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SFA-5000 • SFA-10000 EtherCAT

6.2.4 Service Data Objects (SDO)

SDO messages are issued via Mailbox (low priority data); Segmented SDO Service
and SDO Complete Access are not supported (transfer of low size data and one
sub-index at a time).

“CoE Cmd type” = 2 or 3

Structure of “Cmd specific data”:

Cmd specific data

SDO control

Index

Sub index

Data

Data optional

8 bits

16 bits

8 bits

32 bits

1 … 1470 bytes

SDO control

standard CANopen SDO Service

Index

parameter index

Sub index

parameter sub-index

Data

parameter value

Data optional

optionally, more then 4 bytes of data can be sent in one frame.
Full mailbox size usable.

Index and sub-index values are described in the “Object Dictionary”.

6.2.5 Object dictionary

The most important part of a device profile is the Object Dictionary. The Object
Dictionary is essentially a grouping of objects accessible via the network in an
ordered, pre-defined mode. Each object within the dictionary is addressed using
a 16-bit index.
The Object Dictionary can contain a maximum of 65,536 entries.
The user-related objects are grouped in two main areas:  the Communication
Profile   Area   and   the   Standardised   Device   Profile   Area.   The   objects   are   all
described in the XML file.

The 

Communication Profile Area

 at indexes from 1000h to 1FFFh contains the

communication specific parameters for the EtherCAT network. These entries are
common   to   all   devices.   PDO   objects   and   SDO   objects   are   described   in   this
section. The Communication Profile Area objects comply with the “CiA Draft
Standard Proposal 301. Application Layer and Communication Profile”. Refer to
the “Communication Profile Area objects (DS 301)” section on page 63.

The  

Standardised   Device   Profile   Area

  at   indexes   from   6000h   to   9FFFh

contains all data objects common to a  class of devices that can be read or
written via the network. The device profiles may use entries from 6000h to
9FFFh   to   describe   the   device   parameters   and   the   device   functionality.   The
Standardised Device Profile Area  objects comply with the “CiA Draft Standard
406 CANopen Device profile for encoders”. Refer to the “Standardised Device
Profile Area objects (DS 406)” section on page 68.

MAN SFA_5000_10000_EC E 1.0.odt

6 - EtherCAT® interface

61 of 84

Содержание SFA-10000-EC

Страница 1: ...mplements the CoE protocol and the EtherCAT State Machine Suitable for the following models SFA 5000 EC SFA 10000 EC General Contents 1 Safety summary 16 2 Identification 18 3 Mechanical installation...

Страница 2: ...on herein is subject to change without notice and should not be construed as a commitment by Lika Electronic s r l Lika Electronic s r l reserves the right to make all modifications at any moments and...

Страница 3: ...Line Termination 25 4 5 Ground connection 25 4 6 Diagnostic LEDs 26 5 Quick reference TwinCAT 27 5 1 System configuration using TwinCAT software system from Beckhoff 27 5 1 1 Setting the Network Card...

Страница 4: ...63 1018 Identity 64 01 Vendor ID 64 02 Product code 64 03 Revision 64 04 Serial number 65 1A00 01 TxPDO mapping 65 01 Mapped Object 001 65 1C00 Sync Manager Communication Type 65 01 SM MailBox Receiv...

Страница 5: ...r of turns 78 6503 00 Errors 78 6504 00 Supported errors 78 6505 00 Warnings 78 6506 00 Supported warnings 78 Flash memory error 79 6509 00 Offset value 79 6 2 6 SDO Abort codes 80 6 2 7 Emergency Err...

Страница 6: ...ng status 77 6501 00 Hardware counts per revolution 77 6502 00 Hardware number of turns 78 6503 00 Errors 78 6504 00 Supported errors 78 6505 00 Warnings 78 6506 00 Supported warnings 78 6509 00 Offse...

Страница 7: ...nt to highlight the parts of the text where information of great significance for the user can be found user must pay the greatest attention to them Instructions must be followed strictly in order to...

Страница 8: ...of the moving equipment causes the wire to reel and unreel and thus the linear movement to be converted into a rotary motion detected by the encoder which is coupled to the drum The stroke per turn is...

Страница 9: ...network device Application process Part of a distributed application on a network which is located on one device and unambiguously addressed Application relationship Cooperative association between tw...

Страница 10: ...f messages across the network Connection Logical binding between two application objects within the same or different devices Consume Act of receiving data from a provider Consumer Node or sink receiv...

Страница 11: ...l element and or a final element transducer actuator etc Device profile Collection of device dependent information and functionality providing consistency between similar devices of the same device ty...

Страница 12: ...chine Interface Host Device that covers the automation functionality of an automation device I O data Input data and output data that would typically need to be updated on a regular basis e g periodic...

