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CANopen over EtherCAT (CoE)

Emergency telegram

Differences in the state machine under CANopen and EtherCAT

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KHB 13.0005−EN      1.0

 

8.7

Emergency telegram

Via the EtherCAT CoE emergency frame error messages are exchanged between the
master and the slave. The CoE emergency frames serve to directly transfer the emergency
messages defined under CANopen. The CANopen telegrams, like also in the cases of the
SDO and PDO transmission, are simply tunneled through the CoE emergency frames.

Structure of an EtherCAT emergency frame

Mailbox

Header

CoE

Header

Error code

Error register

Data

Data

(optional)

6 bytes

2 bytes

2 bytes

1 byte

5 bytes

1 ... n bytes

Emergency frame area

Description

Mailbox Header

Data for mailbox communication ( length, address, and type )

CoE Header

Identification of the CoE service

Error code

Error code of the CANopen EMERGENCY message

Error register

Error register of the CANopen EMERGENCY message

Data

Data contents of the CANopen EMERGENCY message

Data (optional)

Further optional data
Since the CoE implementation for the 931K servo position controller only
supports the standard CANopen emergency frames, the Data (optional) field is
not supported.

As here also a simple transfer of the emergency messages received and transmitted via CoE
to the CANopen protocol implemented in the 931K servo position controller takes place,
all error messages can be looked up in the CANopen manual for the 931K servo position
controller.

Содержание 931 Series

Страница 1: ...KHB 13 0005 EN Cb Ä Cb ä Communication Manual Servo Drives 930 l 931K EtherCAT ...

Страница 2: ...ve system 12 5 1 2 Network topology 13 5 1 3 Ethernet connection 14 6 Commissioning 15 6 1 Configuration with an EtherCAT configuration tool 15 7 Parameter setting 16 8 CANopen over EtherCAT CoE 18 8 1 CANopen communication objects supported 18 8 2 New communication objects 18 8 2 1 Configuration of the communication interface 19 8 2 2 New and changed CANopen communication objects under CoE 21 8 2...

Страница 3: ...ile 36 8 8 1 Structure of the device description file 36 8 8 2 Receive PDO configuration in the RxPDO node 38 8 8 3 Transmit PDO configuration in the TxPDO node 40 8 8 4 Initialisation commands via the Mailbox node 40 8 9 Synchronisation with Distributed clocks DC 41 9 Index 42 ...

Страница 4: ...on information on the installation and commissioning of the EtherCAT network information on the EtherCAT data transfer EtherCAT monitoring functions communication relevant parameters and different operating modes The theoretical connections are only explained as far as required for understanding EtherCAT communication for servo inverters of the 931 series All trade names listed in this manual are ...

Страница 5: ...enze documentation team 1 2 Conventions used This documentation uses the following conventions to distinguish between different types of information Type of information Identification Examples notes Spelling of numbers Decimal separator Point In general the decimal point is used For instance 1234 56 Decimal Standard notation For example 1234 Hexadecimal 0x 0 9 A F For example 0x60F4 Binary l Nibbl...

Страница 6: ... the fieldbus system Slave EtherCAT node representing a slave in the fieldbus system Station alias address By means of the station alias address a permanent address is assigned to the EtherCAT slave EtherCAT configuration tool Software system for real time execution programming configuration and diagnostics of Small Drives Control SDC control programs HW Hardware SW Software CoE CANopen over Ether...

Страница 7: ...dangerous electrical voltage Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken Danger Danger of personal injury through a general source of danger Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken Stop Danger of property damage Reference to a p...

Страница 8: ...protection Some surfaces may be hot ƒ For Lenze drive components only use permitted accessories only use original manufacturer spare parts ƒ All specifications of the corresponding enclosed documentation must be observed This is vital for a safe and trouble free operation as well as for achieving the specified product features The procedural notes and circuit details provided in this document are ...

Страница 9: ...cation specific safety instructions ƒ Only use cables that comply with the given specifications Documentation for the standard device control system plant machine All the other measures prescribed in this documentation must also be implemented Observe the safety instructions and application notes stated in this manual ...

