Switch User Manual
Table Of Contents
- Contents
- 1 Safety Information
- 2 Introduction
- 3 Mechanical Installation
- 4 Electrical Installation
- 5 Getting Started
- 6 Protocols
- 7 Drive profile (DSP-402) support
- 7.1 0x6040 Controlword
- 7.2 0x6041 Statusword
- 7.3 Common profile features
- 7.3.1 Sequencing control
- 7.3.2 0x605A Quick stop option code
- 7.3.3 0x605B Shutdown_option_code
- 7.3.4 0x605C Disable_operation_option_code
- 7.3.5 0x605E Fault_reaction_option_code
- 7.3.6 0x6060 Modes_of_operation
- 7.3.7 0x6061 Modes_of_operation_display
- 7.3.8 0x6085 Quick_stop_deceleration
- 7.3.9 Profile units
- 7.3.10 0x608F Position_encoder_resolution
- 7.3.11 0x6091 Gear_ratio
- 7.3.12 0x6092 Feed_constant
- 7.3.13 Basic position control
- 7.3.14 0x6062 Position_demand_value
- 7.3.15 0x6064 Position_actual_value
- 7.3.16 0x60F4 Following_error_actual_value
- 7.3.17 0x60FB Position_control_parameter_set object
- 7.4 Interpolated position mode
- 7.5 vl velocity mode
- 7.5.1 0x6042 vl_target_velocity
- 7.5.2 0x6043 vl_velocity_demand
- 7.5.3 0x6044 vl_velocity_actual_value
- 7.5.4 0x6046 vl_velocity_min_max_amount
- 7.5.5 0x6047 vl_velocity_min_max
- 7.5.6 0x6048 vl_velocity_acceleration
- 7.5.7 0x6049 vl_velocity_deceleration
- 7.5.8 0x604A vl_velocity_quick_stop
- 7.5.9 0x604B vl_setpoint_factor
- 7.5.10 0x604C vl_dimension_factor
- 7.6 Profile Torque mode
- 7.7 Homing Mode
- 8 Advanced features
- 9 Diagnostics
- 9.1 Module identification parameters
- 9.2 Network configuration objects
- 9.3 Diagnostic parameters
- 9.4 Drive trip display codes
- 9.5 SM-EtherCAT module temperature
- 9.6 SM-EtherCAT serial number
- 9.7 SM-EtherCAT error codes
- 9.8 Critical task % free
- 9.9 Worst case critical task % free
- 9.10 FLASH file system % free
- 9.11 Updating SM-EtherCAT firmware
- 10 Quick Reference
- 11 Glossary Of Terms
- Index
SM-EtherCAT User Guide 13
Issue Number: 2 www.controltechniques.com
Safety
Information
Introduction
Mechanical
Installation
Electrical
Installation
Getting
Started
Protocols
Drive profile (DSP-402)
support
Advanced
features
Diagnostics
Quick
Reference
Glossary Of
Terms
Index
5 Getting Started
5.1 Quick start guide
This section is intended to provide a generic guide for setting up SM-EtherCAT with a
master/controller PLC. It will cover the basic steps required to get cyclic data
communicating using the CANopen over EtherCAT (CoE) protocol on the SM-EtherCAT
module.
5.1.1 SM-EtherCAT version compatibility
For the purpose of the example this section will follow the steps required to set up cyclic
communications using one RxPDO and two TxPDOs. These PDOs will consist of the
mappings shown in
Table 5.2:
Due to the large number of different masters that support CoE, details cannot be
provided for a specific master. Generic support is available through your supplier or
local Control Techniques Drive Centre. Before contacting your supplier or local Control
Techniques Drive Centre for support please ensure you have read
section
9 Diagnostics on page 56 of this manual and have checked that the SDO/PDO
configurations are correct.
5.1.2 SM-EtherCAT XML file
Control Techniques provides an EtherCAT device description file (Control Techniques
SM-EtherCAT.xml). This file provides the master with information about the SM-
EtherCAT module to aid with its configuration. The file can be downloaded from the
Control Techniques CTSupport.com website or from your local Control Techniques
Drive Centre or supplier. It should be placed in the directory specified by the master e.g.
When using TwinCAT this could be C:\TwinCAT\Io\EtherCAT.
Table 5.1 SM-EtherCAT version compatibility
Drive Type Drive Firmware SM-EtherCAT firmware
Unidrive SP V01.08.00 or later V01.00.00 or later
Affinity V01.02.00 or later V01.00.00 or later
Digitax ST V01.02.00 or later V01.00.00 or later
Commander SK V01.06.00 or later V01.00.00 or later
Mentor MP V01.00.00 or later V01.02.00 or later
Table 5.2 PDO test mappings
RxPDO1 TxPDO1 TxPDO6
Mapping 1 0x6040 (controlword)
(16-bits)
0x6041 (statusword)
(16-bits)
Pr 18.22 (16-bits)
Mapping 2 0x6042
(vl_target_velocity)
(16-bits)
0x6064
(position_actual_value)
(32-bits)
Pr 20.21 (32-bits)
Mapping 3 Pr 20.21 (32-bits) N/A N/A
It is strongly recommended that the latest firmware be used where possible to ensure
that all features are supported.
NOTE
The master may have to be re-started for the file to be loaded.
NOTE