Страница 13: ...connected by some type of communication medium including any intervening repeaters bridges routers and lower layer gateways Node Single DL entity as it appears on one local link End point of a link i...

Страница 14: ...stems Reference variable Input variable to a comparing element in a controlling system which sets the desired value of the controlled variable and is deducted from the command variable Resource Proces...

Страница 15: ...Synchronous with SM3 In this mode data is sampled and then copied into Sync Manager buffer as soon as previous data was read from the Master SM event in this way new sampled data is synchronous with...

Страница 16: ...on in the 4 Electrical connections section on page 23 in compliance with 2014 30 EU norm on electromagnetic compatibility following precautions must be taken before handling and installing the equipme...

Страница 17: ...ronmental characteristics of the product we suggest installing the unit providing protection means against waste especially swarf as turnings chips or filings should this not be possible please make s...

Страница 18: ...rder code and the serial number when reaching Lika Electronic For any information on the technical characteristics of the product refer to the technical catalogue Warning encoders having order code en...

Страница 19: ...trical connection and maintenance operations must be carried out by qualified personnel only with power supply disconnected Mechanical components must be in stop 3 1 Overall dimensions Values are expr...

Страница 20: ...the provided M6 nuts 2 WARNING We suggest installing the unit providing protection means against waste especially swarf as turnings chips or filings should this not be possible please make sure that a...

Страница 21: ...200 mm 7 874 the maximum number of turns is 25 for SFA 5000 and 50 for SFA 10000 EXAMPLE 1 SFA 5000 EC 8192 M12 using the physical resolution Scaling function in 6000 00 Operating parameters 0 Stroke...

Страница 22: ...revolutions 6002 00 Total Measuring Range 4 096 6001 00 Units per revolution Linear resolution 0 1 mm 100 m Max number of turns of the drum 50 Max measuring length 10 000 mm 393 7 Number of informati...

Страница 23: ...the technical catalogue Figure 1 Connectors and diagnostic LEDs 4 1 M12 connectors The connection cap is fitted with three M12 connectors with pin out in compliance with the EtherCAT standard Therefor...

Страница 24: ...ccording to IEEE 802 3 remains intact right up to the individual device no sub bus is required In order to meet the requirements of a modular device like an electronic terminal block the physical laye...

Страница 25: ...automatically in fact every Slave is able to detect the presence of the downstream Slaves For complete information refer to the 6 1 4 Line Termination section on page 51 4 5 Ground connection To mini...

Страница 26: ...wed by a long OFF phase 1000 ms L A Link Activity yellow It shows the state of the physical links IN and OUT and the activity in the links OFF condition port closed link YES activity N A FLICKERING co...

Страница 27: ...Device profile for encoders documents available at the address www can cia org For any omitted specification on EtherCAT protocol please refer to ETG 1000 EtherCAT Specification documents available at...

Страница 28: ...and show the list of the installed devices Select the network card you want to use and then confirm the choice pressing the OK button If there are no network cards installed you must install one befor...

Страница 29: ...ation of TwinCAT RT Ethernet Adapter window will appear Now select the Compatible Devices item and choose the network card you want to install finally press the Install button to confirm your choice M...

Страница 30: ...es If devices are connected to the network and switched ON right click the Device 1 EtherCAT item in the left pane of the TwinCAT System Manager main window and press the Scan Boxes command MAN SFA_50...

Страница 31: ...re here below If devices are not already connected to the network it is necessary to use the XML file supplied with the draw wire encoder Lika_SFA_XXXXX_ECx_Vx xml V6 or higher see at www lika biz ROT...

Страница 32: ...tem in the left pane of the TwinCAT System Manager main window some tabbed pages for configuring and managing the device will appear in the right pane Enter the CoE Online page and refer to the 1009 0...

Страница 33: ...he Insert EtherCAT Device window will appear In the Insert EtherCAT Device window that appears select Lika Electronic srl and then EtherCAT Encoder items now choose from the list the encoder you want...

Страница 34: ...es for configuring and managing the device will appear in the right pane Enter DC page Select the Synchronous with SM3 Inputs option in the Operation Mode box For any further information on the Synchr...

Страница 35: ...box Then press the Advanced Settings button The Advanced Settings window will appear In the section tabbed SYNC 0 set the cycle time next to the Sync Unit Cycle box sync time is calculated as multipl...

Страница 36: ...e tabbed pages for configuring and managing the device will appear in the right pane Enter the Process Data page In this page process data objects TxPDO Mapping are shown Process data objects can be d...

Страница 37: ...managing the device will appear in the right pane Enter the CoE Online page In this page the Object Dictionary is shown This is the offline version of the objects dictionary as read from the XML file...