Страница 10: ...herCAT in accordance with IEEE 802 3u 100Base TX with 100Mbps full duplex ƒ Star and line topology ƒ Connector two M12 sockets shielded and D coded 4 pole ƒ Electrically isolated EtherCAT interface ƒ Communication cycle 1 6ms task ƒ Max 127 slaves ƒ EtherCAT slave implementation is based on the FPGA image ESC10 ...

Страница 11: ...ation profile EtherCAT Communication medium S FTP Screened Foiled Twisted Pair ISO IEC 11801 or EN 50173 CAT 5e Interface 2 M12 sockets standard Ethernet in accordance with IEEE 802 3 100Base TX Fast Ethernet Network topology Line star Number of nodes Max 127 Max cable length 100 m typical Node type EtherCAT slave Baud rate 100 Mbps Conformities approvals CE ...

Страница 12: ...or cables ƒ Connect the shields of control cables data lines at both ends in the case of digital signals ƒ Use an equalizing conductor with a cross section of at least 16 mm2 reference PE to avoid potential differences between the bus nodes ƒ Observe the other notes concerning EMC compliant wiring given in the documentation for the standard device Wiring procedure 1 Observe bus topology 2 Observe ...

Страница 13: ...sively ƒ For correct operation it is necessary that the Ethernet sockets IN and OUT are assigned correctly ƒ The direction of data transmission is from the master to the slaves I Tip The termination of the last node is effected automatically by the slave Switch topology M S SD SD E94AYCET006 Fig 5 2 Switch topology M Master S Switch SD Slave Device The wiring can also be carried out in a star stru...

Страница 14: ...ith the below specifications Specification of the Ethernet cable Ethernet standard Standard Ethernet in accordance with IEEE 802 3 100Base TX Fast Ethernet Cable type S FTP Screened Foiled Twisted Pair ISO IEC 11801 or EN 50173 CAT 5e Damping 23 2 dB at 100 MHz and per 100 m Crosstalk damping 24 dB at 100 MHz and per 100 m Return loss 10 dB per 100 m Surge impedance 100 W Design of the Ethernet ca...

Страница 15: ... configuration tool is required ƒ Lenze Small Drives Control SDC This is a software system for real time execution programming configuration and diagnostics of control programs ƒ The basic parameters of the EtherCAT bus system are stored in the internal configuration memory and can be used by the master for the node detection ƒ During the search for nodes bus scan the corresponding device descript...

Страница 16: ...o position controller can be activated Please note that you can only alter the parameters mentioned when the protocol is deactivated Note Please note that the parameterisation of the EtherCAT functionality is only preserved after a reset if the parameter set has been saved in the 931K servo position controller EtherCAT communication can also be monitored in the Small Drives Control via the PDO edi...

Страница 17: ...put stage is active and the drive can be actuated with setpoints The data input range receive PDOs and the data output range transmit PDOs have been changed by the control according to the selections of the XML file of the devices The current parameters of the device in the input range are shown in brackets behind the objects If an object in the left field of the PDO editor is selected using the c...

Страница 18: ...ion SDO Service Data Object Are used for the standard parameterisation of the controller PDO Process Data Object Quick exchange of process data e g actual speed possible EMCY Emergency Message Transfer of error messages The individual objects that can be addressed via the CoE protocol in the 931K servo position controller are transferred to the existing CANopen implementation within the controller...

Страница 19: ... manual However the parameterisation of the PDOs and SDOs for transmitting the objects via EtherCAT is different to the settings that have to be made under CANopen In order to integrate the CANopen objects which are to be exchanged between the master and slave via PDO or SDO transfers into the EtherCAT protocol a so called sync manager is implemented under EtherCAT This sync manager serves to inte...

Страница 20: ...arried out via the PDO editor of the SDC Basically the setting of the sync channels and the configuration of the PDOs can only be carried out in the Pre operational state Note EtherCAT does not allow for carrying out the parameterisation of the slave on one s own For this purpose the device description files are provided They contain the entire parameterisation including the PDO parameterisation w...

