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7

Data transmission with PDO and SDO

ID 441896.05

WE KEEP THINGS MOVING

Operation manual

24

7.1

Process data transmission with PDO service

Process data is transferred by the master cyclically after every pass of the PLC 
task. STÖBER ANTRIEBSTECHNIK devices provide four PDO channels. Each 
PDO channel has one reception direction (rx) and one transmission direction (tx) 
from the point of view of the device.
It is possible to operate up to four independent PDO channels simultaneously. All 
data from all PDO channels is transferred in direct sequence with EtherCAT.
The parameters that are defined as the content of these PDOs appear in the 
control program of the EtherCAT master as 

variables

.

7.1.1

Process data mapping

Process data imaging specifies which parameters (communication objects) will 
be transferred with the process data channel (PDO service). The devices of the 
5th generation of STÖBER inverters support flexible imaging of the 
communication objects on the PDO channels. This mechanism is called PDO 
mapping.

PDO mapping

One parameter with six sub-elements for each sending direction exists for each 
PDO channel on the inverter. The addresses of the parameters are entered in the 
sub-elements whose contents are then transferred via the PDO channel. Based 
on the number and size of the entered objects the inverter expects a certain 
number of bytes in the PDO telegram. If too many bytes are received the extra 
data are ignored. If too few bytes are received the incomplete target objects are 
left unchanged.

Settings ...

There are two ways to set mapping:
•

In the parameter list of the POSITool software (recommended)

•

In the EtherCAT master (e.g., with Beckhoff controllers: TwinCAT System 
Manager)

Both mechanisms address the mapping parameter or one of its sub-elements. 
This is addressed in the SDO telegram with EtherCAT in POSITool with 
STÖBER's address.

... via EtherCAT with SDO telegram

One sub-element of the mapping parameter has four bytes. The SDO telegram 
writes the sub-element with index, subindex and, optionally, the bit length of the 
parameter to be mapped. The bit length of the mapped parameter does not have 
to be specified during transmission to the inverter. The length is supplied when 
the parameter is read out of the inverter.

Содержание FDS 5000

Страница 1: ...EtherCAT Operation manual Fundamentals Communication Parameters V 5 6 H or later 09 2013 en ...

Страница 2: ...n 8 2 6 Service 8 2 7 Disposal 8 2 8 Presentation of notes on safety 9 3 Installation 10 3 1 Install in MDS 5000 or SDS 5000 10 3 2 Installation in the FDS 5000 13 4 Electrical installation 15 4 1 IN and OUT sockets 15 4 2 Connection Cable 16 5 Fundamentals of EtherCAT 17 5 1 How it functions 18 5 2 State machine 19 6 User interface of the ECS 5000 21 7 Data transmission with PDO and SDO 23 7 1 Pr...

Страница 3: ... 48 11 Commissioning with TwinCAT 68 11 1 Components 68 11 2 Device description file 68 11 3 Installing the driver for EtherCAT 69 11 4 Startup of the device on EtherCAT 69 11 5 Monitoring the process data connection to TwinCAT 73 11 6 Activation of the synchronization with TwinCAT 75 12 POSITool over EtherCAT 78 12 1 Prerequisites 78 12 2 Activating mailbox gateway 80 12 3 Reading and sending dat...

Страница 4: ...lowing manuals 1 EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Manual Contents ID Latest versiona Commissioning Instructions Reinstallation replacement function test 442297 V 5 6 H Projecting manual Installation and connection 442273 V 5 6 H Operating manual Set up the inverter 442285 V 5 6 H a At the time of publication You can find all vers...

Страница 5: ... contact Phone 49 7231 582 3060 E mail applications stoeber de If you have questions about the documentation please contact E mail electronics stoeber de If you have questions about training sessions please contact E mail training stoeber de Manual Contents ID Latest versiona POSITool operating manual Information on the basic functions of POSITool 442233 V 5 6 H Programming manual Information on p...

Страница 6: ...entation is purely a product description It does not represent promised properties in the sense of warranty law 2 1 Component part of the product The technical documentation is a component part of a product Since the technical documentation contains important information always keep it handy in the vicinity of the device until the machine is disposed of If the product is sold disposed of or rented...

Страница 7: ...tood and complied with 2 4 Transportation and storage Inspect the delivery for any transport damage immediately after you receive it Notify any damage to the transport company immediately Do not operate the product if damaged Store the device in a dry and dust free room if you do not install it immediately Activity Possible occupational qualifications Transportation and storage Worker skilled in s...

