2 - SEW-Eurodrive
Contents
1. 3035170571 X44 RJ10 plug connector LED RUN green LED ERR red LED SYS F red X47 X30 IN RJ45 plug connector X30 OUT RJ45 plug connector RS485 interface for diagnostic purposes Shows the operating status of bus electronics and communi cation Displays EtherCAT errors Displays the status of the communication between FSE24B and MOVITRAC B Connection of the DC 24 V supply for the FSE24B communi cation option and MOVITRAC B 1 DC 24 V 2 GND Incoming EtherCAT connection Outgoing EtherCAT connection Manual MOVITRAC B Communication Interface FSE24B EtherCAT 11 12 Assembly and Installation Notes Pin assignment X30 IN OUT 4 3 Pin assignment X30 IN OUT Use prefabricated shielded RJ45 plug connectors to IEC 11801 edition 2 0 category 5 6 A B 1 2 3 6 x AT i SS 5 1 WK A B 3011902475 View from front View from back Pin 1 TX Transmit Plus Pin 2 TX Transmit Minus Pin 3 RX Receive Plus Pin 6 RX Receive Minus 4 3 1 FSE24B EtherCAT connection The FSE24B communication option is equipped with two RJ45 connectors for a linear bus structure The EtherCAT master is connected if necessary via additional EtherCAT slaves to X30 IN RJ45 with a shielded twisted pair cable Additional EtherCA2. 12 Manual MOVITRAC B Communication Interface FSE24B EtherCAT SEW EURODRIVE Driving the world _th cr mbi 4 a EP i se tS ow SEW EURODRIVE Driving the world EURODRIVE SEW EURODRIVE GmbH amp Co KG P O Box 3023 D 76642 Bruchsal Germany Phone 49 7251 75 0 Fax 49 7251 75 1970 sew sew eurodrive com www sew eurodrive com
3. 24 6 1 2 Communication timeout between EtherCAT FSE24B and MOVITRAC B cscsscesesseseesseseesessessessesscanseeeseees 25 6 1 3 Unit SOR Cn Sn N De E ste eee AAR 26 6 2 Parameterization via EtherCAT o ccsccsccssesseseesessessesstseestsnsseseeeseessees 26 6 2 1 SDO services READ and WRITE oaeee 26 6 2 2 Example of reading a parameter in TwinCAT via EtherCAT 27 6 2 3 Example of writing a parameter in TwinCAT via EtherCAT 29 6 3 Parameterization return COQd S L EEE EEE EEE EEE EEE EEE kk k KA 30 7 Operating MOVITOOLS MotionStudio via EtherCAT uuezer 31 7 1 About MOVITOOLS MotionStudio cccsescscessssessssessesessssessssessesesseees 31 TAA TASKS i sael e E r E E 95 ae 31 7 1 2 F ncti halp rihcipl ic 3 c2 f e eaaa ek ai elan una KE bA RAN 31 WZ xi la E PS ND DD DD DD DD E E Dey 33 7 2 1 Starting the software and creating a project 33 7 2 2 Establishing communication and scanning the network 33 7 2 3 Configuring UNS ensina deyl n zk nk w sik ae ker da 34 A Gonnection Moda 5 Kin E BK y Wala kis e linia eee 35 7 3 1 ea sissies Aneta Dr rrr 35 7 3 2 Selecting the communication mode online or offline 36 7 4 Communication via EtherCAT u apes sid Sede ekere ereke 37 7 4 1 E E EE EEE E N E n dr een ET A N 37 7 4 2 Configuration of the mailbox gateway in t
4. Index Subindex Offset inthe PDO Name Data type Size in bytes 3E1C 0hex 0 0 PI1 UINT 15900 0dec 3E1D 0hex 2 0 Pl2 UINT 15901 0dec 3E1E 0hex 4 0 PI3 UINT 15902 0dec 3E1F 0hex 6 0 PI4 UINT 15903 0dec 3E20 0hex 8 0 PI5 UINT 15904 0dec 2 3E21 0hex 10 0 PI6 UINT 15905 0dec 3E22 0hex 12 0 PI7 UINT 15906 0dec 3E23 0hex 14 0 PI8 UINT 15907 0dec 3E24 0hex 16 0 PI9 UINT 15908 0dec 3E25 0hex 18 0 PI10 UINT 15909 0dec Manual MOVITRAC B Communication Interface FSE24B EtherCAT 5 3 Configuration and Startup Setting the MOVITRAC B frequency inverter Setting the MOVITRA c B frequency inverter Parameter tree t MCO7B n ll H Gy MOVITRAC B Parameters S Bus 1 Faxed setpo nt z A By 0 Display valuos fort gf Gy 1 Setponts ramo geneialors Pal EE 10 Setpoint selection 102 Frequency sealing kHz T0 00 u 11 Analog input 1 j0 10V irg E 12 FBG Setpoint generates opton a s kt 13 Speed ramps 1 601 Binar input 0102 Enable Stop z 14 Speed ramps 2 lg gt 15 Motor potentiometer function 602 Binary input DIOS T No function E 16 Fired setpoints 1 603 Binay rod Dib foi i 17 Fed selports 2 GIJ 2 Controller parameters 604 Binay input 0105 No tunction Ge 3 Moter parameters 608 Bi D100 Foin TT 21 X Gij 4 Rele ence agnals hav toons No k nction wz GY 5 Monio ing functione ixe Cn pret
