatal injury if the stated ...

Page 8: ...ned proper nouns functions referenced by the interface Select Referencing method A Predefined entry Save your own IP address User defined entry EVENT 52 COMMUNICATION Display indicators status messages warnings faults for status information referenced by the interface Keyboard shortcuts and command sequences or paths are represented as follows CTRL CTRL S Key shortcut Table Insert table Navigation...

Page 9: ...over EtherCAT and TwinCAT are registered trademarks of patented technologies licensed by Beckhoff Automation GmbH Verl Germany Windows Windows XP Windows 7 Windows 10 Windows das Windows Logo Windows XP Windows 7 und Windows 10 are registered trademarks of Microsoft Corporation in the United States and or other countries All other trademarks not listed here are the property of their respective own...

Page 10: ...nded use As defined by DIN EN 50178 drive controllers are electrical devices operating as power electronics to control the flow of energy in high voltage systems They are intended solely for the operation of STOBER LM series Lean motors synchronous servo motors e g from the STOBER EZ series asynchronous motors or torque motors The connection of other electronic loads or operation outside applicabl...

Page 11: ... 06 11 3 5 Disposal Observe the current national and regional regulations when disposing of the product Dispose of the individual product parts depending on their properties e g as Electronic waste circuit boards Plastic Sheet metal Copper Aluminum Battery ...

Page 12: ...rall network expansion is virtually unlimited because a maximum of 65535 EtherCAT nodes can be connected together You can configure and parameterize the drive controllers using the STOBER DriveControlSuite DS6 software and the entire EtherCAT network using the STOBER AS6 AutomationControlSuite development environment for instance The following graphic provides a generalized depiction of an EtherCA...

Page 13: ... quality level are the ideal cables The Fast Ethernet technology allows a maximum cable length of 100 m between two nodes Information Ensure that you only use shielded cables with an SF FTP S FTP or SF UTP design 5 2 X200 X201 Fieldbus connection The drive controllers have both RJ 45 sockets X200 and X201 The sockets are located on top of the device The associated pin assignment and color coding c...

Page 14: ...e DriveControlSuite commissioning software DS6 offers a graphic interface that you can use to project parameterize and start up your axis model quickly and efficiently 1 2 3 4 5 6 Fig 2 DS6 Program interface 1 Project tree 2 Project menu 3 Workspace 4 Parameter description 5 Parameter check 6 Messages 6 1 1 1 Individualized workspace The project tree 1 and project menu 2 are connected and like the...

Page 15: ...ence of actual and set values the use of signals or certain drive component arrangements and to make configuring the accompanying parameters easier they are displayed on the respective wizard pages of the workspace in the form of circuit diagrams Blue text links or clickable icons indicate links within the program These refer to the corresponding wizard pages and as a result allow you to reach add...

Page 16: ...te AS6 development environment provides a graphic interface which you can use to organize your automation projects configure associated networks like EtherCAT create or debug program codes or parameterize drives 1 4 5 6 3 2 Fig 4 AS6 Program interface 1 Device tree 2 Horizontal tabs 3 Vertical tabs 4 Editor window 5 Message window 6 Status bar ...

Page 17: ...AT 3 you operate your EtherCAT system using TwinCAT XAE The following graphic shows the interface elements relevant to this documentation 1 2 3 4 5 6 Fig 5 TwinCAT 3 TwinCAT XAE program interface 1 Solution explorer 2 Main window 3 Message view 4 Toolbox 5 Event display 6 Status display configuration run connection setup timeout mode ...

Page 18: ...he following parameter groups Group Topic A Drive controllers communication cycle times B Motor C Machine velocity torque force comparators D Set value E Display F Terminals analog and digital inputs and outputs brake G Technology Part 1 depending on the respective application H Encoders I Motion all motion settings J Motion blocks K Control panel L Technology Part 2 depending on the respective ap...

Page 19: ...Floating point number Floating point 1 word unsigned In accordance with ANSI IEEE 754 STR8 Text Text 8 characters STR16 Text Text 16 characters STR80 Text Text 80 characters Tab 3 Parameters Data types styles possible values Parameter types Use Integer floating point number For general computing processes Example Set and actual values Selection Numeric value to which a direct meaning is assigned E...

