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
8 SM-EtherCAT User Guide
www.controltechniques.com Issue Number: 2
2 Introduction
2.1 Features
• Standard RJ45 connectivity with support for shielded twisted pair.
• Dual 100Mbps EtherCAT interfaces for use in line topologies i.e. daisy chaining.
• Supports the Unidrive SP drives range, Mentor MP, Affinity, Digitax ST and
Commander SK.
• Control loop synchronisation.
• Control cycle times down to 250
µ
s.
• CANopen over EtherCAT (CoE) which includes:
• Support of CANopen DSP-402 (Device Profile for Drives and Motion)
• Interpolated position mode
• Velocity mode
• Profile torque mode
• Two transmit and two receive PDOs.
• SDO access to all profile objects and drive parameters.
2.2 Introduction to SM-EtherCAT
SM-EtherCAT is a Solutions Module that enables the Control Techniques range of
variable speed drives to be connected to an EtherCAT network as a slave device. It can
be used in a variety of applications, from those requiring accurate synchronization and
precise motion control, to those where ease of use and open loop control are
appropriate.
2.3 What is EtherCAT?
EtherCAT is an open high performance Ethernet-based fieldbus system that overcomes
the system limitations of other Ethernet solutions. The Ethernet packet is no longer
received, then interpreted and copied as process data at every connection; instead the
Ethernet frame is processed on the fly. The development goal of EtherCAT was to apply
Ethernet to automation applications that require short data update times (also called
cycle times) with low communication jitter (for synchronization purposes) and low
hardware costs. Typical application fields for EtherCAT are machine controls (e.g.
semiconductor tools, metal forming, packaging, injection moulding, assembly systems,
printing machines, robotics and many others).
2.4 Solution module identification
The SM-EtherCAT can be identified by:
1. The label located on the underside of the Solutions Module.
2. The colour coding across the front of the SM-EtherCAT (brown-red).
Figure 2-1 SM-EtherCAT label
SM-EtherCAT
Revision:0 stdJ41
Ser No : 3000005001
Solutions Module
name
Hardware
issue
Customer
and date code
Serial number
number