5. Drive Technology Drive Automation System Integration Services N i i HE Hi NT TT EURODRIVE Manual Communication Interface FSE24B EtherCAT For MOVITRAC B Edition 03 2011 16989619 EN SEW EURODRIVE Driving the world 250 Saa aes TT du 280 Ue Contents Contents 1 General Information u dekk set tid ent ected es aia kaka adandan naaraan ku ka aa anka k R a Ka vaka 5 1 1 How to use the documentation l L Ek kkk k 5 1 2 Structure of the safety Notes l l ll l t Eilillkl E kk kk KA Ak KAWA 5 1 2 1 Meaning of the signal WoOrdS iui EEE kek 5 1 2 2 Structure of section safety NOLES 0 cece E 5 1 2 3 Structure of embedded safety NOtes cceceeeeeeeeeesteeeeeeeeaes 5 1 3 Right to claim under warranty ii kk kek ek kk kk kk KAKA 6 TA Exclusion G iab lan Akin m k l a dka mand ada nd Ae ane R kaya 2 Aa e d Ann 6 j l lt KER amp 5 s0 1a j j PS NN N YN Ev rek iy AD N r ya ND i 6 1 6 Other applicable documentation EEi kk 6 1 7 Product names and trademarks 0 cccccceceeeeeeceeeeeecaeeeeeeeeeeeeeeteteeesnaaeees 6 2 Safety Notes csc a ku lk ls sikak xalaka kk keka kul eee keka ewe k xuda x k bAn K KE ep antes w k xuWa ese awk es 7 21i iBUSSYSTCMS yi Ae H dy A E etal W da ke Aa A len Sanka tala AK 7 22 Satety TUNCHONS n ee ier
6. a f D ww i p GM SYSTEM Configuration WB NC Configuration WA PLC Configuration C Wi V0 Configuration BD VO Devices 3 E Device 1 EtherCAT eS h B m aa a amp amp Q AAL Varable Rags Onine Value New Value ie Commert se Device 1 lmage af Device 1 Image Info H t Inputs H Outputs 4 InfoDats 3 MOVITRAC MOVITRAC FSE24B QT InputDatal Standard 3 PI J OutputDatal Standard 3 PO Pol l PO2 POJ a WeState 4 InfoDate d Mappings 3018094091 First mark the process output data PO1 In the window that appears choose the tab page Online Click on the Write button The Set Value Dialog window opens Enter your data in the field Dec or Hex Handle the PO2 process output data in the same way The process input and output data words are assigned and scaled in MOVITRAC B in the parameter group 87_ or defined via an IPOSPlus program or application module For more information refer to the MOVITRAC B system manual and the MOVITRAC B Communication and Fieldbus Unit Profile manual Manual MOVITRAC B Communication Interface FSE24B EtherCAT 25 6 26 A Operating Behavior in Connection with EtherCAT V Parameterization via EtherCAT 6 1 2 Communication timeout between EtherCAT FSE24B and MOVITRAC B 6 1 3 Unit error If the data transmission via EtherCAT is interrupted or fault
7. trol via the fieldbus system Consequently you must wire and program the terminals in such a way that the inverter is enabled via the input terminals The simplest way of en abling the frequency inverter at the terminals is to connect the DI 1 function CW STOP input terminal to a 24 V signal and to program the remaining input terminals to NO FUNCTION Manual MOVITRAC B Communication Interface FSE24B EtherCAT Operating Behavior in Connection with EtherCAT a e Control of the MOVITRAC B frequency inverter lt 6 Operating Behavior in Connection with EtherCAT This chapter describes the basic behavior of the frequency inverter in connection with EtherCAT with control via process data objects PDO for fieldbus communication 6 1 Control of the MOVITRAC B frequency inverter The MOVITRAC B frequency inverter is controlled via the fixed PDO which are 3 or 10 process data words long When using an EtherCAT master the process data words are directly mapped in the process image and can so be addressed directly by the con trol program EtherCAT Master Ethernet Frame EtherCAT 5 5 z TORA Data Drive 1 privez Drives Fes EtherCAT 3008266251 INFORMATION ri For more information about control via the process data channel in particular regard ing the coding of the control and status word refer to the MOVITRAC B Communi cation and Fieldbus Unit Profile manual Manual MOVITRAC
