104
Digitax HD M753 Control User Guide
Issue Number: 3
Table 9-27 Sync manager 2 PDO assignment object
Table 9-28 Sync manager 3 PDO assignment object
Table 9-29 Sync manager 4 PDO assignment object
Table 9-30 Sync manager 5 PDO assignment object
Sync managers 2 and 3 are used for high-priority deterministic process
cyclic data.
Sync managers 4 and 5 are used for low-priority non-deterministic
process cyclic data, they support:
•
A maximum of 32 x 32-bit parameters allowed in each PDO when
PDO6 is used (maximum of 12 x 32-bit parameters only in other
PDOs).
•
Slot parameter mapping (e.g. SI-Applications Plus menu 7x
parameters)
•
Note: when using slot parameter mapping, the data size must be 4
bytes (32 bits)
•
Minimum cycle time of 2 ms.
9.13.5
Feedback encoder source
Table 9-31 Feedback encoder source
If the position feedback encoder configuration is changed then the
change will only be made active upon a module reset or changing the
mode of operation (0x6060), however, if the module is reset to activate
the change then a "Sync Task Orun" trip may be seen.
The value of objects 0x3000 will be ignored on drives which do not
support position feedback.
9.14
Ethernet over EtherCAT(EoE)
This protocol allows standard Ethernet messages and protocols to be
tunnelled through the EtherCAT network; it is an EtherCAT mailbox
protocol which provides a means to fragment Ethernet frames and pass
the fragments within EtherCAT datagrams.
It is possible to upgrade the Digitax HD M753 host drive firmware via
EoE and the EtherCAT master using the change firmware function in
Connect.
Updating the EtherCAT interface firmware via the EtherCAT master is
not possible. To update the EtherCAT interface firmware it is necessary
to connect to the drive via the KI-Compact 485 Adaptor and a USB to
EIA-485 or EIA-232 to EIA485 isolated converter. A suitable USB to
EIA-485 converter is available from the supplier of the drive (Part
number 4500-0096). The EtherCAT interface firmware can then be
upgraded using the change firmware function in Connect.
When a drive firmware update or a file download via EoE is performed,
EtherCAT interface may report a “Drive Sync Loss” warning and send an
'SafeOp' state.
Some configuration of the PLC is required to establish the EoE tunnel
which involves allocation of IP addresses to the EtherCAT modules and
to allow forwarding of packets. This is documented with the PLC
documentation.
0x1C12
Sync manager 2 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 RxPDOs assigned to this sync manager (used for
process data output).
Sub-indices 1 to (sub-index 0)
Access: RW
Range: 0x1600
to 0x17FF
Size: 2 bytes
Unit: N/A
Default:
One of the defined RxPDO
mappings
Type: UINT
Description:
The object index of an RxPDO to assign to this sync manager. The
default RxPDO assigned to the object is depending on the drive
type and operation mode. For example, with M753 in open loop
mode, by default this is assigned to RxPDO mapping 6
(vl_target_velocity and controlword)
, which is 0x1605 in
hexadecimal.
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 sync manager (used for
process data input).
Sub-indices 1 to (sub-index 0)
Access: RW
Range: 0x1A00
to 0x1BFF
Size: 2 bytes
Unit: N/A
Default:
One of the defined TxPDO
mappings
Type: UINT
Description:
The object index of a TxPDO to assign to this sync manager. The
default TxPDO assigned to the object is depending on the drive
type and operation mode. For example, with M753 in open loop
mode, by default this is assigned to TxPDO mapping 6
(vl_velocity_actual_value and statusword)
, which is 0x1A05 in
hexadecimal.
0x1C14
Sync manager 4 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 RxPDOs assigned to this sync manager (used for
low priority
process cyclic data).
Sub-index 1 to (sub-index 0)
Access: RW
Range: 0x1A00
to 0x1BFF
Size: 2 bytes
Unit: N/A
Default: 0
Type:
UINT
Description:
The object index of a RxPDO to assign to this sync manager.
0x1C15
Sync manager 5 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 sync manager (used for
low priority
process cyclic data).
Sub-index 1 to (sub-index 0)
Access: RW
Range: 0x1A00
to 0x1BFF
Size: 2 bytes
Unit: N/A
Default: 0
Type:
UINT
Description:
The object index of a TxPDO to assign to this sync manager.
0x3000
Position Feedback Encoder Configuration
Sub-index 0
Access: RW
Range: 0 to 11
Size: 1 byte
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 - Drive feedback source, P2 interface.
3 - Slot 1 position feedback module, P1 interface.
4 - Slot 1 position feedback module, P2 interface.
5 - Slot 2 position feedback module, P1 interface.
6 - Slot 2 position feedback module, P2 interface.
11 - Sensorless (the sensorless algorithm estimates position
feedback).
This value will be ignored on drives where no encoder input is
present.
This object will be read upon a transition from the EtherCAT Pre-
operational state to the Safe-operational state.
NOTE
NOTE
NOTE
Содержание Digitax HD M753 EtherCAT
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