Страница 21: ...it PDO 0x1C00 Sync Manager Communication type Object for the configuration of the individual sync channels SDO or PDO transfer 0x1C10 Sync Manager PDO Mapping for Sync channel 0 Assignment of sync channel 0 to a PDO SDO Channel 0 is always reserved for the mailbox receive SDO transfer 0x1C11 Sync Manager PDO Mapping for Sync channel 1 Assignment of sync channel 1 to a PDO SDO Channel 1 is always r...

Страница 22: ... for the different channels of the EtherCAT sync manager can be read out Since the 931K only supports the first four sync channels under the EtherCAT CoE protocol the following objects can only be read Therefore the configuration of the sync manager is fixedly configured for the 931K The objects have the following meaning Sync Manager Communication Type Index 0x1C00 Name Sync Manager Communication...

Страница 23: ...2 Mailbox Transmit Master Slave Default Value 2 Mailbox Transmit Master Slave Sync Manager Communication Type Subindex 3 Description Communication Type Sync Channel 2 Access ro PDO Mapping no Value Range 0 unused 3 Process Data Output TxPDO Master Slave Default Value 3 Sync Manager Communication Type Subindex 4 Description Communication Type Sync Channel 3 Access ro PDO Mapping no Value Range 0 un...

Страница 24: ...channel Note The name Number of assigned PDOs that is defined for subindex 0 of these objects by the EtherCAT specification is misleading here as the sync manager channels 0 and 1 are always assigned by the mailbox telegram In this telegram type SDOs are always transmitted under EtherCAT CoE Subindex 0 of these objects thus remains unused Object 0x1C11 Sync Manager Channel 1 Mailbox Send Via this ...

Страница 25: ... to this channel 1 one PDO assigned to this channel 2 two PDOs assigned to this channel Default Value 2 two PDOs assigned to this channel Sync Manager Channel 2 Process Data Output Subindex 1 Description PDO Mapping object Number of assigned RxPDO Access rw PDO Mapping no Value Range 0x1600 first Receive PDO 0x1601 second Receive PDO Default Value 0x1600 first Receive PDO Sync Manager Channel 2 Pr...

Страница 26: ...to this channel 1 one PDO assigned to this channel 2 two PDOs assigned to this channel Default Value 2 two PDOs assigned to this channel Sync Manager Channel 3 Process Data Input Subindex 1 Description PDO Mapping object Number of assigned TxPDO Access rw PDO Mapping no Value Range 0x1A00 first Transmit PDO 0x1A01 second Transmit PDO Default Value 0x1A00 first Transmit PDO Sync Manager Channel 3 P...

Страница 27: ...ber of decimal positions for displaying position values in the control 0x608A position_dimension_index Specifies the unit for displaying position values in the control 0x608B velocity_notation_index Specifies the number of decimal positions for displaying speed values in the control 0x608C velocity_dimension_index Specifies the unit for displaying speed values in the control 0x608D acceleration_no...

Страница 28: ...nchronised by the master This also includes establishing asynchronous communication between the master and the slave mailbox telegram protocol There is no direct communication between the master and the slave yet If all devices which are connected to the bus have been configured a change over to the Pre operational state is effected Pre operational In this state asynchronous communication between ...

Страница 29: ...on process data telegram protocol Slave stops sending actual values to the master Master stops sending setpoints to the slave SI Stop of cyclic communication process data telegram protocol Stop of acyclic communication mailbox telegram protocol Slave stops sending actual values to the master Master stops sending setpoints to the slave OI Stop of cyclic communication process data telegram protocol ...

Страница 30: ...ate machine the EtherCAT state machine is used In some points it differs from the CANopen state machine The differences between the response of the CANopen and EtherCAT state machines are specified in the following ƒ No direct transition from Pre operational to Power on ƒ No Stopped state but a direct transition to the Init state ƒ Additional state Safe operational CANopen State EtherCAT State Pow...

Страница 31: ...on object Data optional Further optional data This option is not supported by the 931K servo position controller since only standard CANopen objects can be addressed The maximum size of these objects is 32 bits In order to transmit a standard CANopen object via such an SDO frame the actual CANopen SDO frame is packed and transmitted within an EtherCAT SDO frame Standard CANopen SDO frames can be u...