Страница 38: ...n real time click the Safe OP button if you want to display inputs only click the OP button if you want to display both inputs and outputs WARNING The structure of Data Objects PDO and SDO requires by...

Страница 39: ...t then install the XML file version V6 WARNING It is mandatory that in an EtherCAT network all devices are provided with the same version of the firmware EEProm and XML file So when you need to replac...

Страница 40: ...the HEX Editor item 3 Press the Read from File button and select the BIN file provided by Lika Electronic to upgrade the EEProm please make sure you select the file suitable for the model you need to...

Страница 41: ...previous Advanced Settings page and press the Download button Now wait until the EEProm writing process is carried out The progress bar below in the page displays the progress of the operation As soo...

Страница 42: ...XXXX EC items in the list Select each box and then press the DEL key in the PC keyboard Press OK to confirm 7 In the left pane of the TwinCAT System Manager main window select and right click the Devi...

Страница 43: ...SFA 10000 EtherCAT 8 At the end of the scanning process all the devices available in the network are listed as shown in the Figure here below MAN SFA_5000_10000_EC E 1 0 odt 5 Quick reference TwinCAT...

Страница 44: ...upgrade all the encoders in the network to the last version compatible with the new encoder or you must downgrade the new encoder to the older version compatible with the encoders already installed in...

Страница 45: ...d pages for configuring and managing the device will appear in the right pane Enter the Online page 2 Press the Bootstrap button in the State Machine box in the BOOT state the encoder is ready to acce...

Страница 46: ...must select the file ECATFW_SFA_Hx_Sy efw finally press the Open button NOTE In the EFW file Hx is the hardware version of the encoder while Sy is the software version 4 In the Edit FoE Name page tha...

Страница 47: ...the Online page in the TwinCAT System Manager main window and press the Pre Op button in the State Machine box if everything is ok the encoder enters the PREOPERATIONAL state the PREOP message appear...

Страница 48: ...can be viewed as a single and large Ethernet device that receives and sends Ethernet telegrams it can be considered an Ethernet subnet supported by an Ethernet dataframes structure However this subnet...

Страница 49: ...ire all data from all Slaves In fact the frame sent by the Master is read by each Slave node the data is addressed to while the telegram passes through the device similarly input data is inserted whil...

Страница 50: ...in the same structure The maximum length of the cable between two Slaves is 100 m 328 ft standard EtherCAT cables commercially available can be used The choice of the topology depends on the structur...

Страница 51: ...ect the signal in its return line then it closes the communication ring by short circuiting the TX signal of its outgoing line with the RX signal of its return line in this way a telegram received thr...

Страница 52: ...cal position of the Slave inside the network while 16 bits are scheduled for local memory addressing when the Slave receives the frame then it increments the position address and the Slave receiving a...

Страница 53: ...ter a certain time and the measure of the variability over time is the jitter FreeRun Asynchronous mode the encoder position is sampled directly from EtherCAT frame sent by the Master the position upd...

Страница 54: ...s See the 1C33 SM input parameter entry on page 66 Synchronous with DC SYNC0 In this operating mode data is sampled and then copied into Sync Manager buffer simultaneously at SYNC0 event generated by...

Страница 55: ...re is not direct communication between the Master and the Slave on the Application Layer some configuration registers are initialized and the Sync Managers are configured PRE OPERATIONAL PREOP in this...

Страница 56: ...his goal can be achieved by using distributed clocks The Master downloads its clock into one of the Slaves customarily the first Slave which becomes the reference clock for all the Slaves in the netwo...

Страница 57: ...th the Master and the Slave for writing and reading the Master or the Slave is enabled to write only when the buffer is empty that is when the Slave or the Master has finished reading the data buffer...

Страница 58: ...SFA 5000 SFA 10000 EtherCAT It contains the TxPDOs i e Sync Manager 3 holds the Write Process Data MAN SFA_5000_10000_EC E 1 0 odt 6 EtherCAT interface 58 of 84...

Страница 59: ...G 1000 EtherCAT Specification document available at the address www ethercat org 6 2 1 XML file EtherCAT draw wire encoders are supplied with their own XML file Lika_SFA_XXXXX_ECx_Vx xml V6 or higher...

Страница 60: ...O response 4 Transmitted PDO TxPDO 5 Received PDO RxPDO 6 Remote transmission request of TxPDO 7 Remote transmission request of RxPDO 8 SDO information 9 15 reserved Cmd specific data PDO messages are...

Страница 61: ...maximum of 65 536 entries The user related objects are grouped in two main areas the Communication Profile Area and the Standardised Device Profile Area The objects are all described in the XML file...