Страница 8: ...ainst restart 3 Check that voltage is not present 4 Earth and short circuit 5 Cover adjacent live parts Afterwards you can carry out the work 2 6 Service Repairs must only be performed by STÖBER ANTRIEBSTECHNIK GmbH Co KG Send faulty devices with a fault description to STÖBER ANTRIEBSTECHNIK GmbH Co KG Abteilung VS EL Kieselbronner Str 12 75177 Pforzheim Germany GERMANY 2 7 Disposal Please comply ...

Страница 9: ...means that minor injury may occur if the stated precautionary measures are not taken WARNING Warning means that there may be a serious danger of death if the stated precautionary measures are not taken DANGER Danger means that serious danger of death exists if the stated precautionary measures are not taken Information indicates important information about the product or a highlighted portion of t...

Страница 10: ...ctric shock Before installing accessories turn off all voltage supplies Then wait 5 minutes for the DC link capacitors to discharge Never begin with accessory installation until after this CAUTION Danger of property damage due to electrostatic discharge among others Provide suitable protective measures while handling open PCBs e g ESD clothing environment free of dirt and grease Do not touch the c...

Страница 11: ... ECS 5000 in an MDS 5000 or SDS 5000 1 Unscrew the mounting screws and remove the cover plate 2 From below stick the RJ45 plug connector of the PCB through the plate which is included with the ECS 5000 accessories 3 Secure the plate to the PCB with the included screw with locking disk ...

Страница 12: ...KEEP THINGS MOVING Operation manual 12 4 Insert the option PCB in the inverter so that the gold contacts slide into the black terminal block 5 Secure the plate to the inverter with the mounting screws You have installed the accessory ...

Страница 13: ...erty damage due to electrostatic discharge among others Provide suitable protective measures while handling open PCBs e g ESD clothing environment free of dirt and grease Do not touch the contact surfaces You will need the following to install the ECS 5000 a TX10 Torx screwdriver a Phillips screwdriver The cover plate shown below which is included with the accessories of the ECS 5000 The screw wit...

Страница 14: ... plate which is included with the ECS 5000 accessories 3 Secure the plate to the PCB with the included screw with locking disk 4 From below stick the RJ45 plug connector of the PCB through the plate which is included in the ECS 5000 accessories 5 Secure the plate to the inverter with the mounting screws You have installed the accessory ...

Страница 15: ...therCAT slave e g inverter has an IN X200 and an OUT X201 RJ 45 socket The incoming EtherCAT cable coming from the direction of the master is plugged into the IN socket The OUT socket is connected to the next station CAUTION Unexpected movements The connection order determines the address of devices in the EtherCAT network Connecting devices differently will cause the addressing to change resultin...

Страница 16: ...id transmission problems The individual contacts of the RJ 45 socket are allocated as per the T 568 B standard as shown in the table below Pin Color Cable Core Pair Function 1 white orange 2 TxData 2 orange 2 TxData 3 white green 3 RecvData 4 blue 1 Unused 5 white blue 1 Unused 6 green 3 RecvData 7 white brown 4 Unused 8 brown 4 Unused Information Since a very large selection of inexpensive Ethern...

Страница 17: ...y However these networks do not offer real time capability due to the kind of cabling that they use and the rules governing access rights This problem was corrected with EtherCAT EtherCAT means Ethernet for Controller and Automation Technology It was developed by Beckhoff Automation GmbH and is now supported by the international organization EtherCAT Technology Group ETG EtherCAT is an open techno...

Страница 18: ... telegram The master sends the telegram to the first station This station and all other stations receive the packet change it as described and send it on to the next station Fig 5 2 Data processing EtherCAT stations When the packet arrives at the last station this station determines that no cable is plugged into a next station Using a logical short circuit it sends the data via the other core pair...

Страница 19: ...ed Pre Operational Inverter is ready for parameterization in preparation for actual operation via SDO Safe Operational EtherCAT master reads actual values from the inverter via PDO and SDO Operational EtherCAT master and inverter exchange reference values and actual values via PDO and SDO Transition Actions IP Start mailbox communication PI Stop mailbox communication PS Start input update SP Stop ...

Страница 20: ... Safe Operational Operational If for example the TwinCAT software from Beckhoff Automation GmbH is used these steps can be executed automatically by the System Manager or individually as needed When a controller program is started on the TwinCAT PLC the startup is executed automatically OI Stop output update stop input update stop mailbox communication Transition Actions ...

Страница 21: ...terns to show different error states The following tables show the exact descriptions Fig 6 1 Placement of the LEDs Description of the RUN Indicator green LED State Description Init State LED is continuously off Communication between master and the drive is not possible Preoperational No process data communication is possible in this state Safeoperational The actual values of the drive are transfe...

