Page 2 - MM; REACH legislation
General Information The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the variable speed drive with the motor.The contents of this guide are believ...
Page 3 - Contents
SM-EtherCAT User Guide 3 Issue Number: 2 www.controltechniques.com Contents 1 Safety Information .......................................................... 5 1.1 Warnings, cautions and notes ...................................................................... 5 1.2 Electrical safety - general warn...
Page 5 - SM-EtherCAT User Guide; Safety Information; Warnings, cautions and notes; The; product or other equipment.; Note
SM-EtherCAT User Guide 5 Issue Number: 2 www.controltechniques.com Safety In fo rm at io n Intro du cti on Mech an ic al Instal lation El ec tric al Install ati on G etti ng S ta rte d P ro toco ls Dr iv e prof ile (DSP -4 02 ) su pp or t A dv anc ed featur es D ia gnosti cs Q uick Refer en ce Gl os...
Page 7 - General safety considerations for remote operation
SM-EtherCAT User Guide 7 Issue Number: 2 www.controltechniques.com Safety In fo rm at io n Intro du cti on Mech an ic al Instal lation El ec tric al Install ati on G etti ng S ta rte d P ro toco ls Dr iv e prof ile (DSP -4 02 ) su pp or t A dv anc ed featur es D ia gnosti cs Q uick Refer en ce Gl os...
Page 8 - Introduction; Features
8 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 2 Introduction 2.1 Features • Standard RJ45 connectivity with support for shielded twisted pair. • Dual 100Mbps EtherCAT interfaces for use in line topologies i.e. daisy chaining. • Supports the Unidrive SP drives range, Mentor MP, A...
Page 9 - Date code format; Conventions used in this guide; Applications Modules and Motion
SM-EtherCAT User Guide 9 Issue Number: 2 www.controltechniques.com S afety Informa tio n Introducti o n Mech an ical In st al la tion El ec tric al Install ati on G etti ng S tar te d P roto cols D riv e prof ile ( D SP-40 2) su pp or t Advanced fe atures D iag no stics Q uick Referen ce Gl os sa ry...
Page 10 - Mechanical Installation; General Installation; Figure 3-1 Fitting a Solutions Module
10 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 3 Mechanical Installation 3.1 General Installation The installation of a Solutions Module is illustrated in Figure 3-1. Figure 3-1 Fitting a Solutions Module The Solutions Module connector is located on the underside of the module (...
Page 11 - Electrical Installation; SM-EtherCAT module information; Bus media; Module grounding
SM-EtherCAT User Guide 11 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ec tri cal In st al la tio n Gettin g St ar te d Pr ot oc ol s D rive profile (D SP-4 02 ) su pport Adv anc ed fe atur es Di ag no sti cs Q uick Refer en ce Gl os ...
Page 12 - Network topology; Figure 4-1 SM-EtherCAT daisy chain network topology
12 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 4.3 Network topology Control Techniques recommend implementing daisy chaining on EtherCAT networks (see Figure 4-1). Other Ethernet network topologies can be used but care must be taken to ensure that the system still operates withi...
Page 13 - Getting Started; Quick start guide; SM-EtherCAT version compatibility; section; Table 5.1 SM-EtherCAT version compatibility; Drive Type; Table 5.2 PDO test mappings; controlword
SM-EtherCAT User Guide 13 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ec tric al Installation G ett ing Starte d Pr otocols Drive prof ile (D SP-40 2) su pport Adv anc ed fe atur es D iag no stics Q uick Refer ence Gl os sa ry Of Te ...
Page 14 - Configuring the SM-EtherCAT module for cyclic communications; RxPDO mappings; Figure 5-1 SM-EtherCAT PDO configuration
14 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 5.1.3 Configuring the SM-EtherCAT module for cyclic communications Unlike other Control Techniques fieldbus communication protocols, CoE does not require that any module parameters be changed in order to achieve communications. The ...
Page 15 - Configuring the Sync Managers; Figure 5-2 SM-EtherCAT sync manager configuration; The format used to define the value of a mapped object is as follows:; P L C
SM-EtherCAT User Guide 15 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ec tric al Installation G ett ing Starte d Pr otocols Drive prof ile (D SP-40 2) su pport Adv anc ed fe atur es D iag no stics Q uick Refer ence Gl os sa ry Of Te ...
