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SI-EtherCAT User Guide

Issue Number: 2

6.3

CANopen over EtherCAT (CoE)

The CoE protocol over EtherCAT uses a modified form of the CANopen object dictionary. This is
specified in Table 6-1.

Table 6-1 CoE object dictionary

The object description format describes object related information such as size, range and
descriptions and is detailed in Table 6-2.

Table 6-2 Object description format

For entries having sub-indices

Table 6-3 Object description format with sub-indices

Definitions:

•

<index>: A signed 16-bit number. This is the index of the object dictionary entry specified

in four hexadecimal characters.

Index

Object dictionary area

0x0000 to 0x0FFF

Data type area

0x1000 to 0x1FFF

CoE communication area

0x2000 to 0x5FFF

Manufacturer specific area

0x6000 to 0x9FFF

Profile area

0xA000 to 0xFFFF

Reserved area

<index>

<object name>

Sub-index 0
Access: <access>

Range: <range>

Size: <size>

Unit: <unit>

Default: <default>

Type:

<type>

Description: <description>

<index>

<object name>

Sub-index 0
Access: <access>

Range: <range>

Size: <size>

Unit: <unit>

Default: <default>

Type:

<type>

Description: <description>
Sub-index 1
Access: <access>

Range: <range>

Size: <size>

Unit: <unit>

Default: <default>

Type:

<type>

Description: <description>
Sub-index …
Access: <access>

Range: <range>

Size: <size>

Unit: <unit>

Default: <default>

Type:

<type>

Description: <description>
Sub-index n-1
Access: <access>

Range: <range>

Size: <size>

Unit: <unit>

Default: <default>

Type:

<type>

Description: <description>
Sub-index n
Access: <access>

Range: <range>

Size: <size>

Unit: <unit>

Default: <default>

Type:

<type>

Description: <description>

Содержание SI-EtherCAT

Страница 1: ...User Guide SI EtherCAT Part Number 0478 0152 02 Issue Number 2 ...

Страница 2: ...es while smaller products come in strong cardboard cartons which themselves have a high recycled fibre content If not re used these containers can be recycled Polythene used on the protective film and bags for wrapping product can be recycled in the same way Emerson Industrial Automation s packaging strategy prefers easily recyclable materials of low environmental impact and regular reviews identi...

Страница 3: ...rCAT terminal descriptions 14 4 3 Module grounding and EMC 14 4 4 Network topology 15 4 5 Minimum node to node cable length 15 5 Getting started 16 5 1 Quick start guide 16 5 2 Quick start flowchart 20 5 3 Supported objects 21 6 Protocols 27 6 1 Process Data Objects PDOs 27 6 2 Service Data Object SDO parameter access 27 6 3 CANopen over EtherCAT CoE 28 6 4 Additional position loop scaling 41 6 5 ...

Страница 4: ...r descriptions 85 10 Diagnostics 94 10 1 Module identification parameters 94 10 2 SI EtherCAT module temperature 94 10 3 Error handling 94 10 4 Drive trip display codes 96 10 5 Option module trips 97 10 6 Updating SI EtherCAT firmware 97 10 7 Switching frequency 97 10 8 Sync Task Orun trips 97 10 9 EtherCAT AL status codes 98 10 10 SDO abort codes 100 11 Glossary of terms 101 ...

Страница 5: ...e STOP and Safe Torque Off functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections With the sole exception of the Safe Torque Off function none of the drive functions must be used to ensure safety of personnel ...

Страница 6: ...ly recommended that the manufacturer is consulted first Low speeds may cause the motor to overheat because the cooling fan becomes less effective The motor should be installed with a protection thermistor If necessary an electric forced vent fan should be used The values of the motor parameters set in the drive affect the protection of the motor The default values in the drive should not be relied...

Страница 7: ...s that require short data update times also called cycle times with low communication jitter for synchronization purposes and low hardware costs Typical application fields for EtherCAT are machine controls e g semiconductor tools metal forming packaging injection moulding assembly systems printing machines robotics and many others 2 3 About SI EtherCAT SI EtherCAT is a option module that enables t...

Страница 8: ...ates the year and the number indicates the week number within the year in which the option module was built The letters start with A for 1991 B for 1992 C for 1993 etc Example A date code of W31 would correspond to week 31 of year 2013 2 6 Product Conformance Certificate SI EtherCAT has been awarded full EtherCAT Conformance Certification by the EtherCAT Technology Group ETG A copy of the certific...

Страница 9: ... set up parameters in menu 0 will appear in drive menu 24 The setting of the Option Slot Identifiers Pr 11 056 may change the slot numbering from those described above The internal menus of the option module or onboard Ethernet interface will appear before menu 0 and after menu 41 The method used to determine the menu or parameter is as follows Pr S mm ppp Where S signifies the option module slot ...

Страница 10: ...he drive Place the option module onto the drive as shown in 2 until the module clicks into place The terminal cover on the drive holds the option module in place so this must be put back on Before installing or removing an option module in any drive ensure the AC supply has been disconnected for at least 10 minutes and refer to Chapter 1 Safety information on page 5 If using a DC bus supply ensure...

Страница 11: ... CiA402 support Advanced features Parameter descriptions Diagnostics Glossary of terms Index Figure 3 1 Installation of an SI option module on Unidrive M200 to M400 sizes 5 to 8 Place the option module onto the drive as shown in 2 until the module clicks into place The terminal cover on the drive holds the option module in place so this must be put back on 1 2 ...