Страница 22: ...ket is not connected to any other active EtherCAT port this LED is continuously off Error Description No Error No error LED is continuously off Booting Error Error while the ECS 5000 option board is being initialized LED flickers Invalid Configuration Configuration invalid LED flashes Unsolicited State Change Slave changed the state without being asked LED 1 flash Application Watchdog Timeout Watc...

Страница 23: ...thin an SDO telegram by the index and subindex PDO A PDO telegram PDO Process Data Object is used to transfer data that is used to control and monitor the ongoing process and for which a short transfer time is required No objects are addressed in the telegram Instead the contents of the previously selected parameters are sent directly Drive controller with EtherCAT accessories Set of all communica...

Страница 24: ...O mapping One parameter with six sub elements for each sending direction exists for each PDO channel on the inverter The addresses of the parameters are entered in the sub elements whose contents are then transferred via the PDO channel Based on the number and size of the entered objects the inverter expects a certain number of bytes in the PDO telegram If too many bytes are received the extra dat...

Страница 25: ...s 0 to 5 In Fig 7 1parameter A180 is the first mapped parameter Fig 7 1 Mapping in POSITool When parameters from an axis are mapped the prefix must be specified 2 B11 nominal motor power parameter of the second axis List of the parameters which can be mapped to process data PDO mapping cannot be used for all parameters The parameters which can be mapped are identified in the parameter list with th...

Страница 26: ...able Must be HIGH Removal of the enable can also trigger a quick stop set enable quick stop A44 1 active The brakes are applied and the end stage switches off Bit 1 Acknowledge reset faults Bit 2 Quick stop The active ramp is I17 for position control or D81 speed control Bits 3 7 must remain 0 Offers other special functions which are not needed in this application D230 n Soll Relativ 16 INT Relati...

Страница 27: ...it 6 Local Local operation is activated Bit 7 Bit 7 in A180 device control byte is copied once every device controller cycle to bit 7 in E200 device status byte When bit 7 in A180 is toggled the higher level PLC is informed of a concluded communication cycle send evaluate return data For PROFIBUS for example this permits cycle time optimized communication The handshake bit 7 in A180 E200 supplies ...

Страница 28: ...with the high level Bit 7 PID upper limit G181 With the high level the PID controller has reached the value in G08 on the output Bit 8 PID lower limit G182 With the high level the PID controller has reached the value in G09 on the output Bit 9 Actual value reached D183 With the high level the motor speed has reached the reference value specification C40 Bit 10 Ref value prohibited D184 With the hi...

Страница 29: ...d 16 I16 Indication of the current motor torque in Nm As related to nominal motor torque with asynchronous control modes As related to standstill torque M0 with servo control modes Smoothed for indication on the device display The unsmoothed variable can be accessed via E90 Parameter Bit Length Data Type Content ...

Страница 30: ...erCAT shows the structure of an SDO message Fig 7 2 Structure of an SDO message The mailbox consists of the mailbox header and the mailbox data The header indicates that the data contain a CANopen over EtherCAT telegram The telegram consists of the COE header and the COE data The COE header specifies that the following data contains an SDO request message shows the structure of the mailbox header ...

Страница 31: ... with this type of transmission Data organization on the bus uses the Intel Format The most significant byte word has the higher address in storage and is sent later to the bus Little Endian 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte 23hex LSB MSB LSB MSB LSB MSB Command Index Sub Index LSW Data MSW Data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8t...

Страница 32: ...e request with positive Initiate Domain Upload Response Negative response to an attempt to read or write In case of error the Server inverter responds to an Upload or Download Request with Abort Domain Transfer Example Set parameter C01 n Max to 2500 rpm 1 Get index and Subindex from EDS file Index 2401hex Subindex 0 2 Convert decimal number 2500 to a hexadecimal number 09C4hex 3 Enter the bytes i...

Страница 33: ...ject parameter cannot be mapped to PDO 0604 0042 Number or length of the objects being transferred exceeds the PDO length 0604 0043 General parameter incompatibility 0604 0047 General internal parameter incompatibility 0606 0000 Access denied due to a hardware error 0607 0010 Wrong data type or length of the service parameter does not match 0607 0012 Wrong data type or length of the service parame...

Страница 34: ...DO ID 441896 05 WE KEEP THINGS MOVING Operation manual 34 0800 0023 Dynamic generating of the object directory failed or no object directory available Is there a valid configuration in the drive controller Error code hexadecimal Meaning ...

