Emerson 0471-0128-02 manuale d’uso

User Guide Unidrive SP Affinity Digitax ST Commander SK Mentor MP Part Number: 0471-0128-02 Issue: 2 www.controltechniques. com SM-EtherCAT[...]

General I nformatio n The manufac turer accepts no liability for any consequence s resulting from ina ppropriate, negligen t or incorrect installation or adjus tment of the optional parameters of the equi pment or from mismat ching the variable sp eed drive with the motor. The contents of this guide ar e believed to be correct at th e time of prin [...]

SM-EtherCAT User Guide 3 Issue Number: 2 www.controltechniques.com Content s 1 Safety Informati on ........ ............. ................ ............. ........ 5 1.1 Warnings, cautions and notes .. ........ ......... ......... ........... ......... ......... ......... .... 5 1.2 Elec trical sa fety - gene ral warnin g .......... .......... ......[...]

4 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 9 Diagnostics ............ ................ ................ ............. .......... 56 9.1 M odule identi fication para meters ............ .......... ........... ........... ............ ....... 56 9.2 Ne twork co nfigurat ion objec ts ............. ........... ......... ........[...]

SM-EtherCAT User Guide 5 Issue Number: 2 www.controltechniques.com Safety Info rma tion Introduction Mechani cal Installation Electri cal Installation Getting S tarte d Protocols Drive prof ile (DSP-402 ) support Advanced featur es Diagnost ics Quick Reference Glossary Of Te r m s Inde x 1 Safety Information 1.1 W arnings, cautions and notes 1.2 El[...]

6 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Careful consideration must be given to the func tions of the drive which might result in a hazard, either through their intended behavior or throug h incorrect operation due to a fault. In any application where a malfunction of the drive or its control system could lead to or allow [...]

SM-EtherCAT User Guide 7 Issue Number: 2 www.controltechniques.com Safety Info rma tion Introduction Mechani cal Installation Electri cal Installation Getting S tarted Protocols Drive prof ile (DSP-402 ) support Advanced featur es Diagnost ics Quick Reference Glossary Of Te r m s Inde x 1.8 General safety considerations for remote operation SM-Ethe[...]

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 driv es range, Men tor MP, Affinity , Digitax ST and Commander SK. •[...]

SM-EtherCAT User Guide 9 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Installation Electri cal Installation Getting S tarted Protocols Drive pr ofile ( DSP-402) support Advanced features Diagno stics Quick Reference Glossa ry Of Te r m s Inde x 2.4.1 Date code format The date code is split into two sections: [...]

10 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 3 Mechanical Inst allation 3.1 General Inst allation The installation of a Solutions Module is illustrated in Figure 3-1 . Figure 3-1 Fitting a Solutions Module The Solutions Module con nector is located on the un derside of the module (1). Push this into the Solutions Module slot [...]

SM-EtherCAT User Guide 11 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electr ical Installati on Getting St a r t e d Protocols Drive profile (DSP-4 02) support Advanced featur es Diagnosti cs Quick Reference Glossary Of Te r m s Index 4 Electrical Inst allation 4.1 SM-EtherCA T module informati[...]

12 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 4.3 Network topology Control T echniques recommend implementing daisy chainin g on EtherCA T networks (see Figure 4-1 ). Other Ethernet network topologies can be used but car e must be taken to ensure that the system still operates with in the constraints specified by the designer [...]

SM-EtherCAT User Guide 13 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electri cal Installation Getting Star te d Protocols Drive profile ( DSP-402) support Advanced featur es Diagnostics Quick Reference Glossary Of Te r m s Index 5 Getting S t arted 5.1 Quick st art guide This section is intend[...]

14 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 5.1.3 Configuring the SM-EtherCA T module for cyclic communications Unlike other Control T echniques fieldbus communication protocols, C oE does not require that any module parameters be c hanged in order to achieve communications. The baud rate of the network is fixed and the modu[...]

SM-EtherCAT User Guide 15 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electri cal Installation Getting Star te d Protocols Drive profile ( DSP-402) support Advanced featur es Diagnostics Quick Reference Glossary Of Te r m s Index For this example the following objects wi ll need to be set in or[...]

16 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Assigning RxPDO to the Sync Manag er T o assign RxPD O1 to sync manager 2 PDO assignment set the values below to the following objects: • Index: 0x1C12 • Sub index: 0x00 •S i z e : 1 • Value: 1 Setting object 0x1C12, sub-index 0 to a val ue of 1 (as above) indicates th at o[...]

