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3.2  EtherCAT State Machine 

 

 

 

State Description: 

State 

Description 

Init 

The drive successfully finishes initializing after power-on, and no error occurs. 

There are no communications for the application layer. 

Pre-Operational 

Can use mailbox communication for the current status. 

Safe-Operational    Can read PDO input data (TxPDO) 

Cannot receive PDO output data (RxPDO) 

Operational 

Executes cyclic I/O communications. Can process PDO output data (RxPDO). 

‘State Switch 

Command 

Description 

IP 

Starts mailbox communication. 

PI 

Interrupts mailbox communication. 

PS 

Starts updating input data (TxPDO). 

SP 

Stops updating input data (TxPDO). 

SO 

Starts updating output data (RxPDO) 

OS 

Stops updating output data (RxPDO) 

OP 

Stops updating input/output data. 

SI 

Stops updating input data and mailbox communication. 

OI 

Stops all input/output data update and mailbox communication. 

 
 

 

Send Quote Requests to info@automatedpt.com

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com

Send Quote Requests to info@automatedpt.com 

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com

Содержание CMM-EC02

Страница 1: ...211209 Application Drive Firmware Version MS300 V1 07 MH300 V1 02 or later CMM EC02Communication Card Firmware Version V1 01 or later Send Quote Requests to info automatedpt com Call 1 800 985 6929 To...

Страница 2: ...d including but not limited to the following i this product will meet your needs or expectations ii the information contained in the product is current and correct iii the product does not infringe an...

Страница 3: ...to perform the installation trial runs and make parameter adjustments If you have any question or concern please contact your local Delta distributor Our professional staff will be very glad to help...

Страница 4: ...ting Position 1 See Section 2 1 for Details on Mounting Position Frame A I 15 2 3 Network Connection 18 2 4 MH300 MS300 Drive Settings 18 2 5 ESI EtherCAT Slave Information 18 3 Introduction to EtherC...

Страница 5: ...2 2OD 3000h Motor Drive s Parameter Group 50 A 2 3OD 6000h Communication Object Group 50 A 3 Detailed Information about Objects 51 A 3 1OD 1000h Communication Group 51 A 3 2OD 3000h Motor Drive s Par...

Страница 6: ...ESD IEC 61800 5 1 IEC 6100 4 2 EFT IEC 61800 5 1 IEC 6100 4 4 Surge Test IEC 61800 5 1 IEC 6100 4 5 Conducted Susceptibility Test IEC 61800 5 1 IEC 6100 4 6 Operating Temperature 10 C 50 C temperature...

Страница 7: ...indicator 3 Control board connection port 7 ERR ERR indicator 4 RJ45 connection port 8 RUN Communication card RUN indicator 9 Ground terminal block Unit mm inch Send Quote Requests to info automatedpt...

Страница 8: ...gram PIN Definition Description 1 Tx Positive pole for data transmission 2 Tx Negative pole for data transmission 3 Rx Positive pole for data reception 4 N C 5 N C 6 Rx Negative pole for data receptio...

Страница 9: ...ion card mounting box Frame E and F Option card mounting box Fig 2 1 Fig 2 2 MH300 Mounting Position of Communication Card Frame A D option card mounting box Frame E and F Option card mounting box Fig...

Страница 10: ...the table below according to the mounting position Communication card CMM EC02 Frame Mounting Position 1 Mounting Position 2 Communication cable Communication cable A CBM CL01A CBM CL01A B CBM CL02A C...

Страница 11: ...tion reference ground internally Connecting PE1 to the ground reduces noise from those in application PE2 RJ45 shielded layer connects to RJ45 shielded layer internally Connecting PE2 to the ground re...

Страница 12: ...D F Torque 10 Frame A 9 kg cm 7 8 Ib in 0 88 Nm Frame B 15 kg cm 13 0 Ib in 1 47 Nm Frame C 20 kg cm 17 4 Ib in 1 96 Nm Torque 10 Frame D 20 kg cm 17 4 Ib in 1 96 Nm Frame E 25 kg cm 21 7 Ib in 2 45...

Страница 13: ...cable to the connector of the communication card Assemble the communication card Have the terminal block and connector of the communication card face downward aim the two holes of the communication ca...

Страница 14: ...or Refer to Section 2 2 1 for more information on connection methods Attach the front cover of the drive Assemble the connection cable Connect the connector at the other end of the connection cable to...

Страница 15: ...cable to the connector of the communication card Assemble the communication card Have the terminal block and connector of the communication card face downward aim the two holes of the communication ca...

Страница 16: ...ection 2 2 1 for more information on connection methods Attach the front cover of the drive Assemble the connection cable Connect the connector at the other end of the connection cable to the connecto...