Страница 35: ...ervice Example You would like to find parameter A154 2 Area no Group Starting Index Ending Index 1 A 2000hex 21FFhex 2 B 2200hex 23FFhex 3 C 2400hex 25FFhex 4 D 2600hex 27FFhex 5 E 2800hex 29FFhex 6 F 2A00hex 2BFFhex 7 G 2C00hex 2DFFhex 8 H 2E00hex 2FFFhex 9 I 3000hex 31FFhex 10 J 3200hex 33FFhex 11 K 3400hex 35FFhex 12 L 3600hex 37FFhex 13 M 3800hex 39FFhex 14 N 3A00hex 3BFFhex 15 O 3C00hex 3DFFh...

Страница 36: ... SDO ID 441896 05 WE KEEP THINGS MOVING Operation manual 36 Calculation Start index of parameter group A 2000hex Line of the parameter 154dec 9Ahex Index and subindex result from this as follows Index 2000hex 9Ahex 209Ahex Subindex 2 ...

Страница 37: ...e no error error code This procedure automatically keeps the master informed of the occurrence of a fault and when this fault state was exited and what the precise cause of the fault was The inverter specifies three pieces of information on the type of malfunction in the message as required by CANopen The inverter changes to fault 41 Temperature motor TMS The inverter exits the fault Coding of the...

Страница 38: ...x Header CoE Header Emergency Message 0A 00 00 00 00 03 00 10 10 43 08 29 00 00 00 00 Error Code Hex value Designation Error Register Hex value Designation E82 Ereignis Code Decimal value Designation 0hex no error 0 no error 30 No event 2110hex short circuit earth 2 current 31 Short ground 2230hex intern short circuit earth 2 current 32 Short ground internal 2310hex continous overcurrent 2 current...

Страница 39: ...re 1 generic error 57 Second activation 2110hex short circuit earth 2 current 58 Grounded 4280hex temperature device I2t 8 temperature 59 Overtemperature device i2t 6200hex user software 1 generic error 60 67 Application event 0 to 7 9000hex external error 1 generic error 68 External fault 2 7120hex motor 1 generic error 69 Motor connection 6300hex data record 1 generic error 70 Parameter consiste...

Страница 40: ...te machine at the time the emergency message is sent The following table lists possible coding The DiagCode value gives information on what caused the error 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte A0hex 00hex 01hex 02hex 0 0 0 0 Emergency Error code Error Register DiagCode DiagData 1 and 2 Emergency Error Code Meaning A000hex Transition from Pre Operational to Safe ...

Страница 41: ...6hex PDO length is not correct 07hex SyncManager parameterized incorrectly 08hex SyncManager at impermissible address SyncManager 2 process data out 09hex SyncManager at impermissible address 0ahex PDO length is not correct 0bhex SyncManager parameterized incorrectly 0chex SyncManager at impermissible address SyncManager 3 process date in 0dhex SyncManager at impermissible address 0ehex PDO length...

Страница 42: ...aster 2 Value 2 The cycle time of the SYNC0 signal is set to less than 1 ms Set the time to a higher value on the master 3 Value 3 The cycle time of the SYNC0 signal must be a whole number multiple of 1000 µs Set the time to a whole number multiple of 1 ms on the master 4 Value 4 The device internal PLL could not be started Check the parameter G95 Information Remember that when a fieldbus and the ...

Страница 43: ... along to all slaves Due to the signal runtime of the telegram the connected slaves are provided with the reference values at different times The concept of distributed clocks DC is used to synchronize the slaves with the master Each slave has a high precision clock with its own time base After these clocks are calibrated by the master with a reference clock they continue running synchronously by ...

Страница 44: ...SYNC0 2 ms 4 ms 6 ms 8 ms etc Monitoring synchronization Monitoring of the synchronization is activated by setting the parameter A260 1 When monitoring is active the inverter checks to determine whether the EtherCAT telegram arrives within a specified time period in relation to the SYNC0 signal If there was too much jitter the error counter is incremented in A261 2 The error counter is reset when ...

Страница 45: ...er Fig 9 2 Jitter of the PLL regulation Description Jitter typical maximum PLL on the inverter 20 µs 40 µs Telegram depends on the master cannot be influenced by the inverter settings 10 of the SPS cycle time No info available SYNC0 signal Inverter task typ 20 s µ typ 20 s µ Inverter task Inverter task ...

Страница 46: ...the register has 64 bits If with the ET1100 not all 64 bits are written correctly synchronization cannot start If you activate synchronization on the side of the EtherCAT master please note this change and read the Hardware Data Sheet ET1100 for more information Pay particular attention to chapter 9 1 Clock Synchronization and the section there called Definition of the System Time and also chapter...