Page 16 - Assigning RxPDO to the Sync Manager; Download the configuration to the master.
16 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Assigning RxPDO to the Sync Manager To assign RxPDO1 to sync manager 2 PDO assignment set the values below to the following objects: • Index: 0x1C12 • Sub index: 0x00 • Size: 1 • Value: 1 Setting object 0x1C12, sub-index 0 to a valu...
Page 17 - Quick start flowchart; Figure 5-3 Quick start flowchart
SM-EtherCAT User Guide 17 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ec tric al Installation G ett ing Starte d Pr otocols Drive prof ile (D SP-40 2) su pport Adv anc ed fe atur es D iag no stics Q uick Refer ence Gl os sa ry Of Te ...
Page 18 - Default
18 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 5.3 Saving parameters to the drive On the Unidrive SP, Affinity, Digitax ST and Commander SK to avoid loss of the configured settings when the drive is powered down it is necessary to write 1000 to Pr MM.00 followed by pressing the ...
Page 19 - Protocols; Table 6.1 CoE object dictionary; Index; Table 6.2 Object description format
SM-EtherCAT User Guide 19 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mechanical In sta lla tion E lectrical In sta lla tion G etti ng S tarted P rot ocols Drive prof ile (DSP -4 02) su pp or t A dva nc ed fe atur es D ia gnosti cs Q uick Refer ence G lo ssary Of T...
Page 20 - CoE communication area; The first set of objects specify general communication settings.; Table 6.4 Device type object; Device type; Table 6.5 Identity object; Identity object
20 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Definitions: • <index> : A signed 16-bit number. This is the index of the object dictionary entry specified in four hexadecimal characters. • <access> : A value describing how the object may be accessed (RW = read/ write...
Page 21 - Table 6.6 RxPDO mappings; PDO number; Table 6.7 RxPDO mapping 1; Receive PDO mapping 1
SM-EtherCAT User Guide 21 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mechanical In sta lla tion E lectrical In sta lla tion G etti ng S tarted P rot ocols Drive prof ile (DSP -4 02) su pp or t A dva nc ed fe atur es D ia gnosti cs Q uick Refer ence G lo ssary Of T...
Page 22 - Table 6.8 RxPDO mapping 2; Receive PDO mapping 2; Table 6.9 RxPDO mapping 6; Receive PDO mapping 6
22 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Table 6.8 RxPDO mapping 2 0x1601 Receive PDO mapping 2 Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A Default: 2 Description: The number of mapped objects in this PDO. Sub-index 1: 1st mappe...
Page 23 - TxPDO mappings; Receive PDO mapping 22; Table 6.11 TxPDO mappings; Table 6.12 TxPDO mapping 1; Transmit PDO mapping 1
SM-EtherCAT User Guide 23 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mechanical In sta lla tion E lectrical In sta lla tion G etti ng S tarted P rot ocols Drive prof ile (DSP -4 02) su pp or t A dva nc ed fe atur es D ia gnosti cs Q uick Refer ence G lo ssary Of T...
Page 24 - Table 6.13 TxPDO mapping 2; Transmit PDO mapping 2; Table 6.14 TxPDO mapping 3; Transmit PDO mapping 3
24 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Table 6.13 TxPDO mapping 2 0x1A01 Transmit PDO mapping 2 Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A Default: 2 Description: The number of mapped objects in this PDO. Sub-index 1: 1st map...
Page 25 - Table 6.15 TxPDO mapping 6; Transmit PDO mapping 6; Transmit PDO mapping 22
SM-EtherCAT User Guide 25 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mechanical In sta lla tion E lectrical In sta lla tion G etti ng S tarted P rot ocols Drive prof ile (DSP -4 02) su pp or t A dva nc ed fe atur es D ia gnosti cs Q uick Refer ence G lo ssary Of T...