SM-EtherCAT User Guide 17 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electri cal Installation Getting Star te d Protocols Drive profile ( DSP-402) support Advanced featur es Diagnostics Quick Reference Glossary Of Te r m s Index 5.2 Quick st art flowchart Figure 5-3 details the steps required [...]

18 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 5.3 Saving p arameters to the drive On the Unidrive SP , Affinity , Digitax ST and Commander SK to avoid loss of the configured settings when the dr ive is powered down it is necessary to write 1000 to Pr MM.00 followed by pressing the reset button to perform a drive save. On Mento[...]

SM-EtherCAT User Guide 19 Issue Number: 2 www.controltechniques.com Safety Information Introduction Me chanical Insta llation Electrical Insta llation Getting S tarted Protocols Drive prof ile (DSP-4 02) support Advanced features Diagnostic s Quick Reference Glossary Of Te r m s Index 6 Protocols 6.1 CANopen over EtherCA T (CoE) The CoE protocol ov[...]

20 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Definitions: • <index> : A signed 16-bit number. This is the index of the object dictionary entry specified in four hexadecimal characters. • <access> : A value describing how the o bject may be accessed (RW = read/ write, RO = read-only and WO = write-only). • &l[...]

SM-EtherCAT User Guide 21 Issue Number: 2 www.controltechniques.com Safety Information Introduction Me chanical Insta llation Electrical Insta llation Getting S tarted Protocols Drive prof ile (DSP-4 02) support Advanced features Diagnostic s Quick Reference Glossary Of Te r m s Index 6.1.2 RxPDO mappings Objects with indices from 0x1600 to 0x 17FF[...]

22 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Table 6.8 RxPDO mapping 2 0x1601 Receive PDO mapping 2 Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A Default: 2 Description: The number of ma pped objects in this PDO. Sub-index 1: 1st mapped object Access: RW Range: 0 to 0xFFFFFFFF Size: [...]

SM-EtherCAT User Guide 23 Issue Number: 2 www.controltechniques.com Safety Information Introduction Me chanical Insta llation Electrical Insta llation Getting S tarted Protocols Drive prof ile (DSP-4 02) support Advanced features Diagnostic s Quick Reference Glossary Of Te r m s Index 6.1.3 TxPDO mappings Objects with the indices from 0x1A00 to 0x1[...]

24 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Table 6.13 TxPDO mapping 2 0x1A01 Transmit PDO mapping 2 Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A Default: 2 Description: The number of ma pped objects in this PDO. Sub-index 1: 1st mapped object Access: RW Range: 0 to 0xFFFFFFFF Size[...]

SM-EtherCAT User Guide 25 Issue Number: 2 www.controltechniques.com Safety Information Introduction Me chanical Insta llation Electrical Insta llation Getting S tarted Protocols Drive prof ile (DSP-4 02) support Advanced features Diagnostic s Quick Reference Glossary Of Te r m s Index Table 6.15 TxPDO mapping 6 0x1A05 Transmit PDO mapping 6 Sub-ind[...]

26 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 6.1.4 Sync manager c onfiguration The sync managers are the EtherCA T means for se tting access attributes for different areas of memory and triggering or notifying the application when the memory is accessed. The following objects specify how the sync managers (and thus correspond[...]

SM-EtherCAT User Guide 27 Issue Number: 2 www.controltechniques.com Safety Information Introduction Me chanical Insta llation Electrical Insta llation Getting S tarted Protocols Drive prof ile (DSP-4 02) support Advanced features Diagnostic s Quick Reference Glossary Of Te r m s Index 6.1.5 Feedback encode r source Table 6.20 Sync manager 2 PDO ass[...]

28 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7 Drive profile (DSP-402) support SM-EtherCA T supports the following modes of the DSP-402 profile: • Interpolated position mode • vl velocity mode • Profile torque mode 7.1 0x6040 Controlword This provides the primary method of contro lling the behavior of the drive e.g. ena[...]

SM-EtherCAT User Guide 29 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex 7.2 0x6041 St atusword This provides feedback about the current [...]

30 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 The behavior of the sequenci ng control is shown in Figure 7-1 CoE state machine diagram . This state machine indicates how the drive will be controlled. For clarity the S tatusword is a bbreviated to ‘SW’ in the diagram. When in the ‘QUICK STOP ACTIVE’ state, the currently[...]

