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Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®

6

Control of the MOVITRAC

®

B frequency inverter

Operating Behavior in Connection with EtherCAT

®

6

Operating Behavior in Connection with EtherCAT

®

This chapter describes the basic behavior of the frequency inverter in connection with
EtherCAT

®

with control via process data objects (PDO) for fieldbus communication.

6.1

Control of the MOVITRAC

®

B frequency inverter

The MOVITRAC

®

B frequency inverter is controlled via the fixed PDO, which are 3 or

10 process data words long. When using an EtherCAT

®

master, the process data words

are directly mapped in the process image and can so be addressed directly by the con-
trol program.

3008266251

SEW

Drive

Ether

CAT

Ethernet

Header

Frame

Header

EtherCAT

Header

Data

...

EtherCAT

Master

SEW

Drive

SEW

Drive

FCS

I/O

Drive 1

Drive 2

Drive 3

INFORMATION

For more information about control via the process data channel, in particular regard-
ing the coding of the control and status word, refer to the "MOVITRAC

®

B Communi-

cation and Fieldbus Unit Profile" manual

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Содержание FSE24B EtherCAT

Страница 1: ...Drive Technology Drive Automation System Integration Services Manual Communication Interface FSE24B EtherCAT for MOVITRAC B Edition 04 2013 20126956 EN...

Страница 2: ...SEW EURODRIVE Driving the world...

Страница 3: ...onal documentation 8 3 2 Characteristics 8 3 2 1 MOVITRAC B and EtherCAT 8 3 2 2 Access to all information 8 3 2 3 Cyclic data exchange via EtherCAT 8 3 2 4 Acyclic data exchange via EtherCAT 9 3 2 5...

Страница 4: ...rCAT 27 6 3 Parameterization return codes 28 7 Operating MOVITOOLS MotionStudio via EtherCAT 29 7 1 About MOVITOOLS MotionStudio 29 7 1 1 Tasks 29 7 1 2 Functional principle 29 7 2 First steps 31 7 2...

Страница 5: ...o property and other notes 1 2 2 Structure of section safety notes Section safety notes do not apply to a specific action but to several actions pertaining to one subject The used symbols indicate eit...

Страница 6: ...stics and performance requirements SEW EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non observance of these operating instructions In such cas...

Страница 7: ...B inverters may not perform any safety functions without higher level safety systems Use higher level safety systems to ensure protection of equipment and personnel For safety applications ensure tha...

Страница 8: ...ications 3 2 Characteristics 3 2 1 MOVITRAC B and EtherCAT The unit behavior of the inverter that forms the basis of EtherCAT operation is referred to as the unit profile It is independent of any part...

Страница 9: ...eldbus specific settings are made during startup of the EtherCAT system This means the frequency inverter can be integrated into the EtherCAT environment and switched on quickly 3 2 6 Monitoring funct...

Страница 10: ...option cannot be used together with other communi cation options FSC or I O expansions FIO in MOVITRAC B When using the FSE24B communication option one additional diagnostic interface RS485 is availa...

Страница 11: ...rposes LED RUN green Shows the operating status of bus electronics and communi cation LED ERR red Displays EtherCAT errors LED SYS F red Displays the status of the communication between FSE24B and MOV...

Страница 12: ...following measures ensure the best possible shielding Manually tighten the mounting screws on the connectors modules and equipotential bonding conductors Use only connectors with a metal housing or a...

Страница 13: ...eypad parameter P093 You can set a fixed additional device ID at the back of the FSE24B using the DIP switches S1 and S2 The device ID can be read in MOVITOOLS MotionStudio via pa rameter group P09_ o...

Страница 14: ...ERATIONAL Mailbox and process data communication is possible Condition Error Description Off No error The EtherCAT communication of FSE24B is in the operat ing state Flickering Boot error A boot error...

Страница 15: ...flashes once shortly 200 ms followed by a longer off phase 1000 ms 3013459851 Flashing twice The display flashes twice in quick suc cession followed by an off phase 3013463435 Flashing three times The...

Страница 16: ...7 4 LED Link Activity green Each EtherCAT port for incoming EtherCAT cables X30 IN and outgoing EtherCAT cables X30 OUT has a Link Activity LED It indicates whether the EtherCAT con nection to the pr...

Страница 17: ...g to the requirements of your project planning soft ware Once the file has been installed correctly the unit appears next to the slave stations under SEW EURODRIVE Drives with the designation MOVIT RA...

Страница 18: ...DO with 10 cyclic process output data words that are connected in fixed con figuration with the standard process data of MOVITRAC B see MOVITRAC B Communication and Fieldbus Unit Profile manual The pr...

Страница 19: ...rocess output data 1A00hex 6656dec 6 bytes InputData1 standard 3 PI Fixed con tent 3 0 1A01hex 6657dec 20 bytes InputData1 standard 10 PI Fixed con tent 3 0 Index Size Name Mapping Sync Manager Sync U...

Страница 20: ...and Fieldbus Unit Profile manual The process input data PI4 PI10 are only available in IPOSplus 3015784203 Index Subindex Offset in the PDO Name Data type Size in bytes 3E1C 0hex 15900 0dec 0 0 PI1 UI...

Страница 21: ...ly when using the FSE24B communication option The MOVITRAC B frequency inverter now responds to the process output data transmitted from the master programmable controller FSE24B automatically sets th...

Страница 22: ...e MOVITRAC B frequency inverter is controlled via the fixed PDO which are 3 or 10 process data words long When using an EtherCAT master the process data words are directly mapped in the process image...

Страница 23: ...inCAT subdirectory IO Eth erCAT you can use the function Append box in the offline mode to insert a MOVITRAC B in the EtherCAT structure see following figure In online mode i e when connected with the...