Страница 12: ... the option module in direction shown 1 2 Align and insert the option module tab in to the slot provided this is highlighted in the detailed view A Press down on the option module until it clicks into place Option module slots must be used in the following order Slot 3 lower Slot 2 middle and then Slot 1 upper 2 NOTE ...

Страница 13: ...Ethernet cabling is the length of a single segment of cable The SI EtherCAT module has two 100BASE TX Ethernet ports which support segment lengths of up to 100 m This means that the maximum cable length which can be used between one SI EtherCAT port and another 100BASE TX port is 100 m however it is not recommended that the full 100 m cable length is used The total network length is not restricted...

Страница 14: ...et cable should be of the shielded type and connectors should be shielded with a metal body Tie wrapping of the Ethernet cable s shield to the grounding bracket of the drive is necessary At least one EMC Ferrite inductor should be installed near to each communication port of the SI EtherCAT module At least one EMC Ferrite inductor is necessary near the Master s PC PLC EtherCAT Port Proper groundin...

Страница 15: ...r code 1635620 Description Ferrite core Split type 4 4 Network topology Control Techniques recommend implementing daisy chaining on EtherCAT networks see Figure 4 2 Other Ethernet network topologies can be used but care must be taken to ensure that the system still operates within the constraints specified by the designer Figure 4 2 SI EtherCAT daisy chain network topology 4 5 Minimum node to node...

Страница 16: ...r cyclic communications Unlike other Control Techniques fieldbus communication protocols CoE does not require that any module parameters be changed in order to achieve communications The baud rate of the network is fixed and the module is automatically allocated an address To check that the ethernet cable connected to the SI EtherCAT module on the drive is connected correctly look at the LED on th...

Страница 17: ... object to be mapped range 1 4 The format used when mapping drive parameters to PDOs is as follows Index 0x2000 0x100 x S menu number Sub index 0x00 parameter number Size Dependant on the size in bytes of the object to be mapped range 1 4 For example Pr 20 021 would be index 0x2014 sub index 0x15 and the size would be 4 the parameter is a 32 bit signed value For this example the following objects ...

Страница 18: ...t one RxPDO will be assigned to the sync manager 2 assignment Index 0x1C12 Sub index 0x01 Size 2 Value 0x1600 Setting object 0x1C12 sub index 1 to a value of 0x1600 as above maps RxPDO1 to the process data output sync The format used to define the value of a mapped object is as follows Bit 0 to 7 Length of the mapped object in bits if a gap bit length of the gap Bit 8 to 15 Sub index of the mapped...

Страница 19: ...value of 1 as above indicates that one TxPDOs will be assigned to the sync manager 3 assignment Index 0x1C13 Sub index 0x01 Size 2 Value 0x1A00 Setting object 0x1C13 sub index 1 to a value of 0x1A00 as above maps TxPDO1 to the process data input sync Download the configuration to the master After downloading the configuration to the master the LED s on the front of the SI EtherCAT should flash dep...

Страница 20: ...ml file is in the appropriate folder on the hard drive of the master Check the LED status of the SI EtherCAT module In the master scan the EtherCAT network Select required PDOs Configure the PDOs with the mappings required Check the front of the SI EtherCAT module to ensure that the LED relating to the connection being used is flashing this confirms that communications are functioning Download or ...

Страница 21: ... Y Y Y Y Reserved 4 UDINT RO Y Y Y Y Y Y 1600 Receive PDO mapping 1 Number of objects 0 USINT RW Y Y Y Y Y Y Receive PDO mapping 1 Mapped object 1 to si0 1 to si0 UDINT RW Y Y Y Y Y Y 1601 Receive PDO mapping 2 Number of objects 0 USINT RW Y Y Y Y Y Y Receive PDO mapping 2 Mapped object 1 to si0 1 to si0 UDINT RW Y Y Y Y Y Y 1602 Receive PDO mapping 3 Number of objects 0 USINT RW Y Y Y Y Y Y Recei...

Страница 22: ... communication type SM2 Usage 3 USINT RO Y Y Y Y Y Y Sync manager communication type SM3 Usage 4 USINT RO Y Y Y Y Y Y Sync manager communication type SM4 Usage 5 USINT RO Y Y Y Y Y Y Sync manager communication type SM5 Usage 6 USINT RO Y Y Y Y Y Y 1C10 SM0 PDO assignment Number of PDOs 0 USINT RO Y Y Y Y Y Y 1C11 SM1 PDO assignment Number of PDOs 0 USINT RO Y Y Y Y Y Y 1C12 SM2 PDO assignment Numb...

Страница 23: ...umerator 1 DINT RW N Y N N N Y Additional position loop scaling Denominator 2 DINT RW N Y N N N Y 3005 Cyclic data loss behaviour Number of last sub index 0 USINT RO Y Y Y Y Y Y Cyclic data loss behaviour Timeout ms 1 UINT RW Y Y Y Y Y Y Cyclic data loss behaviour Action 2 USINT RW Y Y Y Y Y Y 3006 Out cyclic data configuration Number of last sub index 0 USINT RO Y Y Y Y Y Y Out cyclic data config...