Страница 47: ...this happens the drive stops the Relay 1 opens and the fault 52 communication appears on the display with the cause 6 EtherCAT PDO The fault can only be exited by an acknowledgment either with the hardware enable the ESC key or via the additional enable bit via EtherCAT see inverter documentation Function Value in A258 inactive 0 or 65535 STÖBER watchdog 1 to 99 the timeout time is always 100 mill...

Страница 48: ...7 1602hex or A228 1603hex can then be entered as necessary in the other elements The value 0 indicates a blank entry Axis Global Data type U16 Value 0 1600hex 65535 representation hexadecimal Index 20FChex Subindex 0hex A252 1 EtherCAT Sync Manager 2 PDO Assign The Sync Manager 2 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Contro...

Страница 49: ...lso be instanced here Axis Global Data type U16 Value 0 0000hex 65535 representation hexadecimal Index 20FChex Subindex 2hex A252 3 EtherCAT Sync Manager 2 PDO Assign The Sync Manager 2 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller ESC in which the process output data with reference values are sent by the EtherCAT master...

Страница 50: ...er elements The value 0 indicates a blank entry Axis Global Data type U16 Value 0 1A00hex 65535 representation hexadecimal Index 20FDhex Subindex 0hex A253 1 EtherCAT Sync Manager 3 PDO Assign The Sync Manager 3 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller ESC in which the process input data with actual values are sent ...

Страница 51: ...so be instanced here Axis Global Data type U16 Value 0 0000hex 65535 representation hexadecimal Index 20FDhex Subindex 2hex A253 3 EtherCAT Sync Manager 3 PDO Assign The Sync Manager 3 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller ESC in which the process input data with actual values are sent by the inverter to the Ethe...

Страница 52: ...e value is usually specified by the EtherCAT master It is either derived from position of the station within the EtherCAT ring or is purposely selected by the user Values usually start at 1001 hexadecimal 1001hex is the first device after the EtherCAT master 1002hex is the second and so on Axis Global Data type U16 Value 0 0 65535 Index 2100hex Subindex 0hex A257 0 EtherCAT Diagnosis ...

Страница 53: ...ate 0x18 Error during operational state Part 2 of the text means Er Abbreviation of EtherCAT device error X Digit for state 0 No error 1 Booting error ECS 5000 error 2 Invalid configuration select configuration with EtherCAT in POSITool 3 Unsolicited state change inverter has changed state by itself 4 Watchdog no more data from EtherCAT even though timeout time expired 5 PDI watchdog host processo...

Страница 54: ...of lost connections hexadecimal on the port Axis Global Data type Str16 Value Index 2101hex Subindex 1hex A257 2 EtherCAT Diagnosis Indication of internal inverter diagnostic information on the EtherCAT interface ECS 5000 and the connection to the EtherCAT A text with the following format is indicated in element 2 R0 xxxx R1 xxxx Part 1 of the text means R0 Abbreviation for Rx ErrorCounter Port 0 ...

Страница 55: ... PDO If the EtherCAT master shuts down this station correctly exits the OPERATIONAL state the monitoring function is not triggered The timeout time can be set in milliseconds with this parameter The following special setting values are available 0 Monitoring inactive 1 to 99 Monitoring by STÖBER watchdog is active Timeout time is always 1000 milliseconds From 100 Monitoring by STÖBER watchdog is a...

Страница 56: ...of the EtherCAT network or the master If the value 65534 was set in another parameter A258 EtherCAT PDO Timeout the timeout can be set in the EtherCAT master TwinCAT software The result is then indicated in this parameter Element 1 contains whether the watchdog was just triggered 1 or not 0 When the watchdog is triggered and the function is activated see value 65534 in parameter A258 the fault 52 ...

Страница 57: ...me range When monitoring is activated Sync errors are counted with an error counter and indicated in parameter A261 2 Synchronization mode is deactivated and activated by entering the following values 0 Synchronization deactivated 1 Synchronization active Other values are not defined and are therefore not permitted Information When the PLC cycle time is not the SYNC0 cycle time all synchronization...

Страница 58: ...EtherCAT with synchronization 6 Internal error Inverter interrupt could not be initialized Possible cause Firmware error Other values Not defined Axis Global Data type U32 Value Index 2105hex Subindex 0hex A261 1 EtherCAT Sync Diagnostics This element is reserved Axis Global Data type U32 Value Index 2105hex Subindex 1hex A261 2 EtherCAT Sync Diagnostics This parameter indicates the synchronizatio...