Page 26 - Sync manager configuration; Table 6.17 Sync manager communication type object; Sync manager communication type; Table 6.18 Sync manager 0 PDO assignment object; Sync manager 0 PDO assignment; Table 6.19 Sync manager 1 PDO assignment object; Sync manager 1 PDO assignment
26 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 6.1.4 Sync manager configuration The sync managers are the EtherCAT means for setting access attributes for different areas of memory and triggering or notifying the application when the memory is accessed. The following objects spe...
Page 27 - Table 6.20 Sync manager 2 PDO assignment object; Sync manager 2 PDO assignment; Table 6.21 Sync manager 3 PDO assignment object; Sync manager 3 PDO assignment; Table 6.22 Feedback encoder source; Feedback encoder source
SM-EtherCAT User Guide 27 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mechanical In sta lla tion E lectrical In sta lla tion G etti ng S tarted P rot ocols Drive prof ile (DSP -4 02) su pp or t A dva nc ed fe atur es D ia gnosti cs Q uick Refer ence G lo ssary Of T...
Page 28 - Table 7.1 Controlword; Controlword; Table 7.2 Controlword bit functions; Command
28 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7 Drive profile (DSP-402) support SM-EtherCAT supports the following modes of the DSP-402 profile: • Interpolated position mode • vl velocity mode • Profile torque mode 7.1 0x6040 Controlword This provides the primary method of cont...
Page 29 - Common profile features; Sequencing control; These are the supported objects used to control the drive:; Table 7.4 Statusword; Table 7.5 Statusword bit functions; Statusword; Table 7.7 Sequencing control supported objects
SM-EtherCAT User Guide 29 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ectri cal In sta lla tion Getting S ta rted P ro toco ls Drive pro fil e (DSP-4 02 ) support Adv anc ed fe atur es Di agnos tic s Q uick Refe re nc e G lo ssary Of...
Page 31 - Figure 7-1 CoE state machine diagram; Power enabled
SM-EtherCAT User Guide 31 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ectri cal In sta lla tion Getting S ta rted P ro toco ls Drive pro fil e (DSP-4 02 ) support Adv anc ed fe atur es Di agnos tic s Q uick Refe re nc e G lo ssary Of...
Page 32 - Table 7.8 CoE state machine transition and events; Transition
32 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Table 7.8 CoE state machine transition and events Transition Event(s) Action(s) 0 Automatic transition after power-on or reset application Drive device self-test and/or self initialisation shall be performed 1 Automatic transition C...
Page 33 - x605A Quick stop option code; Table 7.10 Quick stop value definitions; Value
SM-EtherCAT User Guide 33 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ectri cal In sta lla tion Getting S ta rted P ro toco ls Drive pro fil e (DSP-4 02 ) support Adv anc ed fe atur es Di agnos tic s Q uick Refe re nc e G lo ssary Of...
Page 36 - Profile units; gear ratio = motor shaft revolutions / driving shaft revolutions
36 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7.3.9 Profile units The implementation provides a means to convert profile units into position controller and drive units. All scaling values are standard profile objects. The following objects are supported: For positions, the scal...
Page 37 - feed constant = feed / driving shaft revolutions; The feed should be provided in user-defined position units
SM-EtherCAT User Guide 37 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ectri cal In sta lla tion Getting S ta rted P ro toco ls Drive pro fil e (DSP-4 02 ) support Adv anc ed fe atur es Di agnos tic s Q uick Refe re nc e G lo ssary Of...
Page 38 - Table 7.26 Basic position control supported objects
38 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Table 7.26 lists the objects that are supported: 7.3.14 0x6062 Position_demand_value This read only object is used to provide the currently demanded position value. The value is given in user defined position units. 7.3.15 0x6064 Po...
Page 39 - object contains the value supplied by either the; Interpolated position mode; Table 7.31 Supported Interpolated position mode objects
SM-EtherCAT User Guide 39 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ectri cal In sta lla tion Getting S ta rted P ro toco ls Drive pro fil e (DSP-4 02 ) support Adv anc ed fe atur es Di agnos tic s Q uick Refe re nc e G lo ssary Of...
Page 40 - Table 7.35 Interpolation time period units; Description
40 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7.4.2 0x60C1 Interpolation_data_record This object is used to specify the target position. Linear interpolation is used to generate position demand values every 250µs. The position is specified in user-defined position units. The va...