Страница 24: ... last sub index 0 USINT RO Y N N N N N vl_velocity_deceleration Delta speed value rpm 1 UDINT RW Y N N N N N vl_velocity_deceleration Delta time value s 2 UINT RW Y N N N N N 604A vl_velocity_quick_stop Number of last sub index 0 USINT RO Y N N N N N vl_velocity_ quick_stop Delta speed value rpm 1 UDINT RW Y N N N N N vl_velocity_ quick_stop Delta time value s 2 UINT RW Y N N N N N 604B vl_setpoin...

Страница 25: ...75 Motor rated current 0 UDINT RO Y Y Y Y Y Y 6077 Torque actual value 0 INT RO Y Y Y Y Y Y 6078 Current actual value 0 INT RO Y Y Y Y Y Y 607A Target position 0 DINT RW N N N N N Y 607C Home offset 0 DINT RW N N Y N N N 6080 Max motor speed 0 UDINT RW Y Y Y Y Y Y 6084 Profile deceleration 0 UDINT RW N Y N Y Y Y 6085 Quick stop deceleration 0 UDINT RW N Y N N N Y 608F Position encoder resolution N...

Страница 26: ...n 1 UDINT RW N Y N Y Y N 60C2 Interpolation time period Number of last sub index 0 USINT RO N Y N Y Y Y Interpolation time period Number of time periods 1 USINT RW N Y N Y Y Y Interpolation time period Time period exponent 2 SINT RW N Y N Y Y Y 60F4 Following error actual value 0 DINT RO N Y N N N Y 60FB Position control parameter set Number of last sub index 0 USINT RO N Y N Y Y Y Position contro...

Страница 27: ...index would be 0x15 The values are usually expressed in base 16 hexadecimal so care must be taken to enter the correct parameter number All other supported entries in the SI EtherCAT object dictionary can also be accessed using SDOs Refer to the master controller documentation for full details about implementing SDO transfers within the particular master controller Bit parameter mapping When mappi...

Страница 28: ...FF Data type area 0x1000 to 0x1FFF CoE communication area 0x2000 to 0x5FFF Manufacturer specific area 0x6000 to 0x9FFF Profile area 0xA000 to 0xFFFF Reserved area index object name Sub index 0 Access access Range range Size size Unit unit Default default Type type Description description index object name Sub index 0 Access access Range range Size size Unit unit Default default Type type Descripti...

Страница 29: ...igned short integer UINT 2 0 to 65535 Unsigned integer INT 2 32768 to 32767 Signed integer UDINT 4 0 to 232 Unsigned double integer DINT 4 231 to 231 1 Signed double integer 0x1000 Device type Access RO Range N A Size 4 bytes Unit N A Default Dependent on drive type mode see description Type UDINT Description The primary CoE functional profile is CiA402 so the value of this object is defined as fo...

Страница 30: ...gy Group vendor ID for Control Techniques 0x000000F9 Sub index 2 Access RO Range N A Size 4 bytes Unit N A Default 0x01mmvvtt Type UDINT Description Product code This contains the drive product code Byte0 tt Drive type 0 Leroy Somer 1 Mentor MP 2 M600 M700 3 M100 to M400 4 MEV 5 Elevator ES Byte1 vv Drive variant derivative derived from Pr 11 028 Byte2 mm Drive mode derived from Pr 11 084 Byte3 gg...

Страница 31: ... object Bits 16 to 31 Index of the mapped object 0x1601 Receive PDO mapping 2 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 2 Type USINT Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to 0xFFFFFFFF Size 4 bytes Unit N A Default 0x60400010 the CiA402 control word 0x6040 Type UDINT Description A mapping...

Страница 32: ...bits if a gap bit length of the gap Bits 8 to 15 Sub index of the mapped object if a gap zero Bits 16 to 31 Index of the mapped object if a gap zero 0x1604 Receive PDO mapping 5 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 2 Type USINT Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to 0xFFFFFFFF Size...

Страница 33: ...ect if a gap zero Sub index 2 2nd mapped object Access RW Range 0 to 0xFFFFFFFF Size 4 bytes Unit N A Default 0x60420010 the CiA402 vl target velocity 0x6042 Type UDINT Description A mapping to an object with the following format A mapping to an object This will have the following format Bits 0 to 7 Length of the mapped object in bits if a gap bit length of the gap Bits 8 to 15 Sub index of the ma...

Страница 34: ...peration_display 3 0x6041 0x6064 statusword position_actual_value 5 0x6041 0x6077 statusword torque_actual_value 6 0x6041 0x6044 statusword vl_velocity_actual_value 0x1A00 Transmit PDO mapping 1 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 1 Type USINT Description The number of mapped objects in the PDO Sub index 1 1st mapped object Access RW Range 0 to...

Страница 35: ...apping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Table 6 16 Tx PDO mapping 3 0x1A02 Transmit PDO mapping 3 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 2 Type USINT Des...

Страница 36: ...bits if a gap bit length of the gap Bits 8 to 15 Sub index of the mapped object if a gap zero Bits 16 to 31 Index of the mapped object if a gap zero 0x1A05 Transmit PDO mapping 6 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Size 1 byte Unit N A Default 2 Type USINT Description The number of mapped objects in this PDO Access RW Range 0 to 0xFFFFFFFF Size 4 bytes Unit N A Default 0x6...

Страница 37: ...to 12 Size 1 byte Unit N A Default 1 Type USINT Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to 0xFFFFFFFF Size 4 bytes Unit N A Default 0x200A2810 Drive status word Pr 10 040 Type UDINT Description A mapping to an object with the following format A mapping to an object This will have the following format Bits 0 to 7 Length of the mapped obje...