Страница 62: ...2 1 0 MSbit LSbit Signed16 Unsigned16 data type Process data bytes byte 4 byte 5 7 0 15 8 LSByte MSByte Signed32 Unsigned32 data type Process data bytes byte 4 byte 5 byte 6 byte 7 7 0 15 8 23 16 31 2...

Страница 63: ...hardware version 2 100A 00 Software version String ro It shows the software version of the device expressed in ASCII code Default 533036h S06 software version 6 1010 01 Store parameters Unsigned32 rw...

Страница 64: ...saved are lost 1018 Identity Unsigned8 ro This object contains general information about the device Sub Index 00 contains the number of entries Default 4 01 Vendor ID Unsigned32 ro It provides the man...

Страница 65: ...object describes the content of the PDO by its index sub index and length The length contains the length of the application object in bits This may be used to verify the mapping 7 0 15 8 23 16 31 24 L...

Страница 66: ...dex 00 specifies the number of entries i e the number of assigned TxPDOs 01 SubIndex 001 Unsigned32 ro This device uses TxPDO messages to send the position value Default 0000 1A00h 1A00 01 TxPDO mappi...

Страница 67: ...d bit 2 Synchronous with DC SYNC0 supported Default 7 05 Minimum cycle time Unsigned32 ro Max duration of the encoder internal cycle time This parameter is calculated dynamically and depends on the op...

Страница 68: ...the bit 0 Code sequence of the 6500 00 Operating status object see on page 77 WARNING Every time you change the Code sequence then you are required to set a new preset value see the 6003 00 Preset va...

Страница 69: ...2 00 Total Measuring Range objects that are consistent with the physical values In the case of inconsistent values the system will warn about the wrong parametrization and fault condition by means of...

Страница 70: ...554 43210 8 192 cpr 4 096 rev Let s set a new singleturn resolution for instance 6001 00 Units per revolution 360 cpr If we do not change the 6002 00 Total Measuring Range value at the same time we wi...

Страница 71: ...whatever integer value less than or equal to the overall hardware resolution see the encoder identification label The overall hardware resolution results from 6501 00 Hardware counts per revolution 65...

Страница 72: ...4 217 728 information Physical linear resolution 0 024 mm 24 m Max number of turns of the drum 25 Max measuring length 5 000 mm 196 85 Number of information 204 800 Let s suppose that we need a tenth...

Страница 73: ...e 10 6001 00 Units per revolution In this case you will obtain several 20 000 information sections following each other all along the whole measuring length The position information will be from 0 to...

Страница 74: ...he position is physical or scaled 6003 00 Preset value 6509 00 Offset value If you never set the 6003 00 Preset value and you never performed the preset setting then the transmitted value and the read...

Страница 75: ...value object and perform the preset operation every time you change the Code sequence or the scaled values 6001 00 Units per revolution and or 6002 00 Total Measuring Range objects 6004 00 Position v...

Страница 76: ...the bit 2 Scaling function in the 6000 00 Operating parameters object 0 The physical singleturn resolution of the measuring device is 8 192 cpr 0 024 mm see the order code in the product datasheet As...

Страница 77: ...the counting direction function refer to the 6000 00 Operating parameters object on page 68 Scaling function It shows the value that is currently set through the bit 2 Scaling function in the 6000 00...

Страница 78: ...ysical revolutions The Total hardware resolution results from 6501 00 Hardware counts per revolution 6502 00 Hardware number of turns If you want to set a custom number of revolutions see the 6001 00...

Страница 79: ...he value in this object you must upload the factory default values see the 1011 01 Restore default parameters object on page 63 For any further information on the preset function and the meaning and u...

Страница 80: ...ibility reason 0604 0047h General internal incompatibility in the device 0606 0000h Access failed due to a hardware error 0607 0010h Data type does not match length of service parameter does not match...

Страница 81: ...ONAL to OPERATIONAL not successful Encoder errors 5000hex Hardware error 5001hex Diagnostic data wrong parameters loaded from flash memory Error Register EtherCAT state machine current status ESM Diag...

Страница 82: ...te using the protocol File over EtherCAT FoE For any specification on FoE protocol please refer to ETG 1000 EtherCAT Specification document available at the address www ethercat org Please refer also...

Страница 83: ...00 00 Operating parameters 0100h Bit 0 Code sequence 1 count up information when pulling the cable out Bit 2 Scaling function 0 disabled 6001 00 Units per revolution 0000 2000h 8 192 cpr 6002 00 Total...

Страница 84: ...Release date Description HW SW XML file version 1 0 22 01 2018 First issue 2 6 From release V6 to Lika Electronic Via S Lorenzo 25 36010 Carr VI Italy Tel 39 0445 806600 Fax 39 0445 806699 info lika...

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