Page 41 - vl velocity mode; Table 7.36 vl velocity mode supported objects
SM-EtherCAT User Guide 41 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ectri cal In sta lla tion Getting S ta rted P ro toco ls Drive pro fil e (DSP-4 02 ) support Adv anc ed fe atur es Di agnos tic s Q uick Refe re nc e G lo ssary Of...
Page 44 - vl velocity deceleration = delta speed / delta time
44 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7.5.7 0x6049 vl_velocity_deceleration This object is used to configure the delta speed and delta time of the slope of the deceleration ramp. Example: To decelerate by 800 rpm in 10s, possible values for delta speed and delta time ar...
Page 45 - Calculating the vl dimension factor:
SM-EtherCAT User Guide 45 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ectri cal In sta lla tion Getting S ta rted P ro toco ls Drive pro fil e (DSP-4 02 ) support Adv anc ed fe atur es Di agnos tic s Q uick Refe re nc e G lo ssary Of...
Page 46 - Profile Torque mode; Table 7.47 Profile torque mode supported objects
46 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 The object vl_velocity_min_max is handled every profile cycle. The vl_target_velocity is limited according to the values set in the object vl_velocity_min_max , which is read every profile cycle. The object vl_velocity_min_max_amoun...
Page 47 - Homing Mode; Homing mode function; Figure 7-2 Homing mode function; Homing
SM-EtherCAT User Guide 47 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ectri cal In sta lla tion Getting S ta rted P ro toco ls Drive pro fil e (DSP-4 02 ) support Adv anc ed fe atur es Di agnos tic s Q uick Refe re nc e G lo ssary Of...
Page 48 - General homing definitions; Method 1: Homing on negative limit switch and index pulse; Using this method as shown in Figure 7-3; Figure 7-3 Homing on negative limit switch and index pulse; Using this method as shown in Figure 7-4; Figure 7-4 Homing on positive limit switch and index pulse
48 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 By choosing a homing method the following behaviour is determined: The homing signal (positive limit switch, negative limit switch, home switch), the direction of actuation and where appropriate the position of the index pulse.An en...
Page 49 - Method 3 and 4: Homing on positive home switch and index pulse; Using these methods as shown in Figure 7-5; Figure 7-5 Homing on positive home switch and index pulse; Using these methods as shown in Figure 7-6; Figure 7-6 Homing on negative home switch and index pulse
SM-EtherCAT User Guide 49 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ectri cal In sta lla tion Getting S ta rted P ro toco ls Drive pro fil e (DSP-4 02 ) support Adv anc ed fe atur es Di agnos tic s Q uick Refe re nc e G lo ssary Of...
Page 51 - Method 17 to 30: Homing without index pulse; Homing on positive home switch; Figure 7-9 Homing on positive home switch; These methods are reserved.; Method 33 and 34: Homing on index pulse; Homing on index pulse; Figure 7-10 Homing on index pulse
SM-EtherCAT User Guide 51 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ectri cal In sta lla tion Getting S ta rted P ro toco ls Drive pro fil e (DSP-4 02 ) support Adv anc ed fe atur es Di agnos tic s Q uick Refe re nc e G lo ssary Of...
Page 52 - Use of controlword and statusword; Definition of bits 4 and 8 of the controlword; Table 7.52 Definition of bits 4 and 8 of the controlword; Definition of bits 10 and 12 of the statusword; Table 7.53 Definition of bits 10 and 12 of the statusword; Homing mode object definitions; Homing source; Table 7.54 Homing source; Bit
52 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Use of controlword and statusword The homing mode uses some bits of the controlword and the statusword for mode-specific purposes. Table 7.52 Definition of bits 4 and 8 of the controlword on page 52 defines the values for bits 4 and...
Page 53 - Freeze object; Table 7.55 Freeze object; Home offset definition; Figure 7-11 Home offset definition; Home offset
SM-EtherCAT User Guide 53 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ectri cal In sta lla tion Getting S ta rted P ro toco ls Drive pro fil e (DSP-4 02 ) support Adv anc ed fe atur es Di agnos tic s Q uick Refe re nc e G lo ssary Of...