Page 20: ... and EtherCAT A10 4 access level Value Access level via PROFINET Structure parameters Consist of a group a line and multiple sequential listed elements which can have different properties and different values Example A00 Save values A00 0 Start Value Start action A00 1 Progress Value Display action progress A00 2 Result Value Display action result 6 2 4 Parameter structure Every parameter has spec...

Page 21: ...l controls general access to parameters Over CANopen or EtherCAT A10 2 Over PROFINET A10 3 Hiding functions Hiding functions are used to hide parameters with regard to their logical relationships to other option modules or parameters Applications Applications generally differ in terms of functions and their activation For this reason different parameters are available with each application Firmwar...

Page 22: ...rsion 3 5 11 50 or later or in combination with Beckhoff CX2030 embedded PC Beckhoff TwinCAT 3 automation software version 3 1 40022 0 Commissioning is divided into the following steps 1 DriveControlSuite Project all of the drive controllers i e application type device control systems process data for fieldbus communication and mechanical axis model in DriveControlSuite Depending on the selected a...

Page 23: ...of a project 7 1 1 1 Projecting the drive controller and axis Create a new project and project the first drive controller along with the accompanying axis Creating a new project 1 Start DriveControlSuite 2 Click Create new project ð The project configuration window opens and the Drive controller button is active Projecting the drive controller 1 Properties tab Establish the relationship between yo...

Page 24: ...peat steps 2 4 for the 2nd axis only for double axis controllers 6 Confirm with OK 7 1 1 2 Configuring safety technology If the drive controller is part of a safety circuit you have to configure the safety technology in accordance with the commissioning steps outlined in the corresponding manual in the next step 7 1 2 Parameterizing general EtherCAT settings ü You have projected a device control w...

Page 25: ...T settings 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the EtherCAT wizard Received process data RxPDO 3 Check the default settings and or configure the process data according to your requirements A225 0 A225 23 A226 0 A226 23 Parameters whose values are received by the drive controller from the contro...

Page 26: ...ed 7 1 4 2 Defining the axis model 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the Axis model wizard 3 I05 Type of axis In order to individually configure the units of measure and the number of decimal places for specifying and displaying position set values velocity values and acceleration values sele...

Page 27: ...rsion of the CiA 402 application Scale the axis in the controller software and as described below specify only the increments per motor revolution in DriveControlSuite 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the Axis model wizard Axis Scaling 3 A585 1 Feed constant Shaft revolutions1 and A585 0 Fee...

Page 28: ... 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the Axis model wizard Limit Position 3 If necessary limit the position of your axis using a software or hardware limit switch to secure the travel range Limiting velocity acceleration jerk optional The specified default values are designed for slow velocitie...

Page 29: ...ons path interpolation EtherCAT provides the distributed clocks DC Sync method for this Synchronization using distributed clocks is more precise when compared to the SyncManager event synchronization SM Sync because it is subject to fewer fluctuations For this reason DC Sync is pre configured in EtherCAT masters and slaves PLL synchronization wizard Leave the default settings in the first step and...

Page 30: ...d like to transfer the configuration Change the selection of transmission type from Read to Send 4 Change the selection Create new drive controller Select the configuration that you would like to transfer to the drive controller 5 Repeat steps 3 and 4 for all other drive controllers to which you would like to transfer your configuration 6 Online tab Click on Establish online connections ð The conf...

Page 31: ...ion in advance i e EtherCAT slaves in DriveControlSuite and transmitted the project configuration to those drive controllers Information For the following description we require that you have projected the CiA 402 HiRes Motion application Information Always perform the steps included in the following chapters in the specified order Some parameters of the DriveControlSuite are interdependent and do...

Page 32: ...herCAT_Master EtherCAT Master and double click to open it ð EtherCAT_Master tab General opens in the editor window 2 Distributed Clock Cycle Time and Sync Offset Check the default values and change them if necessary 3 In order to set I O to task begin select the menu Tools Options Device editor enable the Show generic device configuration views option and confirm with OK 4 On the EtherCAT_Master t...

Page 33: ...ler is activated by default in the CiA 402 and CiA 402 HiRes Motion applications In order to prevent the drive controller from transitioning into the excessive set value jump state parameterize ramp that can realistically be implemented 5 Dynamic limits optional If you are using CNC or robotic functions parameterize the associated limit values for velocity acceleration deceleration and jerk 6 Velo...