Страница 17: ...ard to the slots and then rotate it as shown in the Fig 2 37 Make sure that the clip properly engages the communication card and then tighten the screws suggested torque value 4 6 kg cm 3 5 5 2 lb in...

Страница 18: ...t controller identify MH300 MS300 you must load the product description file ESI file Download the description files from Delta s download center http www deltaww com iadownload_acmotordrive The file...

Страница 19: ...tructure of a motor drive is shown in the image below 1 Communication layer This protocol covers communication objects such as PDO SDO Sync and Emergency Objects It also covers related communication o...

Страница 20: ...a RxPDO State Switch Command Description IP Starts mailbox communication PI Interrupts mailbox communication PS Starts updating input data TxPDO SP Stops updating input data TxPDO SO Starts updating o...

Страница 21: ...are not synchronized The command and feedback transmissions between the master and slave are based on a sequential order instead of a precise time synchronization For example the master sends a PDO a...

Страница 22: ...L Mode RxPDO 0x1600 Controlword 0x6040 vl target velocity 0x6042 Mode of Operation 0x6060 Max Torque 0x6072 Max Motor Speed 0x6080 TxPDO mapping First group of TxPDO mapping TxPDO 0x1A00 Statusword 0x...

Страница 23: ...tion display 8 bit OD 1A00 sub3 6064h Position actual value 32 bit OD 1A00 sub4 606Ch Velocity actual value 32 bit OD 1A00 sub5 6077h Max motor speed 32 bit OD 1A00 sub6 603Fh Error code 16 bit OD 1A0...

Страница 24: ...host controller to run the motors 5 1 CANopen over Ethernet CoE State Machine NOTE As shown in the diagram above the strings beside the arrows are the control words and the strings in the squares are...

Страница 25: ...stops by following parameter settings The motor is still excited Fault The motor is not excited Control Word controlword OD 6040h Description of Bit 15 9 8 7 6 4 3 2 1 0 Reserved Halt Fault reset Ope...

Страница 26: ...drive goes into Operation Enable state 5 OD 6040h 7Fh the motor drive starts running Control commands are defined as follows Step Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description 1 0 0 0 0 1 1 0...

Страница 27: ...RO 6060h Mode of operation INTEGER8 RW 6061h Mode of operation display INTEGER8 RO 6042h vl target velocity INTEGER16 RW 6043h vl velocity demand INTEGER16 RO 6044h vl velocity actual value INTEGER16...

Страница 28: ...ard or change a new motor drive 111 SYCE_WARN Synchronization warning The source of communication is not the communication card Loss of synchronization signal data packet after setting up the synchron...

Страница 29: ...Saving or returning to origin fault 0x06070010 Incorrect data type wrong parameter length 0x06070012 Incorrect data type parameter length is too long 0x06070013 Incorrect data type parameter length i...

Страница 30: ...DIADesigner AX V1 1 0 and above 1 Connect CMM EC02 to AX 8 EtherCAT port Then Connect the AX 8 to the Computer via Ethernet port GLAN1 2 Run DIADesigner AX software then click on New Project Send Quo...

Страница 31: ...X 8xxEP0 Windows Series Version and PLC_PRG in Then click OK to create a new project Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives com Send...

Страница 32: ...ry window 6 After you open a Device Repository window click Install Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives com Send Quote Requests to...

Страница 33: ...8xxEP0 Series then click Scan Network Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives com Send Quote Requests to info automatedpt com Call 1...

Страница 34: ...rial number Click OK you can see AX 8 hardware information Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives com Send Quote Requests to info aut...

Страница 35: ...as EtherCAT_Task 11 In the Devices window right click on the EtherCAT_Master AX 8xxEP0 Series EtherCAT Master then select Scan for Devices Send Quote Requests to info automatedpt com Call 1 800 985 6...

Страница 36: ...the wiring between CMM EC02 and AX 8 is correct If the pop up window looks the same as the image below repeat step 5 to step 7 to import the right ESI file Send Quote Requests to info automatedpt com...

Страница 37: ...the tab click Expert Process Data to start PDO reflection 15 In the Expert Process Data screen click on Insert in the bottom right corner window Send Quote Requests to info automatedpt com Call 1 800...

Страница 38: ...mentioned above you ve created a framework and you can start programming PLC Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives com Send Quote Re...

Страница 39: ...Run COMMGR software click on the New Driver button Then on the Ethernet tab select Ethernet in the Connection Setup Type drop down list Select the right Ethernet card in the Ethernet Card description...

Страница 40: ...e Then select AH10EMC as PLC Type 5 Click Tools select Communication Settings Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives com Send Quote R...

Страница 41: ...192 168 1 1 7 In the Project area click on Program then click New to create a blank program Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives co...

Страница 42: ...In the Project area double click HWCONFIG Click Upload button to upload PLC parameters and related settings to HWCONFIG Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Orde...

Страница 43: ...C02 in the Equipment Name to export to the network If the scan result doesn t show MS300 MH300 equipment verify if the wiring is correct Refer also to the ESI Import Process at the end of this chapter...

Страница 44: ...Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives com Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacd...

Страница 45: ...to do to PDO mapping Click Edit to add or delete objects Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives com Send Quote Requests to info autom...

Страница 46: ...Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives com Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacd...

Страница 47: ...C Close ECAT Builder and HWCONFIFG then start programming PLC in the ISPSoft Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives com Send Quote Re...

Страница 48: ...I file You can download ESI file in Delta s download center See section 2 5 Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives com Send Quote Req...

Страница 49: ...s composed of multiple variables of the same data type The Sub index 0 data belongs to UNSIGNED8 so it s not classified as record data A 1 2 Data Type Data Type Data Size Range BOOLEAN 1 bit 0 1 UNSIG...

Страница 50: ...e sub index is 22h 34 A 2 3 OD 6000h Communication Object Group Index Object Type Name Data Type Attribute PDO Mapping 6007h Variable Abort connection option code INTEGER16 RW N 603Fh Variable Error c...

Страница 51: ...on RO PDO Mapping Setting No Setting Range UNSIGNED8 Object 1008h Device name Index 1008h Name Device name Object Type Variable Data Type STRING Read Write Permission RO PDO MAPPING SETTING No Object...

Страница 52: ...e Product code Data Type UNSIGNED32 Read Write Permission RO PDO MAPPING SETTING No Setting Range UNSIGNED32 Sub Index 3 Name Revision Data Type UNSIGNED32 Read Write Permission RO PDO MAPPING SETTING...

Страница 53: ...RW PDO MAPPING SETTING No Setting Range UNSIGNED32 Factory Setting 0 Object 1A00h 1A03h Transmit PDO Mapping Parameter Index 1A00h 1A01h 1A02h 1A03h Name Transmit PDO Mapping Parameter Object Type REC...

Страница 54: ...f assigned RxPDO Data Type UNSIGNED16 Read Write Permission RW PDO MAPPING SETTING No Setting Range 0x1600 0x1601 0x1602 0x1603 Factory Setting 0x1600 Object 1C13h TxPDO assign Index 1C13h Name TxPDO...

Страница 55: ...G SETTING No Setting Range 0x1A00 0x1A01 0x1A02 0x1A03 Factory Setting 0x1A00 Send Quote Requests to info automatedpt com Call 1 800 985 6929 To Order or Order Online At Deltaacdrives com Send Quote R...

Страница 56: ...he setting methods are as follows Index 300Xh are related to motor drive s parameter Group X The sub index 1h 64h hexadecimal correspond to the parameter Group X 00 to Group X 99 For example Set Pr 05...

Страница 57: ...hen object 6007h 3 CANopen turns to Quick Stop and displays ECto CANopen then follows the set ting at object 605Ch to trigger parking When reconnection is successful the warning code clears Object 603...

Страница 58: ...Homing operation start Enable interpolation Bit 5 Unlock ramp Change set immediately Bit 6 Reference ramp 0 Absolute target position 1 Relative target position Bit 8 Halt Halt Halt Halt Not ready to...

Страница 59: ...6 Enable operation no alarm command Restart operation command Via Controlword 6040h status can be changed the commands are as follows Command Bit of Controlword 6040h Status Change Bit 7 Bit 3 Bit 2 B...

Страница 60: ...Bit 0 Description 0 0 0 0 0 Not ready to switch on 1 0 0 0 0 Switch on disabled 0 1 0 0 0 1 Ready to switch on 0 1 0 0 1 1 Switch on 0 1 0 1 1 1 Operation enabled 0 0 0 1 1 1 Quick stop active 0 1 1 1...

Страница 61: ...value Index 6044h Name vl velocity actual value Object Type Variable Data Type INTEGER16 Read Write Permission RO PDO MAPPING SETTING Yes Setting Range INTEGER16 Unit RPM This object is the actual ru...

Страница 62: ...from 6402h to 0 RPM Object 605Ah Quick stop option code Index 605Ah Name Quick stop option code Object Type Variable Data Type INTEGER16 Read Write Permission RW PDO MAPPING SETTING No Setting Range 0...

Страница 63: ...pe Variable Data Type INTEGER8 Read Write Permission RW PDO MAPPING SETTING Yes Setting Range UNSIGNED32 Factory Setting 8 This object is to set up the operation mode The operation modes are as follow...

Страница 64: ...e current operation mode Object 6502h Supported drive modes Index 6502h Name Supported drive modes Object Type Variable Data Type UNSIGNED32 Read Write Permission RO PDO MAPPING SETTING No Setting Ran...

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