Страница 38: ...ess RO Range N A Size 1 byte Unit N A Default 2 Type USINT Description Sync manager 1 is used by CoE as the mailbox send channel slave to master Sub index 3 Usage of sync manager 2 Access RO Range N A Size 1 byte Unit N A Default 3 Type USINT Description Sync manager 2 is used by CoE as the process data output RxPDOx master to slave Sub index 4 Usage of sync manager 3 Access RO Range N A Size 1 by...

Страница 39: ...ess RW Range 0x1600 to 0x17FF Size 2 bytes Unit N A Default 0x1605 Type UINT Description The object index of an RxPDO to assign to this sync manager By default this is assigned to RxPDO mapping 6 vl_target_velocity and controlword 0x1C13 Sync manager 3 PDO assignment Sub index 0 Access RW Range 0 to 255 Size 1 byte Unit N A Default 1 Type USINT Description The number of TxPDOs assigned to this syn...

Страница 40: ... Unit N A Default 0 Type USINT Description This specifies the source for position controller feedback and the source for CiA402 position feedback objects even when position control is not being performed This will have a value as follows 0 The feedback source for the position controller will match the drive motor control feedback source as specified in menu 3 1 Drive feedback source P1 interface 2...

Страница 41: ...tion loops this object can be used to apply a scaling factor to the position loop output value Table 6 28 Additional position loop scaling 0x3004 Additional position loop scaling Sub index 0 Access RO Range N A Size 1 byte Unit N A Default 2 Type USINT Description The number of the last sub index in this object Sub index 1 Access RW Range 231 to 231 1 Size 4 bytes Unit N A Default 1 Type DINT Desc...

Страница 42: ...is configured to less than the cycle time then this will be rounded up to the cycle time For a time of 0 ms the cyclic data loss detection will not trigger for any loss Sub index 2 Access RW Range 0 to 2 Size 1 byte Unit N A Default 0 Type USINT Description Cyclic Data Loss Action the value will select an action as follows 0 a trip will never occur however a cyclic data loss will still be handled ...

Страница 43: ...ee Table 7 2 to sequence the drive through the state machine described in Figure 7 1 Table 7 1 Controlword LEGEND ms manufacturer specific r reserved oms operation mode specific h halt fr fault reset hos homing operation start eo enable operation qs quick stop ev enable voltage so switch on Table 7 2 Command coding 0x6040 Controlword Access RW Range 0 to 65535 Size Unsigned 16 Unit N A Default N A...

Страница 44: ...E to control the motor position if the status word indicates a fault due to a drive trip then to clear the fault the fault reset command should be executed if the drive is reset by the keypad then the status word will not be reset and will still indicate a fault condition 0x6041 Statusword Access RW Range 0 to 65535 Size Unsigned 16 Unit N A Default N A Type UINT Description This provides feedback...

Страница 45: ...be read in all CiA402 states so that the operating mode can be changed at any time which is necessary for homing some axes e g vertical axes have to be homed and start ordinary positioning operation without the need to remove power from the motor which on a vertical axis might allow a tool etc to fall and be damaged or cause damage however the state machine will not perform a mode change until the...

Страница 46: ...SW 0xFF90 0x0027 Set drive run state Enable Operation Start quick stop mode specific Quick Stop Active Profile SW 0xFF90 0x0007 Quick Stop Drive stopped Fault Reaction Active Profile SW 0xFFB0 0x000F Fault Profile SW 0xFFB0 0x000F Inhibit drive Drive Tripped Fault Reaction Complete Fault Reset Yes No Any Drive Trip Shutdown Yes Stay in Quick Stop state No Start disable operation mode specific Disa...

Страница 47: ...ignal None 8 Shutdown command from control device or local signal The high power shall be switched off immediately if possible and the motor shall be free to rotate if not braked 9 Disable voltage command from control device or local signal The high power shall be switched off immediately if possible and the motor shall be free to rotate if not braked 10 Disable voltage or quick stop command from ...

Страница 48: ...ult 2 Type UINT Description Specifies what action is performed in the event of a quick stop function See Table 7 7 CoE state machine transition and events on page 47 for more information Value Definition 0 Disable drive function 1 Slow down on slow down ramp and transit into Switch on disabled 2 Slow down on quick stop ramp and transit into Switch on disabled 5 Slow down on slow down ramp and stay...

Страница 49: ... Disable drive function switch off the drive power stage 1 Slow down with slow down ramp disable the drive function 0x605E Fault_reaction_option_code Sub index 0 Access RW Range 0 to 2 Size Unsigned 16 Unit N A Default N A Type UINT Description This object is used to control what action is performed when a fault is detected Value Definition 0 Disable drive function motor is free to rotate 1 Slow d...

Страница 50: ...nits into position controller and drive units All scaling values are standard profile objects The following objects are supported Table 7 22 Supported profile units 0x6061 Modes_of_operation_display Sub index 0 Access RO Range 0 to 8 Size Unsigned 8 Unit N A Default N A Type USINT Description Used to provide the active mode of operation Value Definition 0 No mode change 2 vl velocity mode 6 Homing...

Страница 51: ...caling also properly handles remainders i e when used on a reference or feedback accumulate the remainder and add it to subsequent velocity values and when used with a limit round up or down It is possible to change these values non cyclically i e using SDOs in which case the scaling numerator and denominator is recalculated in the background It is also necessary to re scale velocity limit values ...