Страница 32: ...y to the PDO configuration PDO mapping have to be assigned to a transmission channel of the sync manager The data exchange of PDOs for the 931K servo position controller exclusively takes place via the EtherCAT process data telegram protocol Note The transmission of CANopen process data PDOs via acyclic communication mailbox telegram protocol is not supported by the 931K servo position controller ...

Страница 33: ...ot offer any equivalent telegrams for the sync telegrams defined under CANopen and the FPGA block ESC10 used in the 931K servo position controller does not support synchronisation via the Distributed Clocks specified under EtherCAT For further information please refer to the CANopen manual of the 931K servo position controller Note The 931K servo position controller with the EtherCAT technology mo...

Страница 34: ...red The following errors are monitored here An unknown service is requested A protocol different from CANopen over EtherCAT CoE is to be used An unknown sync manager is addressed All these errors are included in the list of error messages for the 931K servo position controller If one of the above mentioned errors occurs it is transferred to the control via a standard emergency frame Note The 931K ...

Страница 35: ...es 1 byte 5 bytes 1 n bytes Emergency frame area Description Mailbox Header Data for mailbox communication length address and type CoE Header Identification of the CoE service Error code Error code of the CANopen EMERGENCY message Error register Error register of the CANopen EMERGENCY message Data Data contents of the CANopen EMERGENCY message Data optional Further optional data Since the CoE impl...

Страница 36: ...L file always has a tree structure within which individual branches are defined by nodes These nodes have a starting and an end mark A node can contain an optional number of subnodes The device description file for the 931K servo position controller under EtherCAT CoE is divided into the following subnodes Main nodes of the device description file Node designation Meaning Adaptable Vendor This nod...

Страница 37: ...r this node commands can be defined which are transferred by the master to the slave during the phase transition from Pre operational to Operational via SDO transfers Yes Since solely the nodes from the Important subnodes of the Description node table are important to the user for adapting the device description file they are described in detail in the following chapters The remaining contents of ...

Страница 38: ... be mapped into the PDO Nodes in the configuration of the receive PDO Node designation Meaning Adaptable RxPDO Fixed 1 Sm 2 This node directly describes the state of the receive PDO and its assignment to the sync manager The entry Fixed 1 indicates that the mapping of the object cannot be changed The entry Sm 2 indicates that the PDO is to be assigned to sync channel 2 of the sync manager No Index...

Страница 39: ...dex This entry indicates the subindex of the CANopen object to be mapped Yes BitLen This entry indicates the size of the object to be mapped in bits This entry always has to correspond to the type of object to be mapped Permissible 8 bits 16 bits 32 bits Yes Name This entry indicates the name of the object to be mapped as a string Yes DataType This entry indicates the data type of the object to be...

Страница 40: ...n entry contains the CANopen object number index and subindex and the data value which is to be written and a comment A typical entry has the following form InitCmd Transition PS Transition Index x6060 Index SubIndex 0 SubIndex Data 03 Data Comment velocity mode Comment InitCmd In the above example the operating mode in the CANopen object modes_of_operation is set to Speed control in the state tra...

Страница 41: ...hase Then the clocks are reset in all slaves during operation This provides a uniform time base in the entire system to which the individual slaves can synchronise The sync telegrams provided for this purpose under CANopen are dispensed with under CoE Since the FPGA ESC10 used in the 931K servo position controller does not support distributed clocks no time synchronisation can be carried out There...

Страница 42: ...O frame structure 31 EtherCAT state machine 28 Ethernet cable specifications 14 Ethernet cable design 14 Ethernet connection 14 I Installation 12 electrical 12 Interface 11 L Line topology 13 M Max cable length 11 N Network topology 11 Node type 11 Notes definition 7 Number of nodes 11 P Parameter data transfer 31 Parameter setting 16 PDO frame structure 32 Process data transfer 32 Product descrip...

Страница 43: ...rmany Service Lenze Service GmbH Breslauer Straße 3 D 32699 Extertal Germany 49 0 51 54 82 0 00 80 00 24 4 68 77 24 h helpline Ê 49 0 51 54 82 28 00 Ê 49 0 51 54 82 11 12 Lenze Lenze de Service Lenze de ü www Lenze com KHB 13 0005 EN Cb 1 0 TD34 10 9 8 7 6 5 4 3 2 1 ...

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