SM-EtherCAT User Guide 31 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex Figure 7-1 CoE state machin e diagram SWITCH ON DISABLED NOT REA[...]

32 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Table 7.8 CoE state machine transitio n and events Transition Event(s) Action(s) 0 Automatic transition aft er power-on or reset application Drive device self-test and/o r self initialisation shall be performed 1 Automatic t ransition Communication shall be activated 2 Shutdown com[...]

SM-EtherCAT User Guide 33 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex When the SM-EtherCA T module transitions from the EtherCA T Safe[...]

34 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7.3.3 0x605B Shutdown_option_code This object is used to control what action is perf ormed if there is a transition from the Operation Enabled state to the Ready T o Switch On state. 7.3.4 0x605C Disable_operatio n_option_code Disable drive function (switc h-off the drive power sta[...]

SM-EtherCAT User Guide 35 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex 7.3.6 0x6060 Modes_of_operation This object is used to request a[...]

36 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7.3.9 Profile units The implementation provides a means to convert profile units into p osition controller and drive units. All scaling values are standard profile objects. The following objects are supported: For positions, the scaling control includes a fe ed constant, a gear rat[...]

SM-EtherCAT User Guide 37 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex 7.3.12 0x6092 Feed_constant This is used to configure a feed con[...]

38 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 T able 7.26 lists the objects that are supported: 7.3.14 0x6062 Position_demand_valu e This read only object is used to provide the currently demanded position value. The value is given in user defined position units. 7.3.15 0x6064 Positi on_actual_v alue This read only object prov[...]

SM-EtherCAT User Guide 39 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex 7.3.17 0x60FB Position_contr ol_parameter_set object The APC pos[...]

40 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7.4.2 0x60C1 Interpolation_data_record This object is used to specify the target pos ition. Linear interpolation is used to generate position demand values every 250µs. The posit ion is specified in user-defined position units. The value is written into sub-index 1. Table 7.33 0x6[...]

SM-EtherCAT User Guide 41 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex The time period is checked to ensure that it is an integer multi[...]

42 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7.5.2 0x6043 vl_velocity_demand This read only object provides the inst antaneous velocity demand generated by the drive ramp function. The value is given in rpm if the vl_dimension_factor an d the vl_setpoint_factor have the value 1, otherwise t he value is in user uni ts. Positiv[...]

SM-EtherCAT User Guide 43 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex 7.5.5 0x6047 vl_velocity_min_max This object is used to configur[...]

44 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7.5.7 0x6049 vl_velo city_dece leration This object is used to configure the delta speed and delta time of the slope of the deceleration ramp. Example: To decelerate by 800 rpm in 10s , possible values for delta speed and delta time are 8000 and 100 respectively. vl_velocity_decele[...]

SM-EtherCAT User Guide 45 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex 7.5.9 0x604B vl_setpoint_factor This object is used to configure[...]

46 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 The object vl_velocity_min_max is handled every pr ofile cycle. The vl_target_ve locity is limited according to the values set in the ob ject vl_velocity_min_max , which is read every profile cycle. The object vl_velocity_min_max_amount is mapped to vl_velocity_min_max . The value [...]

SM-EtherCAT User Guide 47 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex 7.6.2 0x6075 Motor_rated_curren t This object indicates the conf[...]

48 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 By choosing a homing method the following behaviour is determined: T he homing signal (positive limit switch, negative limit switch, home switch), the d irection of actuation and where appropriate the position of the in dex pulse. An encircled number in Figure 7-3 to Figure 7- 10 i[...]

SM-EtherCAT User Guide 49 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex Method 3 and 4: Homing o n positive home switch and in dex pulse[...]

50 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 using methods 1 1 to 14 the initial direction of moveme nt shall be to the left except if the home switch is active at the start of the motion. In this ca se the initial direction of motion shall be dependent on the edge being sought. The home posit ion shall be at the index pulse [...]

SM-EtherCAT User Guide 51 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex Method 15 and 16: Reserved These methods are reserved. Method 17[...]

52 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Use of controlword and statusword The homing mode uses some bits of the controlword and the statusword for mode- specific purposes. T able 7.52 Definition of bits 4 and 8 of the controlword on page 52 defines the values for bits 4 and 8 of the controlword. Table 7.52 Definition of [...]

SM-EtherCAT User Guide 53 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-402) support Advanced features Di agnostics Qui ck Refer ence Glossary Of Te r m s In dex 0x2804 Freeze object This object is used to configure the freeze[...]

