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Emerson SM-ETHERCAT 0471-0128-02 manual

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Table of contents for the manual

  • Page 1

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

  • Page 2

    Genera l Infor mation The man ufacturer accep ts no liability for any co nsequence s resulting from inappropria te, negligent or incorrect installation or adjustment of the optional parameters of the equi pment or fr om mismatching th e variable speed driv e with the mo tor. The contents of this guid e are believed to be correc t at the tim e of pr[...]

  • Page 3

    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 E lectric al safet y - gener al warnin g ........ ....... ........[...]

  • Page 4

    4 SM-EtherCAT User Gu ide www.controltechniques.com Issue Number: 2 9 Diagnostics ......... ............. .......... ............ ............. .......... 56 9.1 M odul e identi fication param eters ............ ....... ......... .......... ......... ......... ....... 56 9.2 N etwork config urati on objec ts ........... ......... ......... ....... [...]

  • Page 5

    SM-EtherCAT User Guide 5 Issue Number: 2 www.controltechniques.com Safety Info rm ati on Introduction Mechan ica l Installation Elect rical Installation Getting S tarted Protocols Dr ive prof ile (DSP-4 02) support Advanc ed feat ures Diagno stic s Quick Reference Glossa ry Of Te r m s Index 1 Safety Information 1.1 W arnings, cautions and notes 1.[...]

  • Page 6

    6 SM-EtherCAT User Gu ide 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 int ended 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[...]

  • Page 7

    SM-EtherCAT User Guide 7 Issue Number: 2 www.controltechniques.com Safety Info rmati on Introduction Mechan ica l Installation Elect rical Installation Getting S tarted Protocols Dr ive prof ile (DSP-4 02) support Advanc ed feat ures Diagno stic s Quick Reference Glossa ry Of Te r m s Index 1.8 General safety considerations for remote operation SM-[...]

  • Page 8

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

  • Page 9

    SM-EtherCAT User Guide 9 Issue Number: 2 www.controltechniques.com Safety Information Introduction Mechanical Installa tion Elect rical Installation Getting S tarted Protocols Drive p rofi le (DSP- 402) suppor t Advance d features Diag nostics Quick Reference Glos sary Of Te r m s Index 2.4.1 Date code fo rmat The date code is split into two sectio[...]

  • Page 10

    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 Fitt ing a Solution s Module The Solutions Module connector is locate d on the underside of t he module (1). Push this into the Solutions Module slo[...]

  • Page 11

    SM-EtherCAT User Guide 11 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Elect rical Installat ion Gettin g St a r t e d Proto cols Drive profile (D SP-402) suppor t Advance d feat ures Diagno stics Quick Reference Glossa ry Of Te r m s Index 4 Electrical Inst allation 4.1 SM-EtherCA T module inf[...]

  • Page 12

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

  • Page 13

    SM-EtherCAT User Guide 13 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electr ical Installation Getting Star t e d Protocols Drive profil e (DSP-40 2) support Advance d feat ures Diagnostics Quick Referenc e Glossar y Of Te r m s Index 5 Getting S tarted 5.1 Quick st art guide This section is i[...]

  • Page 14

    14 SM-EtherCAT User Gu ide www.controltechniques.com Issue Number: 2 5.1.3 Config uring the SM-EtherCA T module for cyclic commu nications Unlike other Control T echniques fieldbus commu nication protocols, CoE 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 m[...]

  • Page 15

    SM-EtherCAT User Guide 15 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electr ical Installation Getting Star t e d Protocols Drive profil e (DSP-40 2) support Advance d feat ures Diagnostics Quick Referenc e Glossar y Of Te r m s Index For this example the following objects wi ll need to be set[...]

  • Page 16

    16 SM-EtherCAT User Gu ide www.controltechniques.com Issue Number: 2 Assigning RxPDO to th e Sync Manager T o assig n RxPDO1 to sync manager 2 PDO assignment set the valu es 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 that [...]

  • Page 17

    SM-EtherCAT User Guide 17 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electr ical Installation Getting Star t e d Protocols Drive profil e (DSP-40 2) support Advance d feat ures Diagnostics Quick Referenc e Glossar y Of Te r m s Index 5.2 Quick st art flowchart Figure 5-3 details the steps req[...]

  • Page 18

    18 SM-EtherCAT User Gu ide 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 w hen the drive is powered down it is necessar y to write 1000 to Pr MM.00 followed by pressing the reset button to perform a drive save. On Men[...]

  • Page 19

    SM-EtherCAT User Guide 19 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation G etting S tarted Protocols Drive pr ofile (DSP-402) support Advanced features Diagnosti cs Quick Referenc e Glossary Of Te r m s Index 6 Protocols 6.1 CANopen over EtherCA T (CoE) The CoE protocol o[...]

  • Page 20

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

  • Page 21

    SM-EtherCAT User Guide 21 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation G etting S tarted Protocols Drive pr ofile (DSP-402) support Advanced features Diagnosti cs Quick Referenc e Glossary Of Te r m s Index 6.1.2 RxPDO ma ppings Objects with indices from 0x1600 to 0x 17[...]

