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User Guide
SM-EtherCAT
Unidrive SP
Affinity
Digitax ST
Commander SK
Mentor MP
Part Number: 0471-0128-02
Issue: 2
www.controltechniques.com
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General Information The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the variable speed drive with the motor. The contents of this guide are believed to be correct at the time of printing. In the interests of commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of
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Contents 1 Safety Information ..........................................................5 1.1 Warnings, cautions and notes ......................................................................5 1.2 Electrical safety - general warning ...............................................................5 1.3 System design and safety of personnel .......................................................5 1.4 Environmental limits ..........................................................................
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9 Diagnostics ...................................................................56 9.1 Module identification parameters ...............................................................56 9.2 Network configuration objects ....................................................................57 9.3 Diagnostic parameters ...............................................................................58 9.4 Drive trip display codes .....................................................................
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Safety Mechanical Electrical Drive profile (DSP-402) Advanced Quick Glossary Of Introduction Getting Started Protocols Diagnostics Index Information Installation Installation support features Reference Terms 1 Safety Information 1.1 Warnings, cautions and notes A Warning contains information, which is essential for avoiding a safety hazard. WARNING A Caution contains information, which is necessary for avoiding a risk of damage to the product or other equipment. CAUTION A Note contains informa
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Careful consideration must be given to the functions of the drive which might result in a hazard, either through their intended 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 damage, loss or injury, a risk analysis must be carried out, and where necessary, further measures taken to reduce the risk - for example, an over-speed protection device in case of failure of the speed control, or
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Safety Mechanical Electrical Drive profile (DSP-402) Advanced Quick Glossary Of Introduction Getting Started Protocols Diagnostics Index Information Installation Installation support features Reference Terms 1.8 General safety considerations for remote operation SM-EtherCAT enables the possibility of remotely controlling a machine from a distance. It is vital that when connecting to a machine remotely, adequate safety procedures are implemented to prevent damage to the machine or injury to pe
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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 250µs. • CANopen over EtherCAT (CoE) which includes: • Support of CANopen DSP-402 (Device Profile for Drives and Motion) • Interpolated position mode • Velocity mode
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Safety Mechanical Electrical Drive profile (DSP-402) Advanced Quick Glossary Of Introduction Getting Started Protocols Diagnostics Index Information Installation Installation support features Reference Terms 2.4.1 Date code format The date code is split into two sections: a letter followed by a number. The letter indicates the year and the number indicates the week number (within the year) in which the Solutions Module was built. The letters are alphabetical in order, starting with A in 1991 (
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3 Mechanical Installation Before installing or removing a Solutions Module in any drive, ensure the AC supply has been disconnected for at least 10 minutes and refer to Chapter 1 Safety Information on page 5. If using a DC bus supply ensure this is fully discharged before working on any WARNING drive or Solutions Module. 3.1 General Installation The installation of a Solutions Module is illustrated in Figure 3-1. Figure 3-1 Fitting a Solutions Module 1 2 The Solutions Module connector is loca
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Safety Mechanical Electrical Getting Drive profile (DSP-402) Advanced Quick Glossary Of Introduction Protocols Diagnostics Index Information Installation Installation Started support features Reference Terms 4 Electrical Installation 4.1 SM-EtherCAT module information 4.1.1 Bus media The SM-EtherCAT option module incorporates two x 100 BASE-TX RJ45 interfaces. 4.1.2 Cabling considerations To ensure long-term reliability it is recommended that any cables used to connect a system together be tes