Страница 59: ...type U16 Value 0 Not synchronized 1 Synchronized with AL event on this Sync Manager 2 Synchronized with AL event Sync0 3 Synchronized with AL event Sync1 32 Synchronized with AL event of SM0 33 Synchronized with AL event of SM1 34 Synchronized with AL event of SM2 35 Synchronized with AL event of SM3 Index 2106hex Subindex 0hex A262 1 EtherCAT Sync Manager 0 Cycle time The parameter indicates the ...

Страница 60: ... Manager 0 write mailbox which was set by the controller on the inverter Since Sync Managers for mailbox communication are never synchronized the parameter can only have the following values 0 not synchronized No other values possible Information Please note that the shift time is set exclusively by the controller If you change the parameter your settings will have no effect Axis Global Data type ...

Страница 61: ...type U16 Value 0 Not synchronized 1 Synchronized with AL event on this Sync Manager 2 Synchronized with AL event Sync0 3 Synchronized with AL event Sync1 32 Synchronized with AL event of SM0 33 Synchronized with AL event of SM1 34 Synchronized with AL event of SM2 35 Synchronized with AL event of SM3 Index 2107hex Subindex 0hex A263 1 EtherCAT Sync Manager 1 Cycle time The parameter indicates the ...

Страница 62: ... Manager 1 read mailbox which was set by the controller on the inverter Since Sync Managers for mailbox communication are never synchronized the parameter can only have the following values 0 not synchronized No other values possible Information Please note that the shift time is set exclusively by the controller If you change the parameter your settings will have no effect Axis Global Data type U...

Страница 63: ...ng mode is set exclusively by the controller If you change the parameter your settings will have no effect Axis Global Data type U16 Value 0 Not synchronized 1 Synchronized with AL event on this Sync Manager 2 Synchronized with AL event Sync0 3 Synchronized with AL event Sync1 32 Synchronized with AL event of SM0 33 Synchronized with AL event of SM1 34 Synchronized with AL event of SM2 35 Synchron...

Страница 64: ...r 2 Shift time The parameter indicates the value of the shift time in ns for Sync Manager 2 output process data which was set by the controller on the inverter Information Please note that the shift time is set exclusively by the controller If you change the parameter your settings will have no effect Axis Global Data type U32 Value 0 Not synchronized 1 Synchronized with AL event on this Sync Mana...

Страница 65: ...ontroller If you change the parameter your settings will have no effect Axis Global Data type U16 Value 0 Not synchronized 1 Synchronized with AL event on this Sync Manager 2 Synchronized with AL event Sync0 3 Synchronized with AL event Sync1 32 Synchronized with AL event of SM0 33 Synchronized with AL event of SM1 34 Synchronized with AL event of SM2 35 Synchronized with AL event of SM3 Index 210...

Страница 66: ...hat the shift time is set exclusively by the controller If you change the parameter your settings will have no effect Axis Global Data type U32 Value 0 Not synchronized 1 Synchronized with AL event on this Sync Manager 2 Synchronized with AL event Sync0 3 Synchronized with AL event Sync1 32 Synchronized with AL event of SM0 33 Synchronized with AL event of SM1 34 Synchronized with AL event of SM2 ...

Страница 67: ...ray with 4 elements When the counter is incremented rapidly this may mean EMC interference Axis Global Data type U32 Value Index 210Bhex Subindex 1hex A267 2 ECS internal test counter This parameter counts any ECS 5000 events which are detected between the control unit of the inverter and the ECS 5000 Different causes are counted separately in an array with 4 elements When the counter is increment...

Страница 68: ...T This is done with a suitable device description file STÖBER POSIDRIVE xDS5000 xml You can prepare device description files to fit your configuration with the EtherCAT assistant in POSITool Proceed as shown below Information The functions presented below are exclusively available for use with TwinCAT a starting with the versions specified in 11 1 Many of the parameters for the EtherCAT functions ...

Страница 69: ...s after installation of TwinCAT Open TwinCAT system manager and select the menu item List Real Time Ethernet Compatible Devices in the Options menu In the dialog screen which appears select the Ethernet devices which you want to install and confirm with the Install button 11 4 Startup of the device on EtherCAT We recommend using the following sequence when you commission the devices of the 5th gen...

Страница 70: ... the dialog screen Insert Device select EtherCAT and then EtherCAT Fig 11 2 Adding an EtherCAT device 9 Exit the dialog screen by pressing the Ok button 10 Exit the dialog screen Device Found At Address which appears next by pressing the Cancel button The driver for the EtherCAT master function is activated Device 1 EtherCAT appears under I O Devices in the project tree 11 Connect the cabling from...

