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
6 SM-EtherCAT User Guide
www.controltechniques.com Issue Number: 2
Careful consideration must be given to the functions of the drive which might result in a
hazard, either through their intended behavior or through incorrect operation due to a
fault. In any application where a malfunction of the drive or its control system could lead
to or allow damage, loss or injury, a risk analysis must be carried out, and where
necessary, further measures taken to reduce the risk - for example, an over-speed
protection device in case of failure of the speed control, or a fail-safe mechanical brake
in case of loss of motor braking.
1.4 Environmental limits
Instructions in the Unidrive SP User Guide, Mentor MP User Guide, Affinity User Guide,
Commander SK Getting Started Guide, Commander SK Technical Data Guide, Digitax
ST Getting Started Guide and Digitax ST Technical Data Guide regarding transport,
storage, installation and use of the drive must be complied with, including the specified
environmental limits. Drives must not be subjected to excessive physical force.
1.5 Compliance with regulations
The installer is responsible for complying with all relevant regulations, such as national
wiring regulations, accident prevention regulations and electromagnetic compatibility
(EMC) regulations. Particular attention must be given to the cross-sectional areas of
conductors, the selection of fuses or other protection, and protective ground
connections.
The Unidrive SP User Guide, Mentor MP User Guide, Affinity User Guide, Commander
SK
Technical Data Guide and Digitax ST Technical Data Guide contain instructions for
achieving compliance with specific EMC standards.
Within the European Union, all machinery in which this product is used must comply
with all relevant safety and EMC directives applicable to the installation.
1.6 Motor
Ensure the motor is installed in accordance with the manufacturer’s recommendations.
Ensure the motor shaft is not exposed.
Standard squirrel cage induction motors are designed for single speed operation. If it is
intended to use the capability of the drive to run a motor at speeds above its designed
maximum, it is strongly recommended that the manufacturer is consulted first.
Low speeds may cause the motor to overheat because the cooling fan becomes less
effective. The motor should be installed with a protection thermistor. If necessary, an
electric forced vent fan should be used.
The values of the motor parameters set in the drive affect the protection of the motor.
The default values in the drive should not be relied upon.
It is essential that the correct value is entered in the motor rated current parameter,
Pr
5.07 (or Pr 0.46 in Unidrive SP, Mentor MP, Affinity and Digitax ST, or Pr 0.06 in
Commander SK). This affects the thermal protection of the motor.
1.7 Adjusting parameters
Some parameters and/or objects have a profound effect on the operation of the drive.
They must not be altered without careful consideration of the impact on the controlled
system. Measures must be taken to prevent unwanted changes due to error or
tampering especially if a remote user can access the drive parameters.