Page 34: ... transferred to the individual slaves automatically and entered into the corresponding columns in the table ð The EoE communication is enabled for the EtherCAT master and slaves Information Depending on your EoE network topology you may have to set the routing on your EtherCAT master PC manually to connect the Ethernet and EtherCAT networks see the chapter Configuring EoE communication 34 If you a...

Page 35: ...functionality of the axes Check the functionality of the axes before operation in production Information Ensure that a suitable safety application that ensures safe shut off of the axis emergency off safety switch etc exists before the start of testing 1 In the device tree navigate to the first SoftMotion axis SM_Drive_ETC_STOEBER_SI6_SC6_HiRes of the first added SC6 or SI6 drive controller and do...

Page 36: ... dialog box opens The directory contains a selection of available CiA objects along with the coordinates and the name of the corresponding drive controller parameter from STOBER 7 Highlight the CiA object for which you would like to extend PDO transmission and confirm with OK If the desired CiA object is not included in the directory enter its index and subindex in the corresponding fields if nece...

Page 37: ...ed sequence so that you can finish the parameterization completely 7 3 1 Creating and exporting an ESI file The functions and properties of the STOBER drive controllers are described in the form of various objects and collected in an ESI file Because you are working with TwinCAT 3 generating an ESI file is mandatory The file must be made available to TwinCAT 3 in the directory specified below Be a...

Page 38: ...ue to step 12 7 If the runtime package EtherCAT master and TwinCAT System Manager have been installed on different computers you must connect them to each other Click on the Local list field in the TwinCAT XAE toolbar and select Choose Target System ð The Choose Target System dialog box opens 8 Click on Search Ethernet ð The Add Route dialog box opens 9 Click on Broadcast Search ð All available co...

Page 39: ...fig mode 1 In the solution explorer navigate to I O Devices Context menu Scan ð TwinCAT XAE scans the EtherCAT system for the EtherCAT master The new I O devices found dialog box opens 2 Activate the EtherCAT master in question and confirm with OK ð The EtherCAT master is created in the solution explorer under I O Devices as a device EtherCAT The Scan for boxes dialog box opens 3 Confirm with Yes ...

Page 40: ...troller and change it if necessary 11 Enable SYNC 0 This option must be activated 12 Close the dialog box 13 Repeat steps 7 12 for each additional slave in your EtherCAT network ð The EtherCAT master and slaves will now be synchronized with the first EtherCAT slave that has the distributed clocks option enabled 7 3 5 Parameterizing an axis 1 In the solution explorer navigate to Motion NC Task 1 SA...

Page 41: ...x EoE Virtual Ethernet Port This option must be activated IP Port Activate this option IP Address Activate this option and configure the IP address according to the subnet of your EoE network 8 Close the dialog box 9 Repeat steps 6 8 for each additional slave in your EtherCAT system ð The EoE communication is enabled for the EtherCAT master and slaves Information Depending on your EoE network topo...

Page 42: ... axis must be set to the value 8 1 In the solution explorer navigate to Motion NC Task 1 SAF Axes Axis 1 2 In the main window switch to the Online tab ð The Set Enabling dialog box opens 3 Activate the options Controller Feed Fw Feed Bw Override Enter a value for the override e g 100 4 Confirm with OK ð The axis is monitored using the active control panel 5 F1 F4 Move the axis step by step and tes...

Page 43: ...ure diagnostic LEDs that visualize the state of fieldbus communication and the states of the physical connection 8 2 1 EtherCAT state There are 2 LEDs on the front of the drive controller that provide information about the connection between EtherCAT master and slave and about the state of the data exchange This information can also be read out in parameter A255 EtherCAT Device State If the drive ...

Page 44: ... to internal default values On Operational Normal operation The EtherCAT master and slave exchange set and actual values Tab 5 Meaning of the green LED Run 8 2 2 EtherCAT network connection The LEDs LA ECIN and LA ECOUT at X200 and X201 on the top of the device indicate the state of the EtherCAT network connection LA LA IN EC X200 OUT EC X201 2 4 3 1 Fig 7 LEDs for the state of the EtherCAT networ...