Страница 52: ...ula feed constant feed driving shaft revolutions Table 7 25 Feed_constant 0x6091 Gear_ratio Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Type USINT Description Sub index 1 Access RW Range 0 to 0xFFFFFFFF Size Unsigned 32 Unit N A Default 1 Type UDINT Description Motor revolutions Sub index 2 Access RW Range 0 to 0xFFFFFFFF Size Unsigned 32 Unit N A Default 1 Type UDINT Descri...

Страница 53: ... Table 7 28 Position_actual_value 7 3 17 Following error window This object can be used to indicate and configure the range of position values symmetrical to the position demand value outside of which a following error occurs The value is given in user defined position units Table 7 29 Following error window Index Name 0x6062 position_demand_value 0x6065 following_error_window 0x6067 position_wind...

Страница 54: ... Position window Sub index 0 Access RW Range 0 to 0xFFFFFFFF Size 4 bytes Unit N A Default 0xFFFFFFFF Type UDINT Description Permitted range of position values for target position to be regarded as reached 0x6075 Motor rated current Sub index 0 Access RW Range 0 to 0xFFFFFFFF Size 4 bytes Unit mA Default 0xFFFFFFFF Type UDINT Description Motor rated current value derived from Pr 05 007 0x6080 Max ...

Страница 55: ...ntains the value supplied by either the interpolated position mode or the profile position mode in user units It is updated every control loop cycle This object can be mapped as cyclic data 0x60FB Position_control_parameter_set Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Type USINT Description The number of control loop parameters Sub index 1 Access RW Range 0 to 5000 Size U...

Страница 56: ...C0 interpolation_submode_select 0x60C1 interpolation_data_record 0x60C2 interpolation_time_period When using one of the CiA402 positioning modes Distributed Clocks must be enabled Failure to do so may result in the SI EtherCAT module going into the SAFE OPERATIONAL state 31 16 ms hm r tq pv vI pp cstca cst csv csp ip r 15 11 10 9 8 7 6 5 4 3 2 1 0 Mnemonic Description Value r Reserved 0 ms Manufac...

Страница 57: ... interpolation type At present the only supported Interpolation Sub Mode is Linear Interpolation Type INT 0x60C1 Interpolation_data_record Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 1 Type USINT Description This object is used to specify the target position Sub index 1 Access RW Range 0 to 0xFFFFFFFF Size Unsigned 32 Unit N A Default N A Type UDINT Description The set point 0...

Страница 58: ...ed 7 5 vl velocity mode Velocity mode is supported on Unidrive M200 and above It is not however supported in regen modes When the drive is in either of the RFC A or RFC S operating modes the scaled velocity is written to the drive internal speed shortcut When the drive is in an open loop operating mode the scaled velocity is written to the user preset reference parameter Pr 01 021 Table 7 41 lists...

Страница 59: ...by the drive ramp function The value is given in rpm if the vl_dimension_factor and the vl_setpoint_factor have the value 1 otherwise the value is in user units Positive values indicate forward direction and negative values indicate reverse direction Table 7 44 vl_velocity_demand 0x3008 Activate velocity mode redirection Sub index 0 Access RW Range 0 to 1 Size 1 byte Unit N A Default 0 Type USINT ...

Страница 60: ...0x6044 vl_velocity_actual_value Sub index 0 Access RO Range 32768 to 32767 Size Signed 16 Unit N A Default 0 Type INT Description Provides the velocity at the motor spindle or load 0x6046 vl_velocity_min_max_amount Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Type USINT Description The number of sub indices in this object Sub index 1 Access RW Range 0 to 0xFFFFFFFF Size Unsig...

Страница 61: ...ity_deceleration 0x6048 vl_velocity_acceleration Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Type USINT Description The number of sub indices in this object Sub index 1 Access RW Range 0 to 0xFFFFFFFF Size Unsigned 32 Unit rpm Default 1000 Type UDINT Description The value of delta speed is given in rpm if the vl_dimension_factor and the vl_setpoint_factor have the value 1 ot...

Страница 62: ...b index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Type USINT Description The number of sub indices in this object Sub index 1 Access RW Range 0 to 0xFFFFFFFF Size Unsigned 32 Unit rpm Default 1000 Type UDINT Description The value of delta speed is given in rpm if the vl_dimension_factor and the vl_setpoint_factor have the value 1 otherwise the value is in user units Sub index 2 Acce...

Страница 63: ...n_max The value of the vl_velocity_demand object is calculated in the background The option reads the value of parameter Pr 02 001 post ramp reference scaled from RPM to user units using vl_dimension_factor and vl_setpoint_factor and writes the value to the vl_velocity_demand object On a closed loop drive the speed feedback is calculated internally every profile cycle scaled to the same units as v...

Страница 64: ...igure 7 3 to Figure 7 8 indicates the code for selection of this homing position The direction of movement is also indicated There are two sources of homing signal available These are the home switch and the index pulse from an encoder 7 6 1 General homing definitions Method 3 and 4 Homing on positive home switch and index pulse Using these methods as shown in Figure 7 3 Homing on positive home sw...