Page 54 - Table 7.57 Homing method; Homing speeds; Table 7.59 Homing speeds; Homing acceleration; Table 7.60 Homing acceleration; Homing Method
54 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 0x6098 Homing method This object indicates the configured homing method that shall be used. Table 7.57 Homing method on page 54 specifies the object description, and Table 7.58 Homing method values on page 54 specifies the value ran...
Page 55 - Advanced features; Distributed clocks
SM-EtherCAT User Guide 55 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ical In sta lla tion El ec tric al In st all ati on Getti ng St ar te d Pr otocols D riv e pr ofile (D SP-4 02 ) su pport Adva n ced fe at u res D ia gnosti cs Quick Refe re nc e Glossa r...
Page 56 - Diagnostics; Module identification parameters; SM-EtherCAT module ID code; SM-EtherCAT firmware version
56 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 9 Diagnostics 9.1 Module identification parameters The basic menu parameters can be accessed through the slot menu in the drive, Pr MM.PP, where MM is the menu for SM-EtherCAT in the host drive. The basic menu parameters may also be...
Page 57 - Commander SK / Commander SL; Network configuration objects; SM-EtherCAT network loss trip; Table 9.4 Network loss behavior object; Network loss behavior
SM-EtherCAT User Guide 57 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ic al In st all ati on El ec tric al Installation Gettin g St ar te d Pr otocol s D riv e pr ofile (D SP-4 02 ) su pport Adva nc ed fe atur es D iagno stics Quick Refe re nc e G lo ssary ...
Page 58 - Diagnostic parameters; Running states; Table 9.6 Diagnostic information - running states
58 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 9.3 Diagnostic parameters 9.3.1 Running states Table 9.5 SM-EtherCAT operating status SM-EtherCAT operating status Pr MM.06 Default N/A Range -9999 to 9999 Access RO Table 9.6 Diagnostic information - running states Pr MM.06 Meaning...
Page 59 - Drive trip display codes; Table 9.9 Drive trip display codes
SM-EtherCAT User Guide 59 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ic al In st all ati on El ec tric al Installation Gettin g St ar te d Pr otocol s D riv e pr ofile (D SP-4 02 ) su pport Adva nc ed fe atur es D iagno stics Quick Refe re nc e G lo ssary ...
Page 60 - SM-EtherCAT error codes
60 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 9.7 SM-EtherCAT error codes If an error is detected during operation the module will force a trip on the drive andupdate the error code parameter (Pr MM.50 ). Table 9.13 shows the SM-EtherCAT error codes. Table 9.12 SM-EtherCAT erro...
Page 61 - Worst case critical task % free; Parameters Pr; FLASH file system % free; Table 9.15 Worst case critical task % free
SM-EtherCAT User Guide 61 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ic al In st all ati on El ec tric al Installation Gettin g St ar te d Pr otocol s D riv e pr ofile (D SP-4 02 ) su pport Adva nc ed fe atur es D iagno stics Quick Refe re nc e G lo ssary ...
Page 62 - Quick Reference; Table 10.1 SM-EtherCAT objects reference; Object
62 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 10 Quick Reference Table 10.1 and Table 10.2 list of all the SM-EtherCAT set-up objects and parameters that are required to configure the module. Table 10.1 SM-EtherCAT objects reference Object Name Description Cross reference 0x100...
Page 64 - Table 10.2 SM-EtherCAT parameter reference
64 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 0x60C0 Interpolation sub-mode_select Specifies the interpolation type. Section 7.4.1 on page 39 0x60C1 Interpolation data_record This object is used to specify the target position. Section 7.4.2 on page 40 0x60C2 Interpolation time_...
Page 65 - Glossary Of Terms; See
SM-EtherCAT User Guide 65 Issue Number: 2 www.controltechniques.com S afety Inform ati on In trod uction Mech an ic al Installation El ec tric al Instal lation G etti ng St ar te d Pr ot oc ol s D riv e prof ile ( D SP-40 2) su pp or t A dv anc ed fe at ur es Di ag no sti cs Q uick Referen ce Gl o s...
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