Page 45: ...unction is activated the quick stop or emergency braking is interrupted In this case the machine can be damaged by the uncontrolled axis movement Events their causes and suitable measures are listed below If the cause of the error is corrected you can usually acknowledge the error immediately If the drive controller has to be restarted instead a corresponding note can be found in the measures 8 3 ...

Page 46: ...es and actions 8 4 Parameters The following diagnostic parameters are available for EtherCAT communication in combination with SI6 drive controller 8 4 1 A255 EtherCAT Device State V2 State of the drive controller in the EtherCAT network EtherCAT State Machine ESM 0 invalid 1 Init State No communication between EtherCAT master and slave the configuration starts saved values are loaded 2 Pre Operat...

Page 47: ... without receiving process data Er6 Regular process data missing Change condition from St4 to St8 not met Stable regular receipt of PDO data not possible for a duration of more than 200 ms utilization of the controller is too high jitter Er7 Invalid Configuration TxPDO Data length of the transmit PDO channel does not match the specification Er8 Invalid Configuration RxPDO Data length of the receiv...

Page 48: ...at X201 OUT port 8 4 4 A259 EtherCAT SM Watchdog V1 State of the SyncManager watchdog of the drive controller in the EtherCAT network prerequisite A258 65534 0 Tolerated failure time unit ms Specified by the SyncManager watchdog function of the EtherCAT master 1 State 0 not triggered 1 triggered Event 52 Communication cause 6 EtherCAT PDO Timeout 2 Number of times triggered 8 4 5 A261 Sync Diagnos...

Page 49: ...61158 since 2005 Master slave principle and the exchange of data EtherCAT follows a master slave principle A master sends standard Ethernet frames that pass every slave The frames are are processed as they pass through More specifically each EtherCAT slave has an EtherCAT slave controller ESC integrated into its hardware which takes the receive data addressed to the respective slave as the message...

Page 50: ...herCAT EtherCAT together with the CoE protocol provides CANopen compliant communication mechanisms enabling the use of the entire CANopen profile family over EtherCAT thereby also allowing full use of the CiA 402 drive profile In terms of the respective state machines CANopen and EtherCAT differ only in that the EtherCAT state machine see the chapter EtherCAT state machine 56 also has the Safe Ope...

Page 51: ... on different PCs transmission takes place between the EtherCAT network and Ethernet 9 2 3 1 Topology 1 EtherCAT master and DS6 on one PC If the EtherCAT master and DriveControlSuite are installed on one PC the Ethernet subnet where the drive controllers are operated is automatically known to DriveControlSuite through the master s gateway function DriveControlSuite detects the drive controllers no...

Page 52: ...lly unknown to DriveControlSuite In this case the address of the master must be manually configured as the gateway for the route i e adding the route to the service PC The following graphic shows the associated network overview together with pre assigned network addresses on the system end 192 168 3 x 255 255 255 0 192 168 3 10 255 255 255 0 10 0 0 200 255 255 255 0 10 0 0 1 4 255 255 255 0 Servic...

Page 53: ...ng EtherCAT Advanced Settings EoE Support Windows Network area Windows IP Routing IP Enable Router Restart the PC to apply the configuration 9 3 Communication objects Based on CANopen the following communication objects are of key importance for data transmission as part of EtherCAT Process data objects PDO transmit real time data such as set and actual values control commands or status informatio...

Page 54: ...transmitted over the mailbox channel acyclically during ongoing cyclical EtherCAT operation without impairing PDO communication 9 3 2 1 Addressing axis dependent parameters When addressing axis specific parameters of physical axes using SDOs the parameters are addressed directly in accordance with the access rules described in the appendix see the chapters Manufacturer specific parameters 2000 hex...

Page 55: ...ncManager when starting the EtherCAT system in the event of an incorrect state change within the EtherCAT state machine or in the event of a change in or out of the Fault device state An EtherCAT slave constantly watches its own device state If it switches to the Fault state it transmits exactly one EMCY message with the associated error code If the fault is acknowledged the slave leaves the fault...

Page 56: ...he EtherCAT master In accordance with the CANopen standard an EMCY message is structured as follows in the event of a state change Byte 1 2 3 6 5 4 7 8 Master Slave EMCY error code Error register Diag code Diag data 1 2 0xA0 0 0 0 0 0x00 0x01 0x02 Diag data diagnostic data refers to dynamic parameters that are also provided by the firmware This data is important for diagnostic purposes in the case...