8. 1 6 Other applicable documentation The following publications and documents apply to the connected units e MOVITRAC B operating instructions For units with functional safety also observe the corresponding manual Functional Safety or Safe Disconnection Conditions e Installation and startup only by qualified electricians observing the relevant accident prevention regulations and the operating instructions of the connected units 1 7 Product names and trademarks EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Manual MOVITRAC B Communication Interface FSE24B EtherCAT Safety Notes Bus systems 2 2 2 3 2 4 Safety Notes Bus systems A bus system makes it possible to adapt frequency inverters to the particulars of the ma chinery within wide limits As with all bus systems there is a danger of invisible external as far as the inverter is concerned modifications to the parameters which give rise to changes in the unit behavior This may result in unexpected though not uncontrolled system behavior Safety functions MOVITRAC B inverters may not perform any safety functions without higher level safety systems Use higher level safety systems to ensure protection of equipment and personnel For safety applications ensure that the information in the publication Safe Disconnection for MOVITRAC B is observed Hoist applications Di
9. 7 ALA 3266490251 1 PC with Ethernet interface and MOVITOOLS MotionStudio 2 Ethernet network 3 Engineering interface of the EtherCAT master 4 Internal IP routing 5 EtherCAT master e g TwinCAT system with integrated mailbox gateway MBX 6 EtherCAT interface 7 Units examples with EtherCAT interfaces Manual MOVITRAC B Communication Interface FSE24B EtherCAT 39 7 40 Sx Operating MOVITOOLS MotionStudio via EtherCAT ae Communication via EtherCAT 7 4 2 Configuration of the mailbox gateway in the EtherCAT master e Activate VoE EoE support on the EtherCAT controller e Activate the connection with the TCP IP stack and IP routing e Specify the IP address of the EtherCAT mailbox gateway The IP address is usually assigned by the engineering tool e g TwinCAT and should not be changed In the TwinCAT program of the company Beckhoff the above settings look as follows i State Machine ZET Master Settings Slave Setonas Virtua Ethemnet Swich dowe Network Cdit Frames IV Enable V Conect to TCP IP Stack Distributed Clocks ma Max Ports f2 Windows IP Routng Emergency Max Frames 100 moens MaxMatids san Chonges egare system ebcol Virsal MAC zm 65 70 00 00 3267403275 7 4 3 Configuring the network at the engineering PC If MOVITOOLS MotionStudio and the EtherCAT master are running on the same PC you do not have to make any
10. B Communication Interface FSE24B EtherCAT 6 E A Operating Behavior in Connection with EtherCAT ai Control of the MOVITRAC B frequency inverter 6 1 1 Control example in TwinCAT with MOVITRAC B Once the file SEW _FSE24B xml has been copied to the TwinCAT subdirectory IO EtherCAT you can use the function Append box in the offline mode to insert a MOVITRAC B in the EtherCAT structure see following figure ind Unbenannt TwinCAT System Manager File Edit Actions View Options Help Ose b l CA SBS MAD sa v HDD GB SYSTEM Configuration Insert EtherCAT Device WB NC Configuration S Bie BI PLC Configuration Search Name MOVITRAC Ij ro Configuration E9 VO Devices Type SS Beckholf Automation GmbH Device 1 bacan S88 SEW Eurodive d Mappings w Elum cae ar waw ee X Delete Device OFE24 Gateway 1 es ION Nota Das 3017547019 In online mode i e when connected with the EtherCAT line you can use the symbol Find devices to search the EtherCAT line for connected MOVITRAC units see fol lowing figure _ Getting_Started tsm TwinCAT System Manager File Edit Actions View Options Help D bl amp amp a FP MA Sa KAD GB SYSTEM Configuration EE NC Configuration Ba NC Task 1 SAF BIB PLC Configuration 1 0 Configuration D 1 0 Devices EtherCAT Master EtherCAT whe EtherCAT Master Image 3018087563 For