Страница 24: ...ens Enter your data in the field Dec or Hex Handle the PO2 process output data in the same way The process input and output data words are assigned and scaled in MOVITRAC B in the parameter group 87_...

Страница 25: ...herCAT The SDO services READ and WRITE which are common in CoE CAN application pro tocol over EtherCAT provide access to the drive parameter in EtherCAT 6 2 1 SDO services READ and WRITE The user inte...

Страница 26: ...1 Creating an instance of the function module FB_EcCoESdoRead 2 The inputs of the function module are assigned as follows sNetID Net ID of the EtherCAT master nSlaveAddr EtherCAT address of the SEW un...

Страница 27: ...the parameter tree using the key combination CTRL F1 For implementation in TwinCAT the function module FB_EcCoESdoWrite is required This function module is available in the TcEtherCAT lib library You...

Страница 28: ...le the internal setpoint n11 index 8489 subindex 0 was set to a speed of 100 rpm According to the MOVITRAC B Communication and Fieldbus Unit Profile manual the required speed must be multiplied by a f...

Страница 29: ...ons with the units 7 1 2 Functional principle Overview The following figure illustrates the functional principle of the MOVITOOLS Motion Studio software package Note that the illustration shows only t...

Страница 30: ...r allows you to create communication channels Once the channels are established the units communicate via these communication channels using their communication options You can operate up to four comm...

Страница 31: ...rograms SEW MOVITOOLS MotionStudio MOVITOOLS Motion Studio 2 Create a project with a name and directory 7 2 2 Establishing communication and scanning the network Proceed as follows to establish a comm...

Страница 32: ...Select the unit usually the power section 1 in the network view 2 Right click to open the context menu and display the tools for configuring the unit The example shows the context menu with the tools...

Страница 33: ...19 1 Hard drive of the engineering PC 2 RAM of the engineering PC 3 Engineering PC 4 Unit Tools Description Offline tools Changes made using offline tools affect ONLY the RAM 2 Save your project so th...

Страница 34: ...menu and display the tools for configuring the unit INFORMATION The online communication mode is NOT a response message which informs you that you are currently connected to the unit or that your uni...

Страница 35: ...tallation on different units without SEW controller page 37 The EtherCAT master and MOVITOOLS MotionStudio run on different units This is the case if no suitable Windows based operating system is avai...

Страница 36: ...he illustration shows case 1 case The EtherCAT master and MOVITOOLS Motion Studio are installed in the same unit 3266486283 1 Monitor 2 PC with EtherCAT master with integrated mailbox gateway MBX and...

Страница 37: ...aster and MOVITOOLS Motion Studio are installed in different units 3266490251 1 PC with Ethernet interface and MOVITOOLS MotionStudio 2 Ethernet network 3 Engineering interface of the EtherCAT master...

Страница 38: ...n the EtherCAT master Activate VoE EoE support on the EtherCAT controller Activate the connection with the TCP IP stack and IP routing Specify the IP address of the EtherCAT mailbox gateway The IP add...

Страница 39: ...via the EtherCAT master to the mailbox gateway The command for creating a static route in the DOS box is route p add Target MASK Netmask Gateway 2 Variant Access to the mailbox gateway by determining...

Страница 40: ...ox gateway is established correctly To do so proceed as follows Open a command line interface window on your engineering PC to enter a DOS command Enter ping and the IP address of the EtherCAT mailbox...

Страница 41: ...communication channel 2 3 Click Edit 3 in the right section of the window This will display the settings for the Ethernet communication type 4 Set the communication parameters Follow the instructions...

Страница 42: ...r the IP address of the mailbox gateway in the EtherCAT master in the IP address input field 3 and click the OK button 18014399831358731 1 Activate access without master check box Note Activate this c...

Страница 43: ...ant to read or change parameters directly in the unit Click the Switch to offline mode button 2 if you want to read or change parameters in the project 3 Select the unit you want to parameterize 4 Ope...

Страница 44: ...lds 7 5 3 Starting up units online Proceed as follows to start up the units online 1 Switch to the network view 2 Click on Switch to online mode 1 in the toolbar 3 Select the unit you want to startup...

Страница 45: ...stalling the communication option FSE24B Step 1 Check the connection between the inverter and EtherCAT Step 2 Response of the RUN LED Is the bus connected plugged into the master inverter NO A YES Wha...

Страница 46: ...E OPERATIONAL state A boot error was detected Boot the FSE24B option If the ERR LED continues to flicker option FSE24B is defective Flashes red twice Case 1 RUN LED lights up green slave is in OPERATI...

Страница 47: ...ashing Requirement RUN LED flashes green slave is in PRE OPERATIONAL state RUN LED lights up green once slave is in SAFE OPERATIONAL state Invalid configuration Repair the configuration error and star...

Страница 48: ...address Setting via EtherCAT master display with P093 XML file name SEW_FSE24B xml Vendor ID 0x59 CANopenVendor ID EtherCAT services CoE and EoE VoE Firmware status of MOVIDRIVE B The transmission of...

Страница 49: ...Diagnostic procedures for troubleshooting 45 Disposal 7 E Error diagnostics 45 Establishing communication with other units 30 EtherCAT Communication with EtherCAT 41 Exclusion of liability 6 Executing...

Страница 50: ...mentation 6 Safety functions 7 Structure 5 Structure of embedded safety notes 5 Structure of section safety notes 5 Setting the MOVITRAC B frequency inverter 21 Setting the station address 13 Signal w...

Страница 51: ......

Страница 52: ...URODRIVE Driving the world SEW EURODRIVE Driving the world www sew eurodrive com SEW EURODRIVE GmbH Co KG P O Box 3023 D 76642 Bruchsal Germany Phone 49 7251 75 0 Fax 49 7251 75 1970 sew sew eurodrive...

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