Страница 65: ...gure 7 4 Homing on negative home switch and index pulse Method 7 to 14 Homing on home switch and index pulse These methods use a home switch which is active over only a portion of the travel in effect the switch has a momentary action as the axis s position sweeps past the switch Using the methods 7 to 10 the initial direction of movement shall be to the right and using methods 11 to 14 the initia...

Страница 66: ...n Method 15 and 16 Reserved These methods are reserved Method 17 to 30 Homing without index pulse These methods are similar to methods 3 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home transitions For example methods 19 and 20 are similar to methods 3 and 4 as shown in Figure 7 7 Homing on positive home switch on page 67 ...

Страница 67: ... in Figure 7 8 Homing on index pulse on page 67 Figure 7 8 Homing on index pulse Method 35 Homing on index pulse In this method the current position shall be taken to be the home position This method does not require the drive device to be in operational enabled state Use of controlword and statusword The homing mode uses some bits of the controlword and the statusword for mode specific purposes T...

Страница 68: ...RO Range N A Size 1 byte Unit N A Default 2 Type USINT Description The number of the last sub index in this object Sub index 1 Access RW Range 1 to 6 Size 1 byte Unit N A Default 5 Type USINT Description The source of homing switch This will specify the number of a drive digital input output the selected DIO also needs to be configured as an input This value will be read when CiA402 homing operati...

Страница 69: ...e of this object shall be given in user defined position units Negative values indicate the opposite direction Figure 7 9 Home offset definition Table 7 55 Home offset 0x6098 Homing method This object indicates the configured homing method that shall be used Table 7 56 Homing method on page 69 specifies the object description and Table 7 57 Homing method values on page 69 specifies the value range...

Страница 70: ...e control loop cycle time The time period index has a minimum value of 6 i e the smallest time unit will be microseconds The time period is checked to ensure that it an integer multiple of the control loop cycle time 0x6099 Homing speeds Sub index 0 Access RO Range 2 Size Signed 8 Unit N A Default 2 Type USINT Description The number of the last sub index in this object Sub index 1 Access RW Range ...

Страница 71: ...it User defined position units Default N A Type DINT Description Indicates the command positions that the drive should move to in cyclic sync position mode 0x60C0 Interpolation sub mode select Sub index 0 Access RW Range 0 to 0 Size 2 bytes Unit N A Default 0 Linear Interpolation Type INT Description This will specify the interpolation type The values have the following meanings 0 Linear Interpola...

Страница 72: ... the drive will read the hard speed reference parameter 7 8 1 Velocity actual value This object provides the facility to read the actual velocity feedback value Table 7 64 Velocity actual value 7 8 2 Target velocity This object is used to specify the target velocity value The value is given in user defined units Table 7 65 Target velocity Index Name 606C Velocity actual value 60B1 Velocity Offset ...

Страница 73: ...ional intermediate values if the interpolation_time_period is greater than the interval at which the drive will read the torque reference parameter The drive Motor Rated Current Pr 05 007 or the second motor map equivalent will be read in the background and written to the object motor_rated_current which will be read only 7 9 1 Target torque This object is used to specify the target torque value T...

Страница 74: ...0 Type UINT Description Specifies the maximum current value Value is in 0 1 units e g A value of 1000 equates to 100 0 in Pr 04 007 This value is also changed when Pr 04 007 is written to 0x6077 Torque actual value Sub index 0 Access RO Range 32768 to 32767 Size 2 bytes Unit N A Default 0 Type INT Description Indicates the actual instantaneous torque value Value is in 0 1 units e g A value of 1000...

Страница 75: ...Sub index 0 Access RO Range 0 to 255 Size 1 byte Unit N A Default 0 Type USINT Description A non zero value in this object indicates that an error has occurred The bit s set indicate the type of error present The following bits will be supported 0 Generic error 1 Current 2 Voltage 3 Temperature When an error is indicated in this object the particular error code will be contained in object 0x603F E...

Страница 76: ...Hardware Fault 203 Slot 1 Not Fitted 204 Slot 1 Different 205 Slot 2 Hardware Fault 208 Slot 2 Not Fitted 209 Slot 2 Different 210 Slot 3 Hardware Fault 213 Slot 3 Not Fitted 214 Slot 3 Different 250 Slot 4 Hardware Fault 253 Slot 4 Not Fitted 254 Slot 4 Different 221 Stored HF 0x5400 Power section 111 Config P 220 Power Data 223 Rating Mismatch 0x5510 RAM 227 Sub Array RAM Allocation 0x5530 Data ...

Страница 77: ...h Short Circuit 33 Resistance 0x7300 Sensor 17 Autotune 7 162 to 163 Encoder 12 to Encoder 13 176 Name Plate 189 to 198 Encoder 1 to Encoder 10 218 Temp Feedback 0x7310 Speed 7 Over speed 0x7500 Communication 90 Power Comms 103 Interconnect 0x7600 Data storage external 174 Card Slot 175 Card Product 177 Card Boot 178 Card Busy 179 Card Data Exists 180 Card Option 181 Card Read Only 182 Card Error ...

Страница 78: ...e indicated if this is not the case These modes have an operating mode cycle time of the interpolation cycle time other modes will have an operating mode cycle time matching the synchronous task 250 µs or 5 ms depending on drive type Any operating mode cycle will be restarted every operating mode cycle time in phase with the synchronisation events if synchronization is enabled the operating mode w...