Страница 71: ...h was just put together is checked and the founded inverters appears in the project tree under box x POSIDRIVE R xDS 5000 Fig 11 3 View of the Device 1 EtherCAT on the TwinCAT System Manager 14 Click the inverter box x POSIDRIVE R xDS 5000 found in EtherCAT The dialog screen shown in appears Fig 11 4 View of the inverter on the TwinCAT System Manager ...

Страница 72: ...is setting has already been prepared locally by STÖBER ANTRIEBSTECHNIK on the inverter we recommend not making any changes in the parameterization of the inverter at this point except for perhaps removing any existing checkmarks next to the fields PDO Assignment and PDO Configuration In this case no changes are made with SDO before the inverter boots Fig 11 5 Process data of the inverter 16 Contin...

Страница 73: ...er as shown below Activate the watchdog on TwinCAT system manager 1 In the project tree click the Box x POSIDRIVE R xDS 5000 2 On the right hand side of the dialog screen click the tab EtherCAT 3 Click the button Advanced Settings General Behavior The dialog screen shown in appears Fig 11 6 Dialog screen Advanced Settings 4 Activate the SM watchdog function by clicking the checkbox Set Multiplier ...

Страница 74: ...et Multiplier and Set SM Watchdog enter the values for calculating the SM Watchdog time The SM Watchdog time is calculated with the following formula SM Watchdog time Multiplier 0 04 10 6 s SM Watchdog The time in the example shown in is calculated as follows SM Watchdog time 25000 0 04 10 6 s 2000 2 s 2000 ms You have completely parameterized the SM Watchdog function Changes will only be effectiv...

Страница 75: ...ks the function must first be activated on each slave The related settings are in TwinCAT in the Advanced Settings for the slave Information TwinCAT should be re started after activating the synchronization Activation of the synchronization 1 Select slave 2 Press the Advanced Settings button Fig 11 8 View of the EtherCAT settings in the TwinCAT System Manager 3 Select Distributed Clock ...

Страница 76: ... The remaining elements 2 6 are activated when this checkbox is selected 2 Sync Unit Zyklus This value is the cycle time for the PLC task During this cycle the EtherCAT messages for the process data traffic are sent If this value is to be changed the task cycle time must be changed This time will then be automatically adjusted here as well 3 Cycle Time Cycle time for the SYNC 0 signal Normally the...

Страница 77: ...this configuration it must be noted that the slave only receives every second output value calculated by the PLC and only collects every second input value 4 Factor Here the factor used to calculate the cycle time for the SYNC 0 signal based on the Sync Unit Cyclecan be selected Normally the factor 1 is set here so that the cycle time for SYNC 0 is the same as the Sync Unit Cycle 5 Enable SYNC 0 A...

Страница 78: ...he POSITool over EtherCAT function the following requirements must be met All inverters in the EtherCAT network that are to be reached using POSITool over EtherCAT must have firmware from version 5 5 Use a POSITool version from V 5 5 You will find the latest version of POSITool at www stoeber de Always use a current ESI file You can obtain the file from the EtherCAT wizard in POSITool Use TwinCAT ...

Страница 79: ...o not want to send a configuration from POSITool to the inverters Fig 12 2 State of the EtherCAT network Information For correct communication the EtherCAT master software and the mailbox gateway it contains must work correctly The manufacturer of this software is solely responsible for this function Information For correct communication it is necessary to carefully configure the EtherCAT the devi...

Страница 80: ...rs related to the use of EtherCAT are to be set in the TwinCAT software The corresponding explanations relate to this software Information Please note that the TwinCAT screenshots shown may vary depending on the build version Information The correct procedure depends solely on the EtherCAT configuration software you are using Activating mailbox gateway 1 In the project view click the EtherCAT mast...

Страница 81: ...P IP Stack checkbox 6 Select the IP Enable Router checkbox 7 Activate the EtherCAT Mailbox Gateway function Enable checkbox 8 In the Connections field enter a number which is equal to or larger than the number of the inverter which is to be reached using POSITool via EtherCAT 9 Make a note of the IP address for the mailbox gateway for subsequent entry in POSITool 10 Save these settings 11 Re start...

Страница 82: ...n be imported into an existing project If you want to import the data into a new project start POSITool on the welcome dialog screen select the Reverse documentation from connected inverter button and then click the EtherCAT button Reading inverter data from the EtherCAT network reverse documentation 1 On the menu bar click the button or in the project view double click Establish connection The IP...

Страница 83: ...box gateway and displays the inverters in POSITool If the mailbox gateway does not support the information on the devices connected you can update the list using the Scan address list and Scan address range buttons The list displays the inverters with their EtherCAT address the name of the slave as defined in the master the equipment code from parameter E120 the serial number and the type of inver...