  • Page 22

    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 mapped obj ects in this P DO. Sub-index 1: 1st mapped object Access: RW Range: 0 to 0xFFFFFFFF Si z[...]

  • Page 23

    SM-EtherCAT User Guide 23 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation G etting S tarted Protocols Drive pr ofile (DSP-402) support Advanced features Diagnosti cs Quick Referenc e Glossary Of Te r m s Index 6.1.3 TxPDO mappings Objects with the indices from 0x1A00 to 0x[...]

  • Page 24

    24 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Table 6.13 TxPDO mapp ing 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 mapped obj ects in this P DO. Sub-index 1: 1st mapped object Access: RW Range: 0 to 0xFFFFFFFF S[...]

  • Page 25

    SM-EtherCAT User Guide 25 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation G etting S tarted Protocols Drive pr ofile (DSP-402) support Advanced features Diagnosti cs Quick Referenc e Glossary Of Te r m s Index Table 6.15 TxPDO mapp ing 6 0x1A05 Transmit PDO mapping 6 Sub-i[...]

  • Page 26

    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 attr ibutes for different areas of memory and triggering or notifyi ng the application when the memory is accessed. The following objects specify how the sync managers ( and thus corresp[...]

  • Page 27

    SM-EtherCAT User Guide 27 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation G etting S tarted Protocols Drive pr ofile (DSP-402) support Advanced features Diagnosti cs Quick Referenc e Glossary Of Te r m s Index 6.1.5 Feedb ack encode r source Table 6.20 Sync manager 2 PDO a[...]

  • Page 28

    28 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7 Drive profile (DSP-402) support SM-EtherCA T suppor ts 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. e[...]

  • Page 29

    SM-EtherCAT User Guide 29 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index 7.2 0x6041 S t atusword This provides feedback about the cu r[...]

  • Page 30

    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 clar ity the S tatusword is abbreviated to ‘SW’ in the diagram. When in the ‘QUICK STOP ACTIVE’ state, the currently[...]

  • Page 31

    SM-EtherCAT User Guide 31 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index Figure 7-1 CoE state ma chine diagram SWITCH ON DISABLED NOT [...]

  • Page 32

    32 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Table 7.8 CoE state mach ine transition and events Transition Event(s) Action(s) 0 Automatic transiti on after power-on or reset application Drive devi ce self-test and/or self initialisation shall be perfo rmed 1 Automati c transition Communication shall be activated 2 Shutdown co[...]

  • Page 33

    SM-EtherCAT User Guide 33 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index When the SM-EtherCA T module transitions from the EtherCA T S[...]

  • Page 34

    34 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7.3.3 0x60 5B Shut d own_option _code This object is used to control what actio n is performed if there is a transition from th e Operation Enabled state to the Ready T o Sw itch On state. 7.3.4 0x60 5C Disable_operatio n_option_ code Disable drive function (switc h-off the drive p[...]

  • Page 35

    SM-EtherCAT User Guide 35 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index 7.3.6 0x60 60 Modes_of_operation This object is used to reque[...]

  • Page 36

    36 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7.3.9 Profile u nit s The implementation provides a means to convert profile un its into position contr oller and drive units. All scaling values are standard profile objects. The following objects are supported: For positions, the scaling control includ es a feed constant, a gear [...]

  • Page 37

    SM-EtherCAT User Guide 37 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index 7.3.12 0x6092 Feed_con st ant This is used to configure a fee[...]

  • Page 38

    38 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 T able 7.2 6 lists the objects that are supported: 7.3.14 0x6062 Position_deman d_value 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_ac tual_value This read only object pr[...]

  • Page 39

    SM-EtherCAT User Guide 39 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index 7.3.17 0x60FB Position_con tr ol_p arameter_set ob ject The A[...]

  • Page 40

    40 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7.4.2 0x60C1 Interp olation_dat a_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 [...]

  • Page 41

    SM-EtherCAT User Guide 41 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index The time period is checked to ensure that it is an integer mu[...]

  • Page 42

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

  • Page 43

    SM-EtherCAT User Guide 43 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index 7.5.5 0x6047 vl_ve locity_min_max This object is used to conf[...]

  • Page 44

    44 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 7.5.7 0x60 49 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 de lta time are 8000 and 100 respectively. vl_velocity_dece[...]

  • Page 45

    SM-EtherCAT User Guide 45 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index 7.5.9 0x604B vl_se tpoint_factor This object is used to confi[...]

  • Page 46

    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_velocity is limited according to the values set in the object vl_velocity_min_max , which is read every profile cycle. The object vl_velocity_min_max_amou nt is mapped to vl_velocity_min_max . The value o[...]

  • Page 47

    SM-EtherCAT User Guide 47 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index 7.6.2 0x60 75 Motor_rated_curren t This object indicates the [...]

