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
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 accessed using menu 60, i.e. Pr 60.PP.
9.1.1 SM-EtherCAT module ID code
The module ID code indicates the type of module installed in the slot corresponding to
menu MM. This is useful for checking the module is of the correct type.
9.1.2 SM-EtherCAT firmware version
Unidrive SP/ Unidrive SPM/ Mentor MP
The software version of the Solutions Modules can be identified by looking at Pr 15.02 /
Pr 16.02 or Pr
17.02 and Pr 15.51 / Pr 16.51 or Pr 17.51.
Menu 15,16 or 17 is Solutions Module slot dependent with menu 17 being the lowest
position nearest the control terminal connections.
The software version takes the form of xx.yy.zz, where Pr 15.02 displays xx.yy and
Pr
15.51 displays zz (e.g. for software version 01.01.00 on a module in the middle Solu-
tions Module slot, Pr 16.02 will display 1.01 and Pr 16.51 will display 0).
Digitax ST / Unidrive ES / Affinity
The software version of the Solutions Modules can be identified by looking at Pr 15.02 or
Pr 16.02 and Pr 15.51 or Pr 16.51.
Menu 15 or 16 is Solutions Module slot dependent with menu 15 being the position
nearest the control terminal connections.
The software version takes the form of xx.yy.zz, where Pr 15.02 displays xx.yy and
Pr
15.51 displays zz (e.g. for software version 01.01.00 on a module in the middle Solu-
tions Module slot, Pr 16.02 will display 1.01 and Pr 16.51 will display 0).
Table 9.1 SM-EtherCAT module ID code
SM-EtherCAT module ID code
Pr MM.01
Default 421 (SM-EtherCAT)
Range -
Access RO
Table 9.2 SM-EtherCAT firmware - major version
SM-EtherCAT firmware - major version (xx.yy)
Pr MM.02
Default N/A
Range 00.00 to 99.99
Access RO
Table 9.3 SM-EtherCAT firmware - minor version
SM-EtherCAT firmware - minor version (zz)
Pr MM.51
Default N/A
Range 0 to 99
Access RO