54 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 0x6098 Homing method This object indicates the configured homing method that shall be use d. Ta b l e 7.57 Homing method on page 54 specifies the obj ect description, and T able 7.58 Homing method values on page 54 specifies the value ranges for this object. Table 7.57 Homing metho[...]

SM-EtherCAT User Guide 55 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Inst allation Electri cal Installation Getting Sta r te d Protocols Drive profile (D SP-402) support Advanced features Diagnosti cs Quick Refer ence Glossary Of Te r m s Index 8 Advanced features 8.1 Distributed clocks SM-EtherCA T support[...]

56 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 9 Diagnostics 9.1 Module identification p arameters The basic menu parameters can be accessed through t he slot menu in the drive, Pr MM.PP , where MM is the menu for SM-EtherCA T 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 User Guide 57 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanica l Installation Electri cal Installation Getting Sta r t ed Protocols Drive pr ofile (DSP-40 2) support Advance d features Diagnostics Quick Refe rence Glossary Of Te r m s Inde x Commander SK / Commander SL The software version of the Solut[...]

58 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 9.3 Diagnostic p arameters 9.3.1 Running states Table 9.5 SM-EtherCAT operat ing status SM-EtherCA T operating stat us Pr MM.06 Default N/A Range -9999 to 9999 Access RO Table 9.6 Diagnostic inform ation - running stat es Pr MM.06 Meaning Description 0 Link established A link has b[...]

SM-EtherCAT User Guide 59 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanica l Installation Electri cal Installation Getting Sta r t ed Protocols Drive pr ofile (DSP-40 2) support Advance d features Diagnostics Quick Refe rence Glossary Of Te r m s Inde x 9.4 Drive trip display codes If the SM-EtherCA T detects an e[...]

60 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 9.7 SM-EtherCA T error codes If an error is detected during operation the mod ule will force a trip on the drive and update the error code parameter (Pr MM.50 ). T able 9.13 shows the SM-EtherCA T error codes. Table 9.12 SM-EtherCAT error codes SM-EtherCA T error codes Pr MM.50 Def[...]

SM-EtherCAT User Guide 61 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanica l Installation Electri cal Installation Getting Sta r t ed Protocols Drive pr ofile (DSP-40 2) support Advance d features Diagnostics Quick Refe rence Glossary Of Te r m s Inde x 9.8 Critical t ask % free 9.9 Worst case critical t ask % fre[...]

62 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 10 Quick Reference T able 10.1 and T able 10.2 list of all the SM-EtherCA T set-up objects and parameters that are required to configure the modu le. Table 10.1 SM-EtherCAT objects reference Object Name Description Cross reference 0x1000 0 0 Device type S pecifies the device profil[...]

SM-EtherCAT User Guide 63 Issue Number: 2 www.controltechniques.com Safety Information Introduction Me chanical Insta llation Electrical Inst allation Getting St a r t e d Protocols Dri ve prof ile (D SP-402) support Advanced features Diagno stics Quick Reference Glossary Of Te r m s Inde x 0x6044 vl_vel ocity_a ctual value Provides the velocity at[...]

64 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 0x60C0 Interpolation sub-mode_select S pecifies the interpolation type. Section 7.4.1 on page 39 0x60C1 Interp olation data_recor d This object is used to specify the target position. Section 7.4.2 on p age 40 0x60C2 Interpolation time_period The number of time units between int er[...]

SM-EtherCAT User Guide 65 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanic al Installation Electri cal Installation Getting Sta r t ed Prot ocols Driv e profil e (DSP-40 2) support Advanced featur es Diagnosti cs Quick Reference Glossar y Of Te r m s Inde x 1 1 Glossary Of T erms Address: This is the unique network[...]

66 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Scan rate: See Poll rate . Screening: A connection to provide additional imm unity to noise used o n a network cable. Shielding: A connection to provide additional i mmunity to n oise used on a network cable. Stat u s w o r d: A value that denotes the status of the drive. Each bit [...]

SM-EtherCAT User Guide 67 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanic al Installation Electri cal Installation Getting S tarted Protocols Drive profile (D SP-402) support Di agnosti cs Advanced featur es Quick Refer ence Glossa ry Of Te r m s Inde x Index A Address .............................................[...]

68 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 P PC .................................................................................................... .......... 65 PLC .................................................................................................. .......... 65 Poll rate ...................................[...]

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0471-0128-02[...]