Instruction Manual HIPERDRIVE with EtherCAT
2
Table of Contents
1
Safety precautions ................................................................................................................... 5
1.1
Appropriate use .............................................................................................................. 5
1.2
Shipping, assembly, electrical connections and start-up................................................. 5
1.3
Troubleshooting, maintenance, repairs, disposal ........................................................... 5
1.4
Symbols ......................................................................................................................... 6
2
The HIPERDRIVE concept ...................................................................................................... 6
3
Device description: HIPERDRIVE Hub .................................................................................... 7
3.1
Pin assignment HIPERDRIVE Hub ................................................................................ 7
3.2
Setting the device address ............................................................................................. 8
3.3
LEDs and jog keys for the HIPERDRIVE Hub ................................................................ 8
3.4
Meaning of the LED statuses of LED “RS485” ............................................................. 10
3.5
Start-up: HIPERDRIVE Hub ......................................................................................... 11
4
Device description: HIPERDRIVE bus adapter ...................................................................... 12
4.1
Assembly of the HIPERDRIVE drives with bus adapter ................................................ 12
4.2
Pin assignment: HIPERDRIVE bus adapter ................................................................. 12
4.3
Setting the device address ........................................................................................... 13
4.4
LEDs for the HIPERDRIVE bus adapter ....................................................................... 14
4.5
Meaning of the LED statuses of LED “RS485” ............................................................. 15
4.6
Start-up: HIPERDRIVE bus adapter ............................................................................. 15
5
The EtherCAT interface ......................................................................................................... 16
5.1
EtherCAT interface with CoE protocol (CANopen over EtherCAT) ............................... 16
5.2
Table of entries implemented from object dictionary ..................................................... 17
5.3
PDO format .................................................................................................................. 27
5.4
Detailed description of status bits ................................................................................. 27
5.5
Detailed description of control bits ................................................................................ 29
5.6
Flow chart .................................................................................................................... 32
6
Jog function ........................................................................................................................... 33
6.1
Jog function with jog keys on the drive ......................................................................... 33
6.2
Jog function with jog keys in the HIPERDRIVE Hub ..................................................... 33
7
Special features ..................................................................................................................... 34
7.1
Target speed (r.p.m.) and torque .................................................................................. 34
7.2
Response of the drive in case of block ......................................................................... 34
7.3
Response of the drive if it is turned manually (readjustment function) .......................... 34
7.4
Using actual value assessment factors to set the spindle pitch .................................... 34
7.5
Aborted run when the master fails ................................................................................ 35