  • Page 48

    48 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 By choosing a homing method the following beh aviour is determined: The homing signal (positive limit switch, negative limit switch, home switch), the direction of actuation and where appropriate the position of the index pulse. An encircled number in Figure 7-3 to Figure 7- 10 ind[...]

  • Page 49

    SM-EtherCAT User Guide 49 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index Method 3 and 4: Ho ming on positive home swit ch and index pu[...]

  • Page 50

    50 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 using methods 1 1 to 14 the initial direct ion of movement shall be to the left except if the home switch is active at the start of the motion. In this case the initial direction of motio n shall be dependent on the edge being sought. Th e home position shall be at the index pulse [...]

  • Page 51

    SM-EtherCAT User Guide 51 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index Method 15 and 16: R eserved These methods are reserved. Metho[...]

  • Page 52

    52 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 Use of controlwor d 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 o [...]

  • Page 53

    SM-EtherCAT User Guide 53 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Getting S tarted Protocols Drive profile (DSP-4 02) support Advance d featur es Diagnost ics Quick Refe ren ce Glossary Of Te r m s Index 0x2804 Freeze obj ect This object is used to configure the fr[...]

  • Page 54

    54 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 0x6098 Homing meth od This object indicates the configured homing method that shall be used. 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 me th[...]

  • Page 55

    SM-EtherCAT User Guide 55 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electr ical Installation Getting St a r t e d Protocols Driv e profile (DSP -402) support Advanced features Diagnos tics Quick Refe ren ce Glossary Of Te r m s Index 8 Advanced features 8.1 Distributed clocks SM-EtherCA T su[...]

  • Page 56

    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-Et herCA T in the host drive. The basic menu parameters may also be accessed using menu 60, i.e. Pr 60.PP . 9.1.[...]

  • Page 57

    SM-EtherCAT User Guide 57 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mecha ni cal Installation Elect rical Installation Getti ng Sta r t e d Protocols Drive profil e (DSP-40 2) support Advance d featur es Diagnostics Quick Refe ren ce Glossary Of Te r m s I ndex Commander SK / Comman der SL The software version of th[...]

  • Page 58

    58 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 9.3 Diagnostic p arameters 9.3.1 Running st ates Table 9.5 SM-EtherCAT ope rating status SM-EtherCA T operating status Pr MM.06 Default N/A Range -9999 to 9999 Access RO Table 9.6 Diagnostic in formation - runn ing states Pr MM.06 Meaning Descri ption 0 Link establish ed A link has[...]

  • Page 59

    SM-EtherCAT User Guide 59 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mecha ni cal Installation Elect rical Installation Getti ng Sta r t e d Protocols Drive profil e (DSP-40 2) support Advance d featur es Diagnostics Quick Refe ren ce Glossary Of Te r m s I ndex 9.4 Drive trip display codes If the SM-EtherCA T detect[...]

  • Page 60

    60 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 9.7 SM-EtherCA T error codes If an error is detected during o peration the module 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 De[...]

  • Page 61

    SM-EtherCAT User Guide 61 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mecha ni cal Installation Elect rical Installation Getti ng Sta r t e d Protocols Drive profil e (DSP-40 2) support Advance d featur es Diagnostics Quick Refe ren ce Glossary Of Te r m s I ndex 9.8 Critical t ask % free 9.9 W orst case critical t as[...]

  • Page 62

    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 p arameters that are required to configur e the module. Table 10.1 SM-EtherCAT ob jects reference Object Name Description Cross reference 0x1000 0 0 Device ty pe S pecifies the device pr[...]

  • Page 63

    SM-EtherCAT User Guide 63 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mechanical Inst allation Electrical Inst allation Gettin g St a r t e d Proto cols Dri ve pro fil e (DSP-40 2) suppor t Advanced features Diag nostics Quick Reference Glossar y Of Te r m s Ind ex 0x6044 vl_v elocit y_act ual value Provides the veloc[...]

  • Page 64

    64 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 0x60C0 Interpolation sub-mode_select S pecifies the interp olation type. Section 7.4.1 on page 39 0x60C1 Int erpolation data_re cord 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 unit s between inte[...]

  • Page 65

    SM-EtherCAT User Guide 65 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mech ani cal Installation Electr ical Installation Getting Sta r t e d Pr otocol s Driv e profi le (D SP-402) suppor t Advanc ed feat ures Diagno stics Quick Reference Gloss ary Of Te r m s Inde x 1 1 Glossary Of T erms Address: This is the unique n[...]

  • Page 66

    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 on a network cable. Shielding: A connection to provide additional i mmunity to noise used on a network cable. Stat us w o rd : A va lue that denotes the status of the drive. Each bit wi[...]

  • Page 67

    SM-EtherCAT User Guide 67 Issue Number: 2 www.controltechniques.com Safety Information Introd uction Mech ani cal Installation Elect rical Installation Getting S tarted Protocols Drive pr ofile (DSP -402) suppor t Diagnos tics Adv anced feat ures Quick Refe ren ce Glos sary Of Te r m s Ind ex Index A Address ........................................[...]

  • Page 68

    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[...]