Страница 84: ... inverter entry in POSITool to which the data are to be written You can select an existing inverter entry U1 Inverter1 or add a new inverter entry new see 6 In this line double click the first column Source EtherCAT Please select see A new list is displayed that contains all inverters that are connected to the PC 7 Select the inverter from which you want to read data 8 Repeat steps 7 to 9 for each...

Страница 85: ...network are allocated to the entries in the POSITool based on the inverter name in TwinCAT slave name Read all All inverters found in the network are read as new inverters existing inverters in the project are deleted To reverse document an existing project there must be an EtherCAT entry in the project See 12 4 On the menu bar click the button or in the project view double click Establish connect...

Страница 86: ...ment You have allocated the inverter with which you want to communicate to the EtherCAT entry using the POSITool over EtherCAT function see 12 4 Management Then proceed as follows Information Ensure all the requirements in 12 1 are met before you use the POSITool over EtherCAT function Sending inverter data to EtherCAT 1 Click the button The IP address for the EtherCAT mailbox gateway dialog scree...

Страница 87: ...ters in POSITool If the mailbox gateway does not support the information on the devices connected you can update the list using the Scan address list and Scan address range buttons The list displays the inverters with their EtherCAT address the name of the slave as defined in the master the equipment code from parameter E120 the serial number and the type of inverter 4 Click the send to EtherCAT b...

Страница 88: ...ent code in parameter E120 Allocation 1 1 by name of the slave The inverters found in the EtherCAT network are allocated to the entries in the POSITool based on the inverter name in TwinCAT slave name 5 Mark the inverter to which you want to write the data 6 In this line double click Please select A list is displayed that contains all the inverter entries in your project 7 Select the inverter entr...

Страница 89: ...nicate over POSITool over EtherCAT These inverters are once you have accepted the dialog screen using the OK button displayed in the project view below the EtherCAT entry Fig 12 4 Inverter in the EtherCAT entry Note that using POSITool over EtherCAT you can only reach those inverters that are allocated to an EtherCAT entry An SDS 5000 cannot be allocated to an IGB entry and an EtherCAT entry at th...

Страница 90: ...on you can delete the EtherCAT entry In this case the inverters allocated are displayed directly in the project view Using the Properties button you can open the dialog screen where you can change the allocation of the inverters to the EtherCAT entry The New button is not available as soon as there is an EtherCAT entry in the project as only one EtherCAT entry per project is possible Leave the dia...

Страница 91: ...tion upload diagnostics and commissioning In this situation the EtherCAT master represents the gateway via which communication is established Fig 12 6 EtherCAT master and POSITool Driver software is included in POSITool for communication with the inverters on sending data this driver packs the inverter messages into the so called Vendor specific protocol over EtherCAT The VoE messages are sent via...

Страница 92: ...12 POSITool over EtherCAT ID 441896 05 WE KEEP THINGS MOVING Operation manual 92 Fig 12 7 Communication between POSITool and TwinCAT POSITool VoE Mailbox Gateway EtherCAT Master PLC TwinCAT ...

Страница 93: ...92 POSIDYN SDS 5000 ID 442300 3 Operating manuals POSIDRIVE MDS 5000 ID 442284 POSIDRIVE FDS 5000 ID 442280 POSIDYN SDS 5000 ID 442288 4 Modules for the 5th generation of STÖBER inverters ID 441682 5 Programming manual for the 5th generation of STÖBER inverters ID 441683 6 CiA DS 301 CANopen CAL based Communication Profile for Industrial Systems October 1996 7 CiA DSP 306 CANopen Electronic Data S...

Страница 94: ...Notizen ID 441896 05 WE KEEP THINGS MOVING 94 ...

Страница 95: ...10 65907393 eMail info stoeber cn www stoeber cn STOBER DRIVES INC 1781 Downing Drive Maysville KY 41056 Fon 1 606 7595090 Fax 1 606 7595045 eMail sales stober com www stober com STOBER DRIVES LTD Upper Keys Business Village Keys Park Road Hednesford Cannock WS12 2HA Fon 44 1543 458 858 Fax 44 1543 448 688 E Mail mail stober co uk www stober co uk STOBER Japan P O Box 113 002 6 chome 15 8 Hon koma...

Страница 96: ...ronner Str 12 75177 PFORZHEIM GERMANY Tel 49 7231 582 0 Fax 49 7231 582 1000 E Mail mail stoeber de 24 h service hotline 49 180 5 786 323 Technische Änderungen vorbehalten Errors and changes excepted ID 441896 05 09 2013 441896 05 www stober com ...

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