Ä.Cb>ä KHB 13.0005−EN .
i 1 Contents About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.3 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents 9 i 8.8 Adaptation of the device description file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.1 Structure of the device description file . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.2 Receive PDO configuration in the RxPDO node . . . . . . . . . . . . . . . . . . . . . 8.8.3 Transmit PDO configuration in the TxPDO node . . . . . . . . . . . . . . . . . . . 8.8.4 Initialisation commands via the Mailbox node . . . . . . . . . . . . . . . . . . . .
1 About this documentation 0Fig. 0Tab. 0 1 About this documentation Contents This documentation contains descriptions for the EtherCAT bus system for servo inverters of the 931 series. ) Note! This documentation completes the mounting instructions coming with the 931 servo inverter and the corresponding hardware manual.
About this documentation 1 Document history 1.1 Document history Material number .Cb> Version 1.0 Description 07/2010 TD34 First edition Your opinion is important to us! These instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product. If you have suggestions for improvement, please e−mail us to: feedback−docu@Lenze.de Thank you for your support. Your Lenze documentation team 1.
1 About this documentation Terminology used 1.3 Terminology used Term Meaning EtherCAT Fieldbus sytem of the EtherCAT Technology Group Standard device Lenze controllers with which the bus system can be used. Controller 6 Master EtherCAT node which takes over the master function in the fieldbus system. Slave EtherCAT node representing a slave in the fieldbus system. Station alias address By means of the station alias address, a permanent address is assigned to the EtherCAT slave.
About this documentation 1 Notes used 1.4 Notes used The following pictographs and signal words are used in this documentation to indicate dangers and important information: Safety instructions Structure of safety instructions: } Danger! (characterises the type and severity of danger) Note (describes the danger and gives information about how to prevent dangerous situations) Pictograph and signal word Meaning { Danger! Danger of personal injury through dangerous electrical voltage.
2 Safety instructions General safety information 2 Safety instructions ) Note! It is absolutely vital that the stated safety measures are implemented in order to prevent serious injury to persons and damage to material assets. Always keep this documentation to hand in the vicinity of the product during operation. 2.1 General safety information } Danger! Disregarding the following basic safety measures may lead to severe personal injury and damage to material assets! 8 ƒ Lenze drive components ..
Safety instructions 2 Device− and application−specific safety instructions 2.2 Device− and application−specific safety instructions ƒ Only use cables that comply with the given specifications. , Documentation for the standard device, control system, plant/machine All the other measures prescribed in this documentation must also be implemented. Observe the safety instructions and application notes stated in this manual. KHB 13.0005−EN 1.
3 Product description Product features 3 Product description 3.1 Product features 10 ƒ EtherCAT in accordance with IEEE−802.3u ( 100Base−TX ) with 100Mbps ( full duplex ) ƒ Star and line topology ƒ Connector: two M12 sockets, shielded and D−coded, 4−pole ƒ Electrically isolated EtherCAT interface ƒ Communication cycle: 1.6ms task ƒ Max. 127 slaves ƒ EtherCAT slave implementation is based on the FPGA image ESC10 l KHB 13.0005−EN 1.
Technical data 4 General data and operating conditions 4 Technical data 4.1 General data and operating conditions Field Communication profile Communication medium Values EtherCAT S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT 5e Interface 2 M12 sockets, standard Ethernet (in accordance with IEEE 802.3), 100Base−TX (Fast Ethernet) Line, star Max. 127 100 m (typical) EtherCAT slave 100 Mbps CE Network topology Number of nodes Max.
5 Installation Electrical installation Wiring according to EMC (CE−typical drive system) 5 Installation 5.1 Electrical installation 5.1.1 Wiring according to EMC (CE−typical drive system) For wiring according to EMC requirements observe the following points: ) Note! ƒ Separate control cables/data lines from motor cables. ƒ Connect the shields of control cables/data lines at both ends in the case of digital signals.
Installation 5 Electrical installation Network topology 5.1.2 Network topology EtherCAT supports line and switch topologies. Line topology M SD SD SD E94AYCET006 Fig. 5−1 Line topology M Master SD Slave Device ƒ The devices are interconnected successively. ƒ For correct operation it is necessary that the Ethernet sockets IN and OUT are assigned correctly. ƒ The direction of data transmission is from the master to the slaves.
5 Installation Electrical installation Ethernet connection 5.1.3 Ethernet connection For connection to the EtherCAT bus system a commercially available 4−pole standard Ethernet cable is suitable. Pin assignment M12 socket 3 4 2 1 931K_001 Pin Signal 1 Tx + 2 Rx + 3 Tx − 4 Rx− Ethernet cable specifications ) Note! Only use cables complying with the below specifications. Specification of the Ethernet cable Ethernet standard Standard Ethernet (in accordance with IEEE 802.
Commissioning 6 Configuration with an EtherCAT configuration tool 6 Commissioning 6.1 Configuration with an EtherCAT configuration tool For commissioning the EtherCAT network the following configuration tool is required: ƒ Lenze »Small Drives Control SDC« This is a software system for real−time execution, programming, configuration, and diagnostics of control programs. KHB 13.