11. data is to be read Address in the object dictionary from which the data is to be read Data Structure for storing the received data and its length Data length SDO WRITE Description Slave address 16 bit EtherCAT address of the inverter to which data is to be written Index 16 bit Subindex 8 bit Data Structure in which the data to be written is stored Data length Address in the object dictionary to which the data is to be written For the SDO services READ and WRITE other flags and parameters might be neces sary For activating the function For in progress message or error message For timeout monitoring For reporting errors during the execution Manual MOVITRAC B Communication Interface FSE24B EtherCAT Operating Behavior in Connection with EtherCAT So a Parameterization via EtherCAT lt gt 6 2 2 Example of reading a parameter in TwinCAT via EtherCAT The function SDO READ is available for reading parameters The index of the parame ter to be read is necessary The parameter index is displayed in the parameter tree via tool tip For implementation in TwinCAT the function module FB_EcCoESdoRead is required This function module is available in the TcEtherCAT_lib library You can integrate this function module in two steps 1 Creating an instance of the function module FB_EcCoESdoRead 2 The inputs of the function module are assigned as follow
12. livery For size 0 mount the spacer bolt first The spacer bolt is already installed in sizes 1 and higher The screw establishes a high frequency EMC connection be tween the basic unit and the front module The FSE24B communication option can not be used together with other communi cation options FSC or I O expansions FIO in MOVITRAC B When using the FSE24B communication option one additional diagnostic interface RS485 is available The system bus CAN of MOVITRAC B is used for an internal connection to the FSE24B front module which means it is no longer available for other functions The FSE24B can be supplied with DC 24 V via the X47 connector so that the bus is still operational even when MOVITRAC is switched off or the FSE24B commu nication option is unplugged MOVITRAC B is also supplied with power If the FSE24B communication option is only supplied with power by MOVITRAC B the voltage supply must not be deactivated via parameter P808 Auxiliary voltage output VIO24 Manual MOVITRAC B Communication Interface FSE24B EtherCAT Assembly and Installation Notes Connection and terminal assignment 4 2 Connection and terminal assignment Front view of FSE24B Terminal description LED Function MOVITRAC Elher A n X30 IN X30 OUT X47 X30 IN X30 OUT
13. process data communication Manual MOVITRAC B Communication Interface FSE24B EtherCAT Error Diagnostics Diagnostic procedures lt Ah Flashing Requirement e RUN LED flashes green slave is in PRE OPERATIONAL state e LED RUN lights up green once slave is in the state SAFE OPERATIONAL Invalid configuration Repair the configuration error and start the bus in the mas ter again Switch the slave to OPERATIONAL state Start the process data communication Manual MOVITRAC B Communication Interface FSE24B EtherCAT 49 Technical Data FSE24B communication option for MOVITRAC B 9 Technical Data 9 1 FSE24B communication option for MOVITRAC B FSE24B communication option MOVITRAC B 50 Part number 1824 006 2 External voltage supply U DC 24 V 15 20 Imax DC 60 mA Power consumption Pmax 1 5 W Standards IEC 61158 IEC 61784 2 Baud rate 100 MBd full duplex Connection technology 2 x RJ45 8x8 modular jack Bus termination Not integrated as bus termination is activated automatically OSI layer Ethernet II Station address Setting via EtherCAT master display with P093 Name of the XML file SEW_FSE24B xml Vendor ID 0x59 CANopenVendor ID EtherCAT services CoE and EoE VoE Firmware status MOVIDRIVE B e The transmission of 3 process input and output data words does