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4.3 Network topology Control Techniques recommend implementing daisy chaining on EtherCAT networks (see Figure 4-1). Other Ethernet network topologies can be used but care must be taken to ensure that the system still operates within the constraints specified by the designer. Figure 4-1 SM-EtherCAT daisy chain network topology Master / PLC Unidrive SP Digitax ST Commander SK I/ O SM- SM- SM- EtherCAT EtherCAT EtherCAT 4.4 Minimum node-to-node cable length There is no minimum length of cable r
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Safety Mechanical Electrical Getting Drive profile (DSP-402) Advanced Quick Glossary Of Introduction Protocols Diagnostics Index Information Installation Installation Started support features Reference Terms 5 Getting Started 5.1 Quick start guide This section is intended to provide a generic guide for setting up SM-EtherCAT with a master/controller PLC. It will cover the basic steps required to get cyclic data communicating using the CANopen over EtherCAT (CoE) protocol on the SM-EtherCAT m
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5.1.3 Configuring the SM-EtherCAT module for cyclic communications Unlike other Control Techniques fieldbus communication protocols, CoE does not require that any module parameters be changed in order to achieve communications. The baud rate of the network is fixed and the module is automatically allocated an address. To check that the ethernet cable connected to the SM-EtherCAT module on the drive is connected correctly, look at the LED on the front of the SM-EtherCAT module relating to th
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Safety Mechanical Electrical Getting Drive profile (DSP-402) Advanced Quick Glossary Of Introduction Protocols Diagnostics Index Information Installation Installation Started support features Reference Terms For this example the following objects will need to be set in order to achieve the mappings of the parameters/objects in the PDOs. Table 5.3 Cyclic data mapping configuration RxPDO1: TxPDO1: TxPDO6: Object: 0x1600 Object: 0x1A00 Object: 0x1A05 Sub-index: 0x00 Sub-index: 0x00 Sub-index: 0x0
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Assigning RxPDO to the Sync Manager To assign RxPDO1 to sync manager 2 PDO assignment set the values below to the following objects: • Index: 0x1C12 • Sub index: 0x00 •Size: 1 • Value: 1 Setting object 0x1C12, sub-index 0 to a value of 1 (as above) indicates that one RxPDO will be assigned to the sync manager 2 assignment. • Index: 0x1C12 • Sub index: 0x01 •Size: 2 • Value: 0x1600 Setting object 0x1C12, sub-index 1 to a value of 0x1600 (as above) maps RxPDO1 to the process data output sync.
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Safety Mechanical Electrical Getting Drive profile (DSP-402) Advanced Quick Glossary Of Introduction Protocols Diagnostics Index Information Installation Installation Started support features Reference Terms 5.2 Quick start flowchart Figure 5-3 details the steps required to achieve cyclic communications on the EtherCAT network. This flowchart should be used as the starting point for all configurations. Figure 5-3 Quick start flowchart START Ensure the Control Techniques .xml file is in the app
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5.3 Saving parameters to the drive On the Unidrive SP, Affinity, Digitax ST and Commander SK to avoid loss of the configured settings when the drive 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 Mentor MP Pr MM.00 needs to be set to a value of ‘SAVE’ followed by pressing the reset button. To store drive parameters: •Set Pr MM.00 to 1000 (Mentor MP Pr MM.00=SAVE). • Press the red RESET button. The drive will st
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Safety Mechanical Electrical Drive profile (DSP-402) Advanced Quick Glossary Of Introduction Getting Started Protocols Diagnostics Index Information Installation Installation support features Reference Terms 6 Protocols 6.1 CANopen over EtherCAT (CoE) The CoE protocol over EtherCAT uses a modified form of the CANopen object dictionary. This is specified in Table 6.1: Table 6.1 CoE object dictionary Index Object dictionary area 0x0000 to 0x0FFF Data type area 0x1000 to 0x1FFF CoE communication
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Definitions: • : A signed 16-bit number. This is the index of the object dictionary entry specified in four hexadecimal characters. • : A value describing how the object may be accessed (RW = read/ write, RO = read-only and WO = write-only). • : The size of the object/sub-index in bytes. • : The physical unit (e.g. ms, counts per second etc.). 6.1.1 CoE communication area The first set of objects specify general communication settings. Table 6.4 Device type object
