Emerson SM-ETHERCAT 0471-0128-02- User Manual

Emerson SM-ETHERCAT 0471-0128-02

Emerson SM-ETHERCAT 0471-0128-02– User Manual, read for free online in PDF format. We hope this helps you resolve any issues you may have. If you have further questions, please contact us through the contact form.

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Table of Contents:

  • Page 2 – MM; REACH legislation
  • Page 3 – Contents
  • Page 5 – SM-EtherCAT User Guide; Safety Information; Warnings, cautions and notes; The; product or other equipment.; Note
  • Page 7 – General safety considerations for remote operation
  • Page 8 – Introduction; Features
  • Page 9 – Date code format; Conventions used in this guide; Applications Modules and Motion
  • Page 10 – Mechanical Installation; General Installation; Figure 3-1 Fitting a Solutions Module
  • Page 11 – Electrical Installation; SM-EtherCAT module information; Bus media; Module grounding
  • Page 12 – Network topology; Figure 4-1 SM-EtherCAT daisy chain network topology
  • 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
  • Page 14 – Configuring the SM-EtherCAT module for cyclic communications; RxPDO mappings; Figure 5-1 SM-EtherCAT PDO configuration
  • 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
  • Page 16 – Assigning RxPDO to the Sync Manager; Download the configuration to the master.
  • Page 17 – Quick start flowchart; Figure 5-3 Quick start flowchart
  • Page 18 – Default
  • Page 19 – Protocols; Table 6.1 CoE object dictionary; Index; Table 6.2 Object description format
  • 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
  • Page 21 – Table 6.6 RxPDO mappings; PDO number; Table 6.7 RxPDO mapping 1; Receive PDO mapping 1
  • Page 22 – Table 6.8 RxPDO mapping 2; Receive PDO mapping 2; Table 6.9 RxPDO mapping 6; Receive PDO mapping 6
  • Page 23 – TxPDO mappings; Receive PDO mapping 22; Table 6.11 TxPDO mappings; Table 6.12 TxPDO mapping 1; Transmit PDO mapping 1
  • Page 24 – Table 6.13 TxPDO mapping 2; Transmit PDO mapping 2; Table 6.14 TxPDO mapping 3; Transmit PDO mapping 3
  • Page 25 – Table 6.15 TxPDO mapping 6; Transmit PDO mapping 6; Transmit PDO mapping 22
  • 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
  • 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
  • Page 28 – Table 7.1 Controlword; Controlword; Table 7.2 Controlword bit functions; Command
  • 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
  • Page 31 – Figure 7-1 CoE state machine diagram; Power enabled
  • Page 32 – Table 7.8 CoE state machine transition and events; Transition
  • Page 33 – x605A Quick stop option code; Table 7.10 Quick stop value definitions; Value
  • Page 36 – Profile units; gear ratio = motor shaft revolutions / driving shaft revolutions
  • Page 37 – feed constant = feed / driving shaft revolutions; The feed should be provided in user-defined position units
  • Page 38 – Table 7.26 Basic position control supported objects
  • Page 39 – object contains the value supplied by either the; Interpolated position mode; Table 7.31 Supported Interpolated position mode objects
  • Page 40 – Table 7.35 Interpolation time period units; Description
  • Page 41 – vl velocity mode; Table 7.36 vl velocity mode supported objects
  • Page 44 – vl velocity deceleration = delta speed / delta time
  • Page 45 – Calculating the vl dimension factor:
  • Page 46 – Profile Torque mode; Table 7.47 Profile torque mode supported objects
  • Page 47 – Homing Mode; Homing mode function; Figure 7-2 Homing mode function; Homing
  • 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
  • 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
  • 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
  • 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
  • Page 53 – Freeze object; Table 7.55 Freeze object; Home offset definition; Figure 7-11 Home offset definition; Home offset
  • Page 54 – Table 7.57 Homing method; Homing speeds; Table 7.59 Homing speeds; Homing acceleration; Table 7.60 Homing acceleration; Homing Method
  • Page 55 – Advanced features; Distributed clocks
  • Page 56 – Diagnostics; Module identification parameters; SM-EtherCAT module ID code; SM-EtherCAT firmware version
  • Page 57 – Commander SK / Commander SL; Network configuration objects; SM-EtherCAT network loss trip; Table 9.4 Network loss behavior object; Network loss behavior
  • Page 58 – Diagnostic parameters; Running states; Table 9.6 Diagnostic information - running states
  • Page 59 – Drive trip display codes; Table 9.9 Drive trip display codes
  • Page 60 – SM-EtherCAT error codes
  • Page 61 – Worst case critical task % free; Parameters Pr; FLASH file system % free; Table 9.15 Worst case critical task % free
  • Page 62 – Quick Reference; Table 10.1 SM-EtherCAT objects reference; Object
  • Page 64 – Table 10.2 SM-EtherCAT parameter reference
  • Page 65 – Glossary Of Terms; See
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User Guide

Unidrive SP
Affinity
Digitax ST
Commander SK
Mentor MP

Part Number: 0471-0128-02
Issue: 2

www.controltechniques.com

SM-EtherCAT

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Summary

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...

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