14. tee 7 Disposal arise anette edna heehee et ate 7 Hoist applicatiOnS i ke 7 Other applicable documentation 6 Safety functions ilu kk 7 eql ji oUa EAEE E E ac EE E W 5 Structure of embedded safety notes 5 Structure of section safety notes 5 Setting the MOVITRAC B frequency inverter 22 Setting the station address lE u U U 13 Signal word MEANING eeeeeeeeeeeteeeeeeeetteeeeeeeenaees 5 Startup Starting up the UIL A si a Al yk K k layek 46 Slatus LE DS En an e d n E a a yena EEA 13 Definition of display statuses 15 ERR 6Q 2 5 ik el 2 klr eraga es 14 Link Activity green eeens 16 RUN QPCGN icat areen EENE 14 SYS F r d inir ra a a o xak iyal 15 Structure of embedded safety notes 5 Structure of safety section notes 5 System overview Functional principle EE 31 T TCP IP Communication with EtherCAT 43 Technical data of FSE24B M E 50 Terminal assignment E 11 Tools Functional principle E 31 TwinCAT Communication with EtherCAT 43 X MIL file Boies heed atts Dd 50 Configuration of the EtherCAT master for MOVITRAC Buk keke k 17 Validity iii nu bl ieee ania link 17 X30 IN OUT pin assignment
15. the MOVITRAC B system manual provide examples to illustrate the different control con cepts and possible applications Characteristics MOVITRAC B and EtherCAT The unit behavior of the inverter that forms the basis of EtherCAT operation is referred to as the unit profile It is independent of any particular fieldbus and is therefore a uni form feature This allows the user to develop fieldbus independent drive applications This makes it much easier to change to other bus systems such as CANopen option FSC 3 2 2 Access to all information MOVITRAC B offers digital access to all drive parameters and functions via the EtherCAT communication interface The frequency inverter is controlled via fast cyclic process data You can use this process data channel to enter setpoints e g setpoint speed ramp generator time for acceleration deceleration etc and to trigger various drive functions such as enable controller inhibit normal stop rapid stop etc At the same time you can use this channel to read back actual values from the frequency in verter such as the actual speed current unit status error number and reference sig nals 3 2 3 Cyclic data exchange via EtherCAT Process data is usually exchanged cyclically between the EtherCAT master and the MOVITRAC B frequency inverters The cycle time is specified during the configuration of the EtherCAT master Manual MOVITRAC B Communication Interface FSE24B
16. the simplest form of process data transport only the two PDOs nputData1 and OutputData1 are required 24 Manual MOVITRAC B Communication Interface FSE24B EtherCAT Operating Behavior in Connection with EtherCAT Ee Control of the MOVITRAC B frequency inverter lt SN BJ Unbenannt TwinCAT System Manager File Edit Actions View Options Help Sa a ow zl r BB SYSTEM Configuration BNC Configuration J PLC Configuration M AlS sa a 2 23 FQ Mee General BtherCAT Dc Process Data Statup CoE Onine Online Syne Manager PDO List Wa 1 O Configuration B VO Devices SM Sze Type Rags index Size Name 3 58 Device 1 EtherCAT 0 250 MexOut 01A00 6 0 nputData1 Standard 3 Pl i Da Sond 1 20 Mh 0x1501 200 InputData1 Standard 10 PI Device 1 Image Info 2 6 Outputs 01600 60 OutputData1 Standard 3 PO g Inputs 1601 200 OutputData1 Standard 10 PO Outputs InfoData 5 MOVITRAC MOVITRAC FSE24B Qf InputDatal Standard 3 PI 4 rm 2 a g OutputDatel Standard 3 PO 4 WcState PDO Assignment 01013 PDO Cortert 01601 H InfoDate Y c1A00 index Sue Offs Name d Mappings ina x3088 2 0 0 0 PO 3018091147 Now you can link the process data words to the PLC program or write data into them for manual testing as shown in the following figure faq Unbenannt TwinCAT System Manager Action Vie Iptions Help
17. to be written pDstBuf Pointer to the data range in which the data to be written is located cbBufLen Amount of data to be sent in bytes bExecute A positive edge starts the writing process tTimeout Timeout interval of the function module The output flags bBusy and bError indicate the status of the service nErrld shows the error number when the bError flag is set if an error occurs Manual MOVITRAC B Communication Interface FSE24B EtherCAT 29 6 E A Operating Behavior in Connection with EtherCAT me lt bates Parameterization return codes The function module is integrated in TwinCAT as follows zz TwinCAT PLC Control WriteSDO pro MAIN PRG ST In x WE Fie Edit Project Insert Extras Online Window Help l x asm eL ea SY POUs a MAIN PAG Write_Data DWORD 100000 set internal setpoint n11 to 100 1 min WriteSdo FB_EcCoESdoWhrite NO04ELSE WriteSdof l006 sNetid 192 168 167 1 2 1 AMS Net ID of the EtherCAT maste nSlaveAddr 1001 EtherCA AT Address of the SEW device nindex 8489 index of the internal setpoint n11 nSubindex 0 pSrcBuf ADR Write_Data pointer to the source variable cbButLen 4 number of Bytes of the index bExecute FALSE tTimeout T 500ms 3018642187 SEW parameter always have a data length of 4 bytes 1DWord Refer to the Fieldbus Unit Profile manual for more details and informatio
