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
62 SM-EtherCAT User Guide
www.controltechniques.com Issue Number: 2
10 Quick Reference
Table 10.1 and Table 10.2 list of all the SM-EtherCAT set-up objects and parameters
that are required to configure the module.
Table 10.1 SM-EtherCAT objects reference
Object Name Description Cross reference
0x10000
0
Device type
Specifies the device profile being used
(DSP-402).
Section 6.1.1 on page 20
0x1018
Identity object
Contains SM-EtherCAT specific identity
information.
Section 6.1.1 on page 20
0x1600
Receive PDO
mapping 1
Contains the mapping information for
receive PDO mapping 1.
Section 6.1.2 on page 21
0x1601
Receive PDO
mapping 2
Contains the mapping information for
receive PDO mapping 2.
Section 6.1.2 on page 21
0x1605
Receive PDO
mapping 6
Contains the mapping information for
receive PDO mapping 6.
Section 6.1.2 on page 21
0x1621
Receive PDO
mapping 22
Contains the mapping information for
receive PDO mapping 22.
Section 6.1.2 on page 21
0x1A00
Transmit PDO
mapping 1
Contains the mapping information for
transmit PDO mapping 1.
Section 6.1.3 on page 23
0x1A01
Transmit PDO
mapping 2
Contains the mapping information for
transmit PDO mapping 2.
Section 6.1.3 on page 23
0x1A02
Transmit PDO
mapping 3
Contains the mapping information for
transmit PDO mapping 3.
Section 6.1.3 on page 23
0x1A05
Transmit PDO
mapping 6
Contains the mapping information for
transmit PDO mapping 6.
Section 6.1.3 on page 23
0x1A21
Transmit PDO
mapping 22
Contains the mapping information for
transmit PDO mapping 22.
Section 6.1.3 on page 23
0x1C00
Sync manager
communication
type
This read-only object provides sync
manager usage details.
Section 6.1.4 on page 26
0x1C10
Sync manager 0
PDO
assignment
This read-only object contains
information relating to the non-cyclic
receive mailbox.
Section 6.1.4 on page 26
0x1C11
Sync manager 1
PDO
assignment
This read-only object contains
information relating to the non-cyclic
send mailbox.
Section 6.1.4 on page 26
0x1C12
Sync manager 2
PDO
assignment
Contains the currently in use receive
PDOs.
Section 6.1.4 on page 26
0x1C13
Sync manager 3
PDO
assignment
Contains the currently in use transmit
PDOs.
Section 6.1.4 on page 26
0x2813
Network loss
behavior object
Used to configure the network loss trip
behavior (watchdog).
Section 9.2.1 on page 57
0x6040
Controlword
Provides the primary method of control-
ling the behavior of the drive.
Section 7.1 on page 28
0x6041
Statusword
This provides feedback about the current
operating state of the drive.
Section 7.2 on page 29
0x6042
vl_target_velocity
Used to set the required velocity of the
system.
Section 7.5.1 on page 41
0x6043
vl_velocity
demand
Provides the instantaneous velocity
demand generated by the drive ramp
function.
Section 7.5.2 on page 42