Instruction/ maintenance manual of the product SM-ETHERCAT 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.
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.
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 Gu ide www.controltechniques.com Issue Number: 2 9 Diagnostics ......... ............. .......... ............ ............. .......... 56 9.1 M odul e identi fication param eters ............ ....... ......... .......... ......... .
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.
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.
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 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.
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.
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).
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.
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 ).
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.
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.
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-.
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 obj.
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.
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.
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.
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).
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.
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.
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.
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.
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.
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.
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.
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 .
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.
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.
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 0.
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 app.
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 0.
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.
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.
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.
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.
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.
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.
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.
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 0.
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.
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.
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.
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.
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.
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.
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.
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 0.
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.
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.
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.
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 0.
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.
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.
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.
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 (D.
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.
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.
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.
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.
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.
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.
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.
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 .
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.
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 .
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 SM-ETHERCAT 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 SM-ETHERCAT 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 SM-ETHERCAT 0471-0128-02 - thus you can check whether the hardware meets your expectations. When delving into next pages of the user manual, Emerson SM-ETHERCAT 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 SM-ETHERCAT 0471-0128-02 will certainly help you make a decision on the purchase.
If you already are a holder of Emerson SM-ETHERCAT 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 SM-ETHERCAT 0471-0128-02.
However, one of the most important roles played by the user manual is to help in solving problems with Emerson SM-ETHERCAT 0471-0128-02. Almost always you will find there Troubleshooting, which are the most frequently occurring failures and malfunctions of the device Emerson SM-ETHERCAT 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