18. B communication option Condition Status Description Off INIT Option FSE24B communication option is in the state INIT Flashing PRE OPERATIONAL The FSE24B communication option is in the state PRE OPERATIONAL Flashing once SAFE OPERATIONAL The FSE24B communication option is in the state SAFE OPERATIONAL On OPERATIONAL Option FSE24B communication option is in the state OPER ATIONAL 4 7 2 LED ERR red The LED ERR red indicates an EtherCAT error Condition Error Description Off No error The EtherCAT communication of FSE24B is in the operat ing state Flickering Boot error A boot error was detected The state INIT was achieved but the Change parameter in the AL status register has been set to 0x01 change error Flashing Invalid configuration General configuration error Flashing once Unprompted state change The slave application has changed the EtherCAT state automatically The Change parameter in the AL state regis ter is set to 0x01 change error Flashing twice Timeout of the appli cation watchdog A watchdog timeout has occurred in the application Flashing three Reserved times Flashing four Reserved times On PDI watchdog timeout A PDI watchdog timeout occurred Manual MOVITRAC B Communication Interface FSE24B EtherCAT Assembly and Installation Notes Status LEDs of FSE24B De
19. EtherCAT Introduction Characteristics 3 2 4 Acyclic data exchange via EtherCAT Acyclic READ WRITE services are introduced in line with the EtherCAT specification They are transmitted during normal cyclical operation along with the messages without affecting the performance of the process data communication via EtherCAT Read and write access to the drive parameters is made possible via SDO Service Data Objects which are implemented according to CoE CAN application protocol over EtherCAT or VoE services Vendor specific over EtherCAT This parameter data exchange enables you to implement applications in which all the important drive parameters are stored in the master programmable controller so that there is no need to make parameter settings manually on the drive inverter itself 3 2 5 Configuration of the EtherCAT communication option The EtherCAT communication option is designed so that all fieldbus specific settings are made during startup of the EtherCAT system This means the frequency inverter can be integrated into the EtherCAT environment and switched on quickly EtherCAT Master Ethernet Frame EtherCAT x 5 z Pe EtherCAT L Bi 3008266251 3 2 6 Monitoring functions 3 2 7 Diagnostics Using a fieldbus system requires additional monitoring functions for the drive technol ogy for example time monitoring of the fieldbus fieldbus timeout or rapid stop con cepts You can fo
20. IP OQ Ju n n d n dd e aa 15 M Meaning of the signal WordsS E 5 MOVITRAC B and EtherCAT 8 N Network Communication with EtherCAT 43 Functional principle 2 cccccceeeeeeeeeeeeeees 31 O Operating behavior in connection with EtherCAT sateen eee Seen erent ccs 23 Other applicable documentation 6 P Parameterization via EtherCAT 26 Example of reading a parameter in TwinCAT 27 Example of writing a parameter in TwinCAT 29 SDO services READ and WRITE 26 Manual MOVITRAC B Communication Interface FSE24B EtherCAT 51 52 Index Parameters For EUSTOA I striae an tan anteatsanatiaa tan 45 Parameterizing units in the parameter tree 45 Reading changing unit parameters 45 Part number kk m l ate n diyaye l kaxik al a Veke Dan 50 Pin assignment X30 IN OUT se 12 Process data objects Rx receive and Tx transmit configuration 17 Product names and trademarks 6 R Return codes for parameterization 30 Right to claