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 33
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
When the SM-EtherCAT module transitions from the EtherCAT Safe-operational state to
the EtherCAT Operational state, a number of drive parameters are set to allow the CoE
profiles to control the drive and motor (unless object 0x2805 has been set to disable
this). These parameters are set in the following order:
•Pr 6.42 to 0
•Pr 6.43 to On
•Pr 3.22 to 0 (where present)
•Pr 3.23 to On (where present)
•Pr 3.13 to Off (In open-loop operating modes)
•Pr 2.10 to 1
•Pr 2.20 to 1
•Pr 2.02 to On
•Pr 1.04 to 0
•Pr 1.21 to 0
•Pr 1.38 to 0
•Pr 1.08 to Off
•Pr 1.10 to On
•Pr 1.09 to Off
•Pr 1.15 to 1
•Pr 1.14 to 3
These values are set once and not continuously forced. They are not reset when leaving
the Operational state. In addition, the option starts to write parameters implicitly mapped
by the CoE profiles, when moving to the Operational state.
7.3.2 0x605A Quick stop option code
This object indicates what action is perfomed when the quick stop function is executed.
The slow down ramp is the deceleration value of the used mode of operations.
Table 7.9 Quick_stop_option_code
0x605A Quick_stop_option_code
Access: RW Range: 0 to 6 Size: Unsigned 16 Unit: N/A
Default: 2
Description: Specifies what action is performed in the event of a quick stop function. See Table 7.8 CoE
state machine transition and events for more information.
Table 7.10 Quick stop value definitions
Value Definition
0 Disable drive function
1 Slow down on slow down ramp and transit into Switch on disabled
2 Slow down on quick stop ramp and transit into Switch on disabled
5 Slow down on slow down ramp and stay in Quick stop active
6 Slow down on quick stop ramp and stay in Quick stop active