Page 57: ...P Start Mailbox Communication Start of SDO communication over the mailbox channel PI Stop Mailbox Communication Stop of SDO communication over the mailbox channel PS Start Input UpdateStart Input Update Start of PDO communication over the process data channel SP Stop Input Update Stop of PDO communication over the process data channel the slaves do not send any actual values SO Start Output Update...

Page 58: ...different methods for synchronizing the master and slaves a SyncManager event SM Sync and distributed clocks DC Sync The FreeRun state exists if the master and slaves are not synchronized Each EtherCAT Slave Controller has a SyncManager that manages the memory units of a slave The slave controller indicates incoming process using an interrupt signal that is used to synchronize individual EtherCAT ...

Page 59: ...ollowing times are significant for SM Sync Master cycle time Time within which a master task is continuously called up and processed Slave cycle time Time within which a slave task is continuously called up and processed PLL phase offset Time for which the beginning of the individual slave task can be shifted The task beginning can only be shifted within the scope of the slave cycle time The quali...

Page 60: ... and continuously initiates the time coordination and synchronization At specified intervals the EtherCAT master sends a frame into which the reference slave enters its current time All other slaves as well as the master read out this time from the circulating frame Because each slave experiences a certain delay when reading in the reference time due to the transmission path the respective run tim...

Page 61: ...nControlSuite Both the utilization of the controller as well as the set times show a stable system since the frame jitter controller and the application jitter drive controller are separated from each other O I 1 3 2 I O O I 1 3 2 I O O I 1 2 STOBER MC6 Frame Sync Offset Shift Time Data ready Sync 0 PLL phase offset AR1 Cycle time Cycle time Cycle time NC PLC NC PLC NC PLC APP APP Jitter Fig 14 AS...

Page 62: ...ronization signal A292 can only move the beginning of processing within the cycle time of the drive controller Sync Unit Cycle Permitted cycle times for a Sync 0 signal must be whole number multiples of the slave cycle time A150 Non permitted signal times result in a slave not changing from the pre operational state to the safe operational state Sync Unit Cycle is parameterized on the master s end...

Page 63: ...ve Check PLL control Check the status of PLL control for all EtherCAT slaves and take one of the described measures if necessary ü You are in DriveControlSuite 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the PLL synchronization wizard ð A298 shows the status of the synchronization between the controlle...

Page 64: ...on the Sync 0 signal ü You are in DriveControlSuite 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the EtherCAT wizard Diagnostics ð A261 0 3 shows the state of the EtherCAT synchronization 3 A261 0 Specifies the number of the error code 4 A261 1 Specifies the time difference between the data provision an...

Page 65: ...hows unstable synchronization using distributed clocks when using TwinCAT 3 O I 1 3 2 I O I 1 3 2 I O I 1 2 O O STOBER MC6 Frame Sync Offset Shift Time Data ready Sync 0 PLL phase offset AR1 Cycle time Cycle time NC PLC NC PLC NC PLC APP APP Jitter Cycle time Fig 15 AS6 DC Sync Unstable synchronization cycle time 1 ms In the example the data transmission I O of the controller is set to task begin ...

Page 66: ...llowing example shows a synchronization with a changed cycle sequence The frame jitter controller and application jitter drive controller are separated and synchronization is stable O I 1 3 2 I O I 1 3 2 I O I 1 2 O O STOBER MC6 Frame Sync Offset Shift Time Data ready Sync 0 PLL phase offset AR1 Cycle time Cycle time NC PLC NC PLC NC PLC APP APP Jitter Cycle time Fig 16 AS6 DC Sync Stable synchron...

Page 67: ...he utilization of the control as well as the set times show a stable system since the frame jitter controller and application jitter drive controller are separated from each other O I 1 3 2 I O O I 1 3 2 I O O I 1 2 Beckhoff CX2030 Frame SYNC Shift Time Shift Time User Defined Data ready SYNC 0 PLL phase offset AR1 Cycle time Cycle time Cycle time NC PLC NC PLC NC PLC APP APP Jitter Fig 17 TwinCAT...

Page 68: ...nchronization signal A292 can only move the beginning of processing within the cycle time of the drive controller Sync Unit Cycle Permitted cycle times for a SYNC 0 signal must be whole number multiples of the slave cycle time A150 Non permitted signal times result in a slave not changing from the pre operational state to the safe operational state Sync Unit Cycle is parameterized on the master s ...

Page 69: ...nchronization wizard ð A298 shows the status of the synchronization between the controller and the drive controller in question 3 Bit 0 1 PLL engaged If one or both of the two associated LEDs lights up the control range is working at 50 capacity frequency too high or too low In this case adjust the cycle time of the Sync 0 signal on the master s end Note that the cycle time of the Sync 0 signal mu...

Page 70: ... 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the EtherCAT wizard Diagnostics ð A261 0 3 shows the state of the EtherCAT synchronization 3 A261 0 Specifies the number of the error code 4 A261 1 Specifies the time difference between the data provision and the Sync 0 signal in µs 5 A261 2 If the process d...

Page 71: ...synchronization using distributed clocks when using TwinCAT 3 O I 1 3 2 I O I 1 3 2 I O I 1 2 O O Beckhoff CX2030 Frame SYNC Shift Time Shift Time User Defined Data ready SYNC 0 PLL phase offset AR1 Cycle time Cycle time NC PLC NC PLC NC PLC APP APP Jitter Cycle time Fig 18 TwinCAT 3 DC Sync Unstable synchronization cycle time 1 ms In the example the data transmission I O of the controller is set ...

Page 72: ...e shows a synchronization with a changed cycle sequence The frame jitter controller and application jitter drive controller are separated and synchronization is stable O I 1 3 2 I O I 1 3 2 I O I 1 2 O O Beckhoff CX2030 Frame SYNC Shift Time Shift Time User Defined Data ready SYNC 0 PLL phase offset AR1 Cycle time Cycle time NC PLC NC PLC NC PLC APP APP Jitter Cycle time Fig 19 TwinCAT 3 DC Sync S...

Page 73: ...xPDO transmission specified on the system side In order to make this available to the controller add a new module that contains your configuration to the ESI file 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the EtherCAT wizard 3 E72 Configuration identification Give the new module a descriptive name 4 ...

Page 74: ...t drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the EtherCAT wizard 3 Click on Edit ESI ð The Add to ESI file dialog box opens 4 Navigate to the location where you saved the ESI file in question highlight the file and click Open ð The EsiModuleEdit dialog box opens 5 Modules of the ESI file column Click on the red cross for the ...

Page 75: ...24 1600 hex 1 hex 24 hex Application objects A225 0 A225 23 1601 hex 2nd RxPDO mapping parameter 1601 hex 0 hex Number of mapped application objects in RxPDO Constant value of 24 1601 hex 1 hex 24 hex Application objects A226 0 A225 23 1602 hex 3rd RxPDO mapping parameter 1602 hex 0 hex Number of mapped application objects in RxPDO Constant value of 24 1602 hex 1 hex 24 hex Application objects A22...

Page 76: ...hex Communication type sync manager 0 1C00 hex 2 hex Communication type sync manager 1 1C00 hex 3 hex Communication type sync manager 2 1C00 hex 4 hex Communication type sync manager 3 1C12 hex Sync manager 2 1C12 hex 0 hex Highest subindex supported Constant value of 4 1C12 hex 1 hex PDO receive assign 1st PDO 1C12 hex 2 hex PDO receive assign 2nd PDO 1C12 hex 3 hex PDO receive assign 3rd PDO 1C1...

Page 77: ...in axis B can be found in the chapter Manufacturer specific parameters A000 hex D3FF hex 81 The axes are differentiated by an offset of 8000 hex Index Group Number Parameters 2000 hex 21FF hex A Drive controller 0 A00 A511 2200 hex 23FF hex B Motor 1 B00 B511 2400 hex 25FF hex C Machine 2 C00 C511 2600 hex 27FF hex D Set value 3 D00 D511 2800 hex 29FF hex E Show 4 E00 E511 2A00 hex 2BFF hex F Term...

Page 78: ...odes of operation display A542 6064 hex 0 hex Position actual value A545 6065 hex 0 hex Following error window A546 6066 hex 0 hex Following error time out A547 606C hex 0 hex Velocity actual value A553 6071 hex 0 hex Target torque A558 6072 hex 0 hex Max torque A559 6076 hex 0 hex Rated torque A563 6077 hex 0 hex Torque actual value A564 6078 hex 0 hex Current actual value A565 6079 hex 0 hex DC ...

Page 79: ...ndex supported Constant value of 1 60A4 hex 1 hex Profile jerk Profile jerk 1 A590 60B1 hex 0 hex Velocity offset A592 60B2 hex 0 hex Torque offset A593 60B8 hex 0 hex Touch probe function A594 60B9 hex 0 hex Touch probe status A595 60BA hex 0 hex Touch probe position 1 positive value A596 60BB hex 0 hex Touch probe position 1 negative value A597 60BC hex 0 hex Touch probe position 2 positive valu...

Page 80: ... 60C6 hex 0 hex Max deceleration A605 60E3 hex Supported homing methods 60E3 hex 0 hex Highest subindex supported Constant value of 19 60E3 hex 1 hex 14 hex 1st 19th supported homing method A619 0 A619 19 60E4 hex Additional position actual value 1st value 60E4 hex 0 hex Highest subindex supported Constant value of 1 60E4 hex 1 hex 1st additional position actual value A620 60F2 hex 0 hex Positioni...

Page 81: ...ped to the corresponding parameters of STOBER Index Group Number Parameters A000 hex A1FF hex A Drive controller 0 A00 A511 A200 hex A3FF hex B Motor 1 B00 B511 A400 hex A5FF hex C Machine 2 C00 C511 A600 hex A7FF hex D Set value 3 D00 D511 A800 hex A9FF hex E Show 4 E00 E511 AA00 hex ABFF hex F Terminals 5 F00 F511 AC00 hex ADFF hex G Technology 6 G00 G511 AE00 hex AFFF hex H Encoders 7 H00 H511 ...

Page 82: ...indow A546 6866 hex 0 hex Following error time out A547 686C hex 0 hex Velocity actual value A553 6871 hex 0 hex Target torque A558 6872 hex 0 hex Max torque A559 6876 hex 0 hex Rated torque A563 6877 hex 0 hex Torque actual value A564 6878 hex 0 hex Current actual value A565 6879 hex 0 hex DC link circuit voltage A566 687A hex 0 hex Target position A567 687B hex Highest subindex supported 687B he...

Page 83: ...e offset A593 68B8 hex 0 hex Touch probe function A594 68B9 hex 0 hex Touch probe status A595 68BA hex 0 hex Touch probe position 1 positive value A596 68BB hex 0 hex Touch probe position 1 negative value A597 68BC hex 0 hex Touch probe position 2 positive value A598 68BD hex 0 hex Touch probe position 2 negative value A599 68C0 hex 0 hex Interpolation sub mode select A680 68C1 hex Interpolation d...

Page 84: ...9 68E3 hex 1 hex 14 hex 1st 19th supported homing method A619 0 A619 19 68E4 hex Additional position actual value 1st value 68E4 hex 0 hex Highest subindex supported Constant value of 1 68E4 hex 1 hex 1st additional position actual value A620 68F2 hex 0 hex Positioning option code A621 68F4 hex 0 hex Following error actual value A632 68FD hex 0 hex Digital inputs A636 68FF hex 0 hex Target velocit...

Page 85: ...d 6 hex 1 hex 1 hex Read attempt on a write only parameter 6 hex 1 hex 2 hex Write attempt on a read only parameter 6 hex 2 hex 0 hex Object not present in the object directory 6 hex 4 hex 41 hex Object cannot be mapped to PDO 6 hex 4 hex 42 hex Number and or length of the object to be transmitted exceeds PDO length 6 hex 4 hex 43 hex General parameter incompatibility 6 hex 4 hex 47 hex General in...

Page 86: ...anager 0 write mailbox data from frame in mailbox 1 hex SyncManager at address that is not permitted 0 hex PDO length not correct 0 hex SyncManager parameterized incorrectly 0 hex SyncManager at address that is not permitted SyncManager 1 write mailbox data from mailbox to frame 0 hex SyncManager at address that is not permitted 0 hex PDO length not correct 0 hex SyncManager parameterized incorrec...

Page 87: ...neric error 35 Watchdog or 57 Runtime usage 6320 hex Loss of parameters 1 hex Generic error 40 Invalid data or 70 Parameter consistency 6330 hex Unknown Lean motor type 1 hex Generic error 86 Unknown data record LeanMotor 7110 hex Brake chopper 1 hex Generic error 72 Brake test timeout or 73 Axis 2 brake test timeout 8 hex Temperature 42 TempBrakeRes 7120 hex Motor 1 hex Generic error 69 Motor con...

Page 88: ...ion storage installation connection commissioning operation service diagnostics 442728 Multi axis drive system with SI6 and PS6 Commissioning instructions System setup technical data storage installation connection commissioning 442731 MC6 motion controller Manual Technical data installation commissioning diagnostics 442461 CiA 402 application SC6 SI6 Manual Project planning configuration paramete...

Page 89: ... for Control Automation Technology FPGA Field Programmable Gate Array FTP File Transfer Protocol GND Ground HTTP Hypertext Transfer Protocol I O Input Output IP Internet Protocol LSB Least Significant Bit LSW Least Significant Word MDT Master Data Telegram MSB Most Significant Bit MSW Most Significant Word PDO Process Data Objects RxPDO Receive PDO SDO Service Data Objects S FTP Screened Foiled Tw...

Page 90: ...hour service hotline Phone 49 7231 582 3000 Our address STÖBER Antriebstechnik GmbH Co KG Kieselbronner Strasse 12 75177 Pforzheim Germany 11 2 Your opinion is important to us We created this documentation to the best of our knowledge with the goal of helping you build and expand your expertise productively and efficiently with our products Your suggestions opinions wishes and constructive critici...

Page 91: ...BER SWITZERLAND www stoeber ch Phone 41 56 496 96 50 sales stoeber ch STOBER FRANCE www stober fr Phone 33 4 78 98 91 80 sales stober fr STOBER TAIWAN www stober tw Phone 886 4 2358 6089 sales stober tw STOBER ITALY www stober it Phone 39 02 93909570 sales stober it STOBER TURKEY www stober com Phone 90 212 338 8014 sales turkey stober com STOBER JAPAN www stober co jp Phone 81 3 5395 678 8 sales ...

Page 92: ...wnstream of the master in the network serves as the reference time Both the master and the slaves synchronize with this reference clock when prompted by the master The event belonging to a synchronization is labeled as a Sync 0 signal and is generated cyclically by the SyncManager of each slave EMCY Communication objects in a CANopen or EtherCAT network that in the event of incorrect state transit...

Page 93: ... access to the object directory and enable device configuration SDOs are transmitted over the mailbox channel acyclically during ongoing cyclical CANopen or EtherCAT operation SM Sync Also Synchronization using SyncManager event Method for EtherCAT network synchronization where the EtherCAT slaves synchronize with an event from incoming data Synchronization Time adjustment of EtherCAT network node...

Page 94: ...g 8 EtherCAT Communication protocols 50 Fig 9 Network overview Topology 1 51 Fig 10 Network overview Topology 2 52 Fig 11 EtherCAT state machine Potential operating states and state changes 56 Fig 12 SM Sync Synchronization using SyncManager event 59 Fig 13 EtherCAT Distributed clocks 60 Fig 14 AS6 DC Sync Settings 61 Fig 15 AS6 DC Sync Unstable synchronization cycle time 1 ms 65 Fig 16 AS6 DC Syn...

Page 95: ...objects 1000 hex 1FFFF hex 75 Tab 9 Manufacturer specific communication objects 2000 hex 53FF hex 77 Tab 10 CiA 402 2 communication objects 6000 hex 65FF hex 78 Tab 11 Vendor specific communication objects A000 hex D3FF hex 81 Tab 12 CiA 402 2 communication objects 6800 hex 6DFF hex 82 Tab 13 ETG 5000 1 communication objects F000 hex FFFF hex 85 Tab 14 SDO Error codes 85 Tab 15 EMCY Transition err...

Page 96: ...STÖBER Antriebstechnik GmbH Co KG Kieselbronner Str 12 75177 Pforzheim Germany Tel 49 7231 582 0 mail stoeber de www stober com 443025 06 02 2020 24 h Service Hotline 49 7231 582 3000 www stober com ...

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