Instruction/ maintenance manual of the product 0471-0128-02 Emerson
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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.
SM-EtherCAT User Guide 3 Issue Number: 2 www.controltechniques.com Content s 1 Safety Informati on ........ ............. ................ ............. ........ 5 1.1 Warnings, cautions and notes .. ........ ......... ......... ........... ......... .
4 SM-EtherCAT User Guide www.controltechniques.com Issue Number: 2 9 Diagnostics ............ ................ ................ ............. .......... 56 9.1 M odule identi fication para meters ............ .......... ........... ........... .......
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.
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.
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 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.
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).
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.
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 ).
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.
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.
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-40.
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 objec.
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.
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.
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.
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).
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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).
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 app.
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).
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.
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.
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.
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.
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.
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.
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.
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).
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.
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.
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.
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.
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.
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.
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.
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).
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.
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.
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.
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).
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.
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.
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.
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-4.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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 ...........................................................
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0471-0128-02.
An important point after buying a device Emerson 0471-0128-02 (or even before the purchase) is to read its user manual. We should do this for several simple reasons:
If you have not bought Emerson 0471-0128-02 yet, this is a good time to familiarize yourself with the basic data on the product. First of all view first pages of the manual, you can find above. You should find there the most important technical data Emerson 0471-0128-02 - thus you can check whether the hardware meets your expectations. When delving into next pages of the user manual, Emerson 0471-0128-02 you will learn all the available features of the product, as well as information on its operation. The information that you get Emerson 0471-0128-02 will certainly help you make a decision on the purchase.
If you already are a holder of Emerson 0471-0128-02, but have not read the manual yet, you should do it for the reasons described above. You will learn then if you properly used the available features, and whether you have not made any mistakes, which can shorten the lifetime Emerson 0471-0128-02.
However, one of the most important roles played by the user manual is to help in solving problems with Emerson 0471-0128-02. Almost always you will find there Troubleshooting, which are the most frequently occurring failures and malfunctions of the device Emerson 0471-0128-02 along with tips on how to solve them. Even if you fail to solve the problem, the manual will show you a further procedure – contact to the customer service center or the nearest service center
