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STOBER

02/2020 | ID 442516.07

State transitions

IP: 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

The slaves evaluate the current set value specifications of the master.

OS: Stop Output Update

The slaves ignore the set values of the master and refer to internal default values.

OP: Stop Output Update, Stop Input Update

Stop of PDO communication over the process data channel; neither the master nor the slaves send actual or set values.

SI: Stop Input Update, Stop Mailbox Communication

Stop of PDO and SDO communication over the corresponding channels; neither the master nor the slaves send actual
or set values.

OI: Stop Output Update, Stop Input Update, Stop Mailbox Communication

Stop of PDO and SDO communication over the corresponding channels; neither the master nor the slaves send actual
or set values.

Summary of Contents for SD6 Series

Page 1: ...EtherCAT SD6 Operating manual en US 02 2020 ID 442516 07 ...

Page 2: ...use 10 3 4 Operational environment and operation 10 3 5 Disposal 11 4 Network structure 12 5 EC6 communication module 13 5 1 Installation 13 6 Connection 14 6 1 Selecting suitable lines 14 6 2 X200 X201 Fieldbus connection 14 7 What you should know before commissioning 15 7 1 Program interfaces 15 7 1 1 DS6 Structure of the program interface 15 7 1 2 AS6 Structure of the program interface 17 7 1 3...

Page 3: ...unctionality of the axes 36 8 2 9 Special case Adding to the PDO transmission 36 8 3 TwinCAT 3 Putting the EtherCAT system into operation 38 8 3 1 Creating and exporting an ESI file 38 8 3 2 Activating the EtherCAT master 39 8 3 3 Scanning the hardware environment 40 8 3 4 Configuring synchronization using distributed clocks 41 8 3 5 Parameterizing an axis 42 8 3 6 Configuring EoE communication 43...

Page 4: ...o a modular ESI file 73 10 6 2 Deleting a module from the ESI file 74 11 Appendix 75 11 1 Supported communication objects 75 11 1 1 ETG 1000 6 EtherCAT specification 1000 hex 1FFF hex 75 11 1 2 Manufacturer specific parameters 2000 hex 53FF hex 77 11 1 3 CiA 402 Drives and motion control 6000 hex 65FF hex 78 11 1 4 ETG 5000 1 Modular Device Profile F000 hex FFFF hex 80 11 2 SDO transmission Error ...

Page 5: ... from the SD6 series can be equipped with the EC6 communication module to provide reliable communication between the drive technology and controller over the EtherCAT fieldbus system The STOBER product portfolio is also designed for combining SD6 with the MC6 motion controller as an EtherCAT master together with the associated AS6 development environment STOBER gives you a complete and uniform sol...

Page 6: ...ct until product disposal and be accessible to qualified personnel at all times Also pass on this documentation if the product is transferred or sold to a third party 2 2 Described product SD6 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 or higher 2 3 Timeliness Check whether this document is the latest versi...

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: ...and observed 3 3 Intended use As defined by DIN EN 50178 SD6 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 synchronous servo motors asynchronous motors linear motors or torque motors The connection of other electronic loads or operation outside applicable technical specific...

Page 11: ... 07 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: ...ll 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 EtherCAT ...

Page 13: ...oller does not overheat DANGER Electrical voltage Risk of fatal injury due to electric shock Always switch off all power supply voltage before working on the devices Note the discharge time of the DC link capacitors in the general technical data You can only determine the absence of voltage after this time period ATTENTION Damage to property due to electrostatic discharge Take appropriate measures...

Page 14: ...CAT 5e 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 6 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 co...

Page 15: ...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 7 1 1 1 Individualized workspace The project tree 1 and project menu 2 are connected and like the...

Page 16: ...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 17: ...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 18: ...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 19: ...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 20: ...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 21: ... 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 7 2 4 Parameter structure Every parameter has spec...

Page 22: ...eir logical relationships to other option modules or parameters For example a drive controller can evaluate an encoder using terminal X120 provided that terminal module XI6 has been installed The accompanying evaluation is activated using parameter H120 However this parameter is visible only if terminal module XI6 was initially selected during the drive project configuration Applications Applicati...

Page 23: ...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 applica...

Page 24: ...t 8 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 your circuit ...

Page 25: ...is If you are working with motors from third party suppliers enter the accompanying motor data at a later time 5 Confirm with OK 8 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 8 1 2 Parameterizing general EtherCAT se...

Page 26: ...n 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 5 A226 0 A226 5 A227 0 A227 5 A228 0 A228 5 Parameters whose values are received by the drive controller from the controller The position of the parameters provides information a...

Page 27: ...sponding motor limit values for currents and torques as well as associated temperature data are automatically transferred to the respective parameters of the individual wizards At the same time all additional data on the energy supply brake and encoder is transferred 8 1 4 2 Defining the axis model 1 Highlight the relevant drive controller in the project tree and click on the first projected axis ...

Page 28: ...ccording to your application case If I297 is set too low the permitted maximum speed is exceeded even at normal operating speeds On the other hand if I297 is set too high measuring errors of the encoder can be overlooked I297 depends on the following parameters I05 Type of axis I06 Decimal places position I09 Measure unit as well as I07 Distance factor numerator position and I08 Distance factor de...

Page 29: ...rd Window position velocity 2 C40 Velocity window Parameterize a tolerance range for velocity tests 3 I22 Target window Parameterize a tolerance range for position tests 4 I87 Actual position in window time Parameterize how long a drive must stay in the specified position range before a corresponding status message is output 5 A546 Following error window Parameterize a tolerance range for lag test...

Page 30: ...nal The specified default values take into account the rated operation together with the overload reserves 1 Select the Axis model wizard Limit Torque force 2 If the motor force must be limited adapt the saved values 8 1 5 Synchronizing EtherCAT nodes Precise synchronisation of the EtherCAT nodes is absolutely required for spatially distributed processes that require simultaneous actions path inte...

Page 31: ...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 configurations are transferred to the drive controllers Information During the search all drive controllers within the broadcast domain are found via IPv4 limited broadcast Prerequisites for findin...

Page 32: ...ecome accessible to you until you have first configured certain settings Follow the steps in the specified sequence so that you can finish the parameterization completely 8 2 1 Creating a standard project 1 Start the AS6 development environment 2 Select Basic Operations New Project ð The New Project dialog box opens 3 Select the standard MC6 project that corresponds to your hardware version Give i...

Page 33: ...the Show generic device configuration views option and confirm with OK 4 On the EtherCAT_Master tab change to the EtherCAT Parameters vertical tab that is now visible 5 Navigate to the FrameAtTaskStart parameter and set the Value of the parameter to True ð From now on controller data transmission will take place at the start of the task 6 In the device tree double click on the first of the added d...

Page 34: ...er 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 Veloc...

Page 35: ... 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 35 If you a...

Page 36: ...e first SoftMotion axis SM_Drive_EtherCAT_STOEBER_SD6_HiRes of the first of the added SD6 drive controllers and double click to open it ð SM_Drive_ETC_STOEBER_SD6_HiRes tab General opens in the editor window 2 Switch to the Commissioning vertical tab Control area Click Enable ð The axis is monitored using the activated control panel 3 Jog Check the reliability of the default values and move the ax...

Page 37: ...roller parameter and confirm with OK ð The selected CiA object or the specified drive controller parameter has been added to the PDO content of the selected channel 8 Repeat steps 6 7 for all other CiA objects for which you would like to extend PDO transmission for the selected channel 9 If you would like to transmit more than 6 CiA objects or drive controller parameters per channel add a transmit...

Page 38: ...ed sequence so that you can finish the parameterization completely 8 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 39: ...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 40: ...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 41: ...Clocks 4 Automatic DC Mode Selection This option must be activated 5 Close the dialog box 6 In the tree view navigate to the first EtherCAT slave 7 In the main window switch to the DC tab and click Advanced Settings ð The Advanced Settings dialog box opens 8 Enable This option must be activated 9 DC enabled multiplier 1 This list entry must be selected 10 Sync Unit Cycle µs Check the default value...

Page 42: ...on values with a lower negative limit select the list entry True and enter the associated value in Minimum Position Soft Position Limit Maximum Monitoring If you want to put a limit on position values with an upper positive limit select the list entry True and enter the associated value in Maximum Position 7 In the solution explorer navigate to Axis Enc 8 In the main window switch to the Parameter...

Page 43: ...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 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 E...

Page 44: ... 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 45: ...ted watchdog triggers fault 52 Communication with cause 6 EtherCAT PDO off if a new PDO is not received within the specified timeout Monitoring is not triggered if the EtherCAT master regularly ends communication by leaving the operational state 9 2 LED display STOBER drive controllers feature diagnostic LEDs that visualize the state of fieldbus communication and the states of the physical connect...

Page 46: ...s the current actual values to the EtherCAT master ignores its set values and refers to internal default values On Operational Normal operation The EtherCAT master and slave exchange set and actual values Tab 4 Meaning of the green LED run Red LED Behavior Error Description Off No Error No error Flashing Invalid Configuration Invalid configuration 1x flash Unsolicited State Change The EtherCAT sla...

Page 47: ... network connection X200 X201 Err Run 2 1 4 3 LA IN EC LA EC OUT Fig 7 LEDs for the state of the EtherCAT network connection 1 Green LA ECIN at X200 2 Yellow No function 3 Green LA ECOUT at X201 4 Yellow No function Green LED Behavior Description Off No network connection Flashing Active data exchange with other EtherCAT nodes On Network connection exists Tab 6 Meaning of the green LEDs LA ...

Page 48: ...ut the cause being resolved Fault Immediate drive controller response the power unit is disabled and axis movement is no longer controlled by the drive controller or the axis is brought to a standstill by a quick stop or emergency braking ATTENTION Damage to property due to interruption of a quick stop or emergency braking If when executing a quick stop or emergency braking another fault occurs or...

Page 49: ...quick stop ramp for CiA 402 device controller Response The axis is stopped by a quick stop meanwhile the brakes remain released At the end of the quick stop the power unit is disabled and the axis movement is no longer controlled by the drive controller the brakes are applied in the event of an inactive release override F06 Cause Check and action 6 EtherCAT PDO Timeout Missing process data Check t...

Page 50: ...iguration starts saved values are loaded 2 Pre Operational state No PDO communication the EtherCAT master and slave exchange application specific parameters via SDOs 4 Requested Bootstrap State EtherCAT slave sends current actual values to the EtherCAT master ignores its set values and refers to internal default values 8 Operational State Normal operation The EtherCAT master and slave exchange set...

Page 51: ... 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 52: ...at X201 OUT port 9 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 9 4 5 A261 Sync Diagnos...

Page 53: ... 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 messag...

Page 54: ...therCAT 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 61 also has the Safe Op...

Page 55: ... on different PCs transmission takes place between the EtherCAT network and Ethernet 10 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 n...

Page 56: ...ally 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 Servi...

Page 57: ...work of the drive controllers to be triggered subnet mask gateway address of the master is adapted to the STOBER default settings and must be replaced by the addresses that correspond to the system environment 1 In order to set the Ethernet route using the command line open the Windows console cmd exe 2 Enter the following command route add 10 0 0 0 mask 255 255 255 0 192 168 3 10 ð You have now s...

Page 58: ...high priority A distinction is made from the perspective of the respective nodes between receive PDOs RxPDO and transmit PDOs TxPDO 10 3 1 1 PDO mapping In PDO mapping the communication parameters to be transmitted are mapped to PDOs and the associated transmission channel This determines which communication objects are transferred over the process data channel PDO communication allows for 4 PDO c...

Page 59: ...Domain Download Response of the slave Byte 1 2 3 6 5 4 7 8 0x23 LSB MSB MSB LSB LSB MSB Master Slave Command Index Sub index LSW data MSW data Byte 1 2 3 6 5 4 7 8 0x63 LSB MSB MSB LSB LSB MSB Command Index Sub index Unused Read parameter Initiate Domain Upload Request The master uses an Initiate Domain Upload Request to initiate a read process for a communication parameter The request receives a ...

Page 60: ... register E82 E43 Free 43 0 0 0 0 0x10 0x01 0x29 The values of the STOBER specific parameters E82 Event type and E43 Event cause are transmitted in the 4th and 5th bytes You can find a table with the potential encodings for an EMCY message in the appendix see the chapter EMCY message Device fault Error codes 83 EMCY message Exiting the fault state In accordance with the CANopen standard an EMCY me...

Page 61: ...tched on The configuration starts saved values are loaded Neither SDO nor PDO communication is possible using the mailbox and process data channels i e the master and slave do not communicate directly Pre operational The mailbox channel is active the master and slaves exchange application specific parameters using SDO communication Safe operational The mailbox and process data channels are active ...

Page 62: ...The slaves evaluate the current set value specifications of the master OS Stop Output Update The slaves ignore the set values of the master and refer to internal default values OP Stop Output Update Stop Input Update Stop of PDO communication over the process data channel neither the master nor the slaves send actual or set values SI Stop Input Update Stop Mailbox Communication Stop of PDO and SDO...

Page 63: ... 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 64: ...following 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 qual...

Page 65: ...y 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 ti...

Page 66: ...onControlSuite 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 A...

Page 67: ...hronization 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 en...

Page 68: ...lave 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 control...

Page 69: ... 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 a...

Page 70: ... the 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 15 TwinC...

Page 71: ...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 72: ...Cycle time extended If the associated LED lights up the PLL has performed an extending control intervention on the task system 5 Bit 3 Maximum control range reached If the associated LED lights up check whether the cycle times of the master and drive controller agree Realign these to each other if necessary 6 Bit 4 Cycle time for the synchronization signals is greater than the specification A296 A...

Page 73: ...on for the RxPDO and or TxPDO 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 mod...

Page 74: ... 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 module that you would like to delete and confirm with O...

Page 75: ... 1 hex 6 hex Application objects A225 0 A225 5 1601 hex 2nd RxPDO mapping parameter 1601 hex 0 hex Number of mapped application objects in RxPDO Constant value of 6 1601 hex 1 hex 6 hex Application objects A226 0 A225 5 1602 hex 3rd RxPDO mapping parameter 1602 hex 0 hex Number of mapped application objects in RxPDO Constant value of 6 1602 hex 1 hex 6 hex Application objects A227 0 A227 5 1603 he...

Page 76: ...ger 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 1C12 hex 4 hex PDO receive assign 4...

Page 77: ...sponding parameters of STOBER 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 Terminals 5 F00 F511 2C00 hex 2DFF hex G Technology 6 G00 G511 2E00 hex 2FFF hex H Encoders 7 H00 H511 3000 hex 31FF he...

Page 78: ...ime 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 link circuit voltage A566 607A hex 0 hex Target position A567 607B hex Position range limit 607B hex 0 hex Highest subindex supported Constant value...

Page 79: ... 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 value A598 60BD hex 0 hex Touch probe position 2 negative value A599 60C0 hex 0 hex Interpolation sub mode select A600 60C1 hex Interpolation data record 60C1 hex 0 hex Highest ...

Page 80: ...ng option code A621 60F4 hex 0 hex Following error actual value A632 60FD hex 0 hex Digital inputs A636 60FE hex Digital outputs 60FE hex 0 hex Highest subindex supported Constant value of 1 60FE hex 1 hex Physical outputs A637 60FF hex 0 hex Target velocity A638 6502 hex 0 hex Supported drive modes Tab 10 CiA 402 2 communication objects 6000 hex 65FF hex 11 1 4 ETG 5000 1 Modular Device Profile F...

Page 81: ... 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 internal device incompatibility 6 hex 6 hex 0 hex Access terminated due to hardware error 6 hex 7 hex 10 hex Incorrect data type or parameter length 6 hex 7 hex 12 hex Incorrect data type or parameter length too long 6 hex 7 hex...

Page 82: ...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 83: ... 41 Temp MotorTMP 4380 hex Temperature drive I2 t 8 hex Temperature 45 Overtemp motor i2t 5200 hex Device hardware 1 hex Generic error 34 Hardware fault or 55 Option module 6010 hex Internal software 1 hex Generic error 35 Watchdog or 57 Runtime usage 6320 hex Loss of parameters 1 hex Generic error 40 Invalid data or 70 Parameter consistency 7110 hex Brake chopper 1 hex Generic error 72 Brake test...

Page 84: ...er limit switch 8611 hex Following error 1 hex Generic error 54 Following error 8612 hex Reference limit 1 hex Generic error 78 Position limit cyclic FF00 FF07 hex Manufacturer specific error 1 hex Generic error 60 Application event 0 67 Application event 7 FF09 hex Manufacturer specific error 1 hex Generic error 44 External fault 1 FF0A hex Manufacturer specific error 1 hex Generic error 68 Exter...

Page 85: ...ata installation commissioning diagnostics 442461 CiA 402 application SD6 Manual Project planning configuration parameterization function test detailed information 443077 A 30 day test version of AutomationControlSuite can be found at http www stoeber de en download Please contact us if you are interested You can get advice offers and further information from our sales staff Additional information...

Page 86: ... 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 87: ...hour service hotline Phone 49 7231 582 3000 Our address STÖBER Antriebstechnik GmbH Co KG Kieselbronner Strasse 12 75177 Pforzheim Germany 12 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 88: ...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 89: ...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 90: ... 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 91: ...erface 18 Fig 6 LEDs for the EtherCAT state 45 Fig 7 LEDs for the state of the EtherCAT network connection 47 Fig 8 EtherCAT Communication protocols 54 Fig 9 Network overview Topology 1 55 Fig 10 Network overview Topology 2 56 Fig 11 EtherCAT state machine Potential operating states and state changes 61 Fig 12 SM Sync Synchronization using SyncManager event 64 Fig 13 EtherCAT Distributed clocks 65...

Page 92: ...b 7 Event 52 Causes and actions 49 Tab 8 CiA 301 communication 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 ETG 5000 1 communication objects F000 hex FFFF hex 80 Tab 12 SDO Error codes 81 Tab 13 EMCY Transition error codes 82 Tab 14 EMCY Error codes for states of the EtherCAT ...

Page 93: ...STÖBER Antriebstechnik GmbH Co KG Kieselbronner Str 12 75177 Pforzheim Germany Tel 49 7231 582 0 mail stoeber de www stober com 442516 07 02 2020 24 h Service Hotline 49 7231 582 3000 www stober com ...

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Stober SD6 Series, Operating Manual

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Summary of Contents for SD6 Series

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