7 Parameter setting 7 Parameter setting The EtherCAT interface is parameterised under the menu Parameters W Fieldbus W EtherCAT W Operating parameters: 931K_100 For activating the EtherCAT interface the following parameter has to be set: ƒ Basic node number In order to unambiguously identify the nodes in the network, a node number which may only appear once in the network must be assigned to each node. Via this node number the device is addressed.
Parameter setting 7 931K_101 If the device was triggered via an EtherCAT control with the corresponding XML file and is active, the displays of the PDO editor change. 931K_102 The "NMT status" field indicates that the device is Operational. The output stage is active and the drive can be actuated with setpoints. The data input range (receive PDOs) and the data output range (transmit PDOs) have been changed by the control according to the selections of the XML file of the devices.
8 CANopen over EtherCAT (CoE) CANopen communication objects supported 8 CANopen over EtherCAT (CoE) 8.1 CANopen communication objects supported As already described in the previous chapters, the user protocols are tunneled via EtherCAT. For the CANopen over EtherCAT (CoE) protocol supported by the 931K most objects for the communication layer are supported by EtherCAT in accordance with the CiA DS301 standard. These are mostly objects for establishing communication between the master and the slave.
CANopen over EtherCAT (CoE) 8 New communication objects Configuration of the communication interface 8.2.1 Configuration of the communication interface The EtherCAT protocol uses two different transfer types for the transmission of the device and user protocols, like for instance the CANopen over EtherCAT (CoE) protocol used by the 931K. These two transfer types are the mailbox telegram protocol for acyclic data and the process data telegram protocol for the transmission of cyclic data.
8 CANopen over EtherCAT (CoE) New communication objects Configuration of the communication interface channels to the individual transfer types is fixed and cannot be changed by the user. The assignment is as follows: ƒ Sync channel 0: mailbox telegram protocol for incoming SDOs (master ® slave) ƒ Sync channel 1: mailbox telegram protocol for outgoing SDOs (master ¬ slave) ƒ Sync channel 2: process data telegram protocol for incoming PDOs (master ® slave) Here object 0x1C12 is to be observed.
CANopen over EtherCAT (CoE) 8 New communication objects New and changed CANopen communication objects under CoE 8.2.2 New and changed CANopen communication objects under CoE The following table provides an overview of the indexes and subindexes used for the CANopen−compatible communication objects which have been added for the EtherCAT fieldbus system in the range of 0x1000h to 0x1FFFh. They mainly replace the communication parameters in accordance with the CiA standard DS301.
8 CANopen over EtherCAT (CoE) New communication objects New and changed CANopen communication objects under CoE Object 0x1100 − EtherCAT fixed station address Via this object a definite address is assigned to the slave during the initialisation phase.
CANopen over EtherCAT (CoE) 8 New communication objects New and changed CANopen communication objects under CoE Sync Manager Communication Type Subindex 2 Description Communication Type Sync Channel 1 Access ro PDO Mapping no Value Range 2: Mailbox Transmit (Master ¬ Slave) Default Value 2: Mailbox Transmit (Master ¬ Slave) Sync Manager Communication Type Subindex 3 Description Communication Type Sync Channel 2 Access ro PDO Mapping no Value Range 0: unused 3: Process Data Output (Tx
8 CANopen over EtherCAT (CoE) New communication objects New and changed CANopen communication objects under CoE Object 0x1C10 − Sync Manager Channel 0 (Mailbox Receive) Via this object a PDO for sync channel 0 can be configured. Since sync channel 0 is always assigned by the mailbox telegram protocol, this object cannot be changed by the user.
CANopen over EtherCAT (CoE) 8 New communication objects New and changed CANopen communication objects under CoE Object 0x1C12 − Sync Manager Channel 2 (Process Data Output) Via this object a PDO for sync channel 2 can be configured. Sync channel 2 is fixedly provided for the reception of receive PDOs (master ® slave). In this object the number of PDOs has to be set under subindex 0, which are assigned to this sync channel.
8 CANopen over EtherCAT (CoE) New communication objects New and changed CANopen communication objects under CoE Sync Manager Channel 3 (Process Data Input) Index 0x1C13 Name Sync Manager Channel 3 (Process Data Input) Object code Array Data type UINT8 Sync Manager Channel 3 (Process Data Input) Subindex 0 Description Number of assigned PDOs Access rw PDO Mapping no Value Range 0: no PDO assigned to this channel 1: one PDO assigned to this channel 2: two PDOs assigned to this channel Defa
CANopen over EtherCAT (CoE) 8 New communication objects CANopen communication objects under CoE that are not supported 8.2.3 CANopen communication objects under CoE that are not supported When the 931K is connected under CANopen over EtherCAT, some CANopen objects are not supported, which are available in the case of a direct connection of the 931K via CANopen.
8 CANopen over EtherCAT (CoE) EtherCAT state machine CANopen communication objects under CoE that are not supported 8.3 EtherCAT state machine Like in nearly all fieldbus interface connections for servo position controllers, the slave connected (in this case the 931K servo position controller) first has to be initialised by the master before it can be used by the master in an application. For this purpose a state machine is implemented, defining a fixed procedure for such an initialisation.
CANopen over EtherCAT (CoE) 8 EtherCAT state machine CANopen communication objects under CoE that are not supported Status transition Status IP Start of acyclic communication (mailbox telegram protocol) PI Stop of acyclic communication (mailbox telegram protocol) PS Start of cyclic communication (process data telegram protocol) Slave sends actual values to the master Slave ignores setpoints from the master and uses internal default values SP Stop of cyclic communication (process data telegram pr
8 CANopen over EtherCAT (CoE) EtherCAT state machine Differences in the state machine under CANopen and EtherCAT 8.3.1 Differences in the state machine under CANopen and EtherCAT When the 931K is operated via the EtherCAT CoE protocol, instead of the CANopen state machine the EtherCAT state machine is used. In some points it differs from the CANopen state machine.
CANopen over EtherCAT (CoE) 8 Parameter data transfer Differences in the state machine under CANopen and EtherCAT 8.4 Parameter data transfer All data of an SDO transfer in the case of CoE are transmitted via SDO frames. Structure of an EtherCAT SDO frame Mailbox Header CoE Header SDO control byte Index Subindex Data Data 6 bytes 2 bytes 1 byte 2 bytes 1 byte 4 bytes 1 ...
8 CANopen over EtherCAT (CoE) Process data transfer Differences in the state machine under CANopen and EtherCAT 8.5 Process data transfer The Process Data Objects (PDO) serve to the cyclic transmission of setpoint and actual value data between the master and the slave. They have to be configured by the master before the slave is operated in the "Pre−operational state. Afterwards they are transferred to PDO frames. These PDO frames have the following structure.
CANopen over EtherCAT (CoE) 8 Process data transfer Differences in the state machine under CANopen and EtherCAT the 931K, apart from the mapping of the CANopen objects, also allows for using the objects for the CANopen protocol available for the 931K transmission type of the PDOs for the PDOs to be parameterised. An exception to this is the "Sync message" transmission type.
8 CANopen over EtherCAT (CoE) Error states Differences in the state machine under CANopen and EtherCAT 8.6 Error states The EtherCAT CoE implementation for the 931K servo position controller monitors the following error states of the EtherCAT fieldbus: ƒ FPGA is not ready when the system is started ƒ A bus error has occurred ƒ An error on the mailbox channel has occurred.
CANopen over EtherCAT (CoE) 8 Emergency telegram Differences in the state machine under CANopen and EtherCAT 8.7 Emergency telegram Via the EtherCAT CoE emergency frame error messages are exchanged between the master and the slave. The CoE emergency frames serve to directly transfer the emergency messages defined under CANopen. The CANopen telegrams, like also in the cases of the SDO and PDO transmission, are simply tunneled through the CoE emergency frames.
8 CANopen over EtherCAT (CoE) Adaptation of the device description file Structure of the device description file 8.8 Adaptation of the device description file Under EtherCAT each device is described by means of a device description file. This file can be used for a simple connection of the EtherCAT devices to an EtherCAT control. This file contains the complete parameter setting of the slave, including the parameter setting of the sync manager and of the PDOs.
CANopen over EtherCAT (CoE) 8 Adaptation of the device description file Structure of the device description file Important subnodes of the Descriptions node Node designation Meaning Adaptable RxPDO Fixed=... This node contains the PDO mapping and the assignment of the PDO to the sync manager for receive PDOs Yes TxPDO Fixed=...
8 CANopen over EtherCAT (CoE) Adaptation of the device description file Receive PDO configuration in the RxPDO node 8.8.2 Receive PDO configuration in the RxPDO node The RxPDO node serves to define the mapping for the receive PDOs and their assignment to a channel of the sync manager.
CANopen over EtherCAT (CoE) 8 Adaptation of the device description file Receive PDO configuration in the RxPDO node Subnodes of the Entry node for the PDO configuration KHB 13.0005−EN Node designation Meaning Adaptable Index This entry indicates the index of the CANopen object which is to be mapped into the PDO Yes SubIndex This entry indicates the subindex of the CANopen object to be mapped. Yes BitLen This entry indicates the size of the object to be mapped in bits.
8 CANopen over EtherCAT (CoE) Adaptation of the device description file Transmit PDO configuration in the TxPDO node 8.8.3 Transmit PDO configuration in the TxPDO node The TxPDO node serves to define the mapping for the transmit PDOs and their assignment to a channel of the sync manager. The configuration corresponds to that of the receive PDOs with the difference that the "Name" node of the PDO has to be set from "Outputs" to "Inputs". 8.8.
CANopen over EtherCAT (CoE) 8 Synchronisation with "Distributed clocks" (DC) Initialisation commands via the Mailbox node 8.9 Synchronisation with "Distributed clocks" (DC) The time synchronisation in the case of EtherCAT is implemented via so−called "Distributed Clocks". For this each EtherCAT slave contains a real−time clock which is synchronised in all slaves by the master during the initialisation phase. Then the clocks are reset in all slaves during operation.
9 Index 9 Index A L Approvals, 11 Line topology, 13 B M Baud rate, 11 Max.
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