Страница 79: ...ng behaviour of the cyclic data handling to be modified specifically it will allow the tasks in which cyclic data is handled to be changed The default configuration will be specified to reduce delays as much as possible in case it is necessary to close control loops over the network On Unidrive M200 to Unidrive M400 the cyclic data tasks are asynchronous i e there is no OPT_SYNC signal or equivale...

Страница 80: ...t Drive Critical update period The task that occurs immediately after the critical update period up until the Pre Drive Critical Update Period 3 Sync Manager task This is the AL event task which occurs upon a sync manager access Sub index 2 Access RW Range 0 to 2 Size 1 byte Unit N A Default 3 Type USINT Description Intermediate buffer copy task Selects the task in which the high priority out mast...

Страница 81: ... period 1 Drive Critical update period Occurs during the first 70 µs following an edge of the OPT_SYNC signal 2 Post Drive Critical update period The task that occurs immediately after the critical update period up until the Pre Drive Critical Update Period 3 Sync Manager task The AL event task which occurs upon a sync manager access Sub index 2 Access RW Range 0 to 2 Size 1 byte Unit N A Default ...

Страница 82: ...into menus as shown in Table 9 1 Table 9 1 SI EtherCAT internal menus 9 2 Parameter type codes Table 9 2 lists the coding used for the parameter type in the subsequent parameter description tables Table 9 2 Parameter type codes Menu Name Description S 0 Setup Provides module information such as firmware version and serial number S 1 ECAT Status Provides information on the EtherCAT network status S...

Страница 83: ...ndicator 1 to 8 RO 8 S 00 032 Slot menu number 0 to 255 RO 8 S 00 033 Disable drive control 0 Off to 1 On 0 Off RW 1 S 00 034 Allow EEPROM Upgrade 0 Off to 1 On 0 Off RW 1 S 00 035 Configured station alias 0 to 65535 0 RW 16 S 00 036 Sync OUT consistency enable 0 Off to 1 On 0 Off RW 1 S 00 037 Sync OUT consistency parameter 0 00 000 to 9 99 999 0 00 000 RW 32 S 00 038 Sync IN consistency enable 0...

Страница 84: ...255 RO 32 S 02 008 EoE Default gateway 0 to 4294967295 000 000 000 000 to 255 255 255 255 RO 32 S 02 011 EoE Virtual MAC Address 0 to 248 1 0 to FFFFFFFFFFFF RO 64 Parameter Range Default Access Size Bits S 09 000 Parameter mm 00 0 to 65535 RW 16 S 09 010 Pre critical task free 0 to 100 RO 8 S 09 011 Critical task free 0 to 100 RO 8 S 09 012 Post critical task free 0 to 100 RO 8 S 09 020 Pre criti...

Страница 85: ... example serial number 0001234567898765 would be stored as S 00 005 12345 S 00 004 67898765 See Serial Number LS S 00 004 S 00 001 Module ID Minimum 0 Maximum 65535 Default 431 Units Type 16 Bit Volatile Update Rate Power up write Display Format None Decimal Places 0 Coding RO ND NC PT BU S 00 002 Firmware version Minimum 0 Display 00 00 00 00 Maximum 99999999 Display 99 99 99 99 Default Units Typ...

Страница 86: ... Status Minimum 2 Display Bootldr Update Maximum 3 Display Error Default Units Type 8 bit volatile Update Rate Background Display Format Text Decimal Places 0 Coding RO Txt ND NC PT Value Text Description 2 Bootldr Update The bootloader is performing a flash update 1 Bootldr Idle The bootloader is idle 0 Initializing The firmware is currently Initializing 1 OK The firmware is initialised and no er...

Страница 87: ...ser mapped parameter writes will still occur however This allows the data in the EtherCAT configuration EEPROM to be upgraded and it does this by preventing the EtherCAT ASIC from accessing the EEPROM so that the processor can access it this means that EtherCAT communications are disabled This is achieved by setting this parameter to On and performing an option reset S 00 007 On this parameter can...

Страница 88: ...er program for example must check the trigger parameter is 1 before reading the mapped parameters and it should clear the trigger parameter to 0 after all the mapped parameters have been read The SI EtherCAT module will check that the trigger parameter is 0 before writing to the RxPDO destinations and will set the trigger parameter to 1 after the RxPDO destinations have been written S 00 035 Confi...

Страница 89: ... updated when the mapped parameters are ready This prevents data skew between parameters in the output mappings When the output consistency is enabled S 00 040 On the output consistency trigger parameter S 00 041 is used to control the RxPDO data exchange ensuring skew does not occur a user program for example must check the trigger parameter is 1 before reading the mapped parameters and it should...

Страница 90: ...rCAT Status This menu provides status information on the EtherCAT network This parameter displays the EtherCAT Run state as required by the EtherCAT Indicator and Marking Specification It will contain one of the following values All other values will correspond to Unknown State S 00 042 Non sync IN Consistency Enable Minimum 0 Display Off Maximum 1 Display On Default 0 Display Off Units None Type ...

Страница 91: ... zero of any menu 9 4 3 Menu 2 Ethernet over EtherCAT Status This menu provides information on the Ethernet over EtherCAT configuration This parameter shows the EoE IP address of the SI EtherCAT module assigned by the EtherCAT master This parameter shows the EoE Subnet mask of the SI EtherCAT module assigned by the EtherCAT master S 01 002 PDO Accesses per second Minimum 0 Maximum 65535 Default 0 ...

Страница 92: ...synchronously with the drive control loops every 250 µs S 02 008 EoE Default Gateway Minimum 0 Display 000 000 000 000 Maximum 4294967295 Display 255 255 255 255 Default None Units Type 32 bit volatile Update Rate On EtherCAT Initialization Display Format IP Decimal Places 0 Coding RO ND NC PT BU S 02 011 EoE MAC Address Minimum 0 Display 000000000000 Maximum 281474976710655 Display FFFFFFFFFFFF D...

Страница 93: ...ure in degrees Celsius S 09 012 Post critical task free Minimum 0 Maximum 100 Default None Units Type 8 bit volatile Update Rate Written in background Display Format None Decimal Places 0 Coding RO ND NC PT BU S 09 020 Pre critical task worst free Minimum 0 Maximum 100 Default None Units Type 8 bit volatile Update Rate Written in background Display Format None Decimal Places 0 Coding RO ND NC PT B...

Страница 94: ...error condition Table 10 4 Error handling objects 10 3 1 Error register Table 10 5 Error register SI EtherCAT module ID code S 00 001 Default 431 SI EtherCAT Range 0 to 65535 Access RO SI EtherCAT firmware version major and minor xx yy S 00 002 Default N A Range 0 to 65535 Access RO SI EtherCAT module temperature S 09 030 Default N A Range 0 255 Access RO Index Name 0x1001 Error_register 0x603F Er...

Страница 95: ...ground leakage device internal 5 PSU 9 PSU 24V 92 Snubber OI 0x3210 DC link over voltage 2 Over Volts 0x3230 Load error 38 Low Load 0x4310 Excess temperature drive 21 OHt Inverter 22 OHt Power 23 OHt Control 27 OHt dc bus 101 OHt Brake 0x5112 Supply low voltage and U2 supply 24 V 91 User 24V 0x5200 Control device hardware 200 Slot 1 Hardware Fault 203 Slot 1 Not Fitted 204 Slot 1 Different 205 Slo...

Страница 96: ... to Encoder 13 176 Name Plate 189 to 198 Encoder 1 to Encoder 10 218 Temp Feedback 0x7310 Speed 7 Over speed 0x7500 Communication 90 Power Comms 103 Interconnect 0x7600 Data storage external 174 Card Slot 175 Card Product 177 Card Boot 178 Card Busy 179 Card Data Exists 180 Card Option 181 Card Read Only 182 Card Error 183 Card No Data 184 Card Full 185 Card Access 186 Card Rating 187 Card Drive M...

Страница 97: ... too much within the Synchronous task The user can influence the Synchronous Task by reducing the amount of cyclic data or disabling drive control CiA402 To disable drive control set the Pr S 00 033 to On 1 and perform an option reset via Pr S 00 007 Value Pr 10 070 Display Text Description 200 SW fault Software Fault 201 BG Orun Background task overrun 202 FW invalid Invalid firmware for hardware...

Страница 98: ... file for device 0016 Invalid mailbox configuration Slave device changed but network configuration is unchanged Replace previous network description of old slave with the one of the new slave 0017 Invalid Sync Manager configuration PDO length address or direction mismatch Issue a re calculation of the EtherCAT configuration 0018 No valid inputs available No valid inputs available on Slave device C...

Страница 99: ...nd task watchdog activated 002B No valid inputs and outputs Slave device does not provide valid inputs and outputs 002C Fatal Sync error The hardware synchronization signal has stopped Set master to INIT and back to OP so that the DCs are initialized again 002D No Sync error Hardware synchronization signal not detected 0030 Invalid DC SYNC configuration Distributed Clocks configuration is invalid ...

Страница 100: ...ect cannot be mapped to the PDO 0x06040042 The number and length of the objects to be mapped would exceed PDO length 0x06040043 General parameter incompatibility 0x06040047 General internal incompatibility in the device 0x06060000 Access failed due to a hardware error 0x06070010 Data type does not match length of service parameter does not match 0x06070012 Data type does not match length of servic...

Страница 101: ...t is transmitted at regular intervals over the network Data rate Determines the communication speed of the network the higher the value the more data can be sent across the network in the same time period Device A piece of equipment connected to a network this may be any type of equipment including repeaters hubs masters or slaves Double word A 32 bit word this may be signed or unsigned Grounding ...

Страница 102: ...See Poll rate Shielding A connection to provide additional immunity to noise used on a network cable Status word A value that denotes the status of the drive Each bit within the word will have a specific meaning Word A collection of sixteen binary digits ...

Страница 103: ...01 C Compliance 6 Control word 101 Cyclic data 101 Cyclic sync position mode 70 Cyclic Synchronous Velocity Mode 72 D Data rate 101 Device 101 Diagnostics 94 Distributed clocks 78 Double word 101 E Earthing grounding 101 Electrical installation 13 Electrical safety 5 Environmental limits 6 Error handling 94 F Features 7 G Getting started 16 Glossary of terms 101 H Homing mode 64 I Installation 10 ...

Страница 104: ...usting 6 PC 101 PLC 101 Poll rate 101 Polled data 101 Products covered by this User Guide 7 Q Quick start guide 16 S Safe Torque Off 5 Safety information 5 Safety of personnel 5 Scan rate 102 Shielding 102 SI EtherCAT Object Dictionary 21 SI EtherCAT terminal descriptions 14 Status word 102 Supported objects 21 V vl velocity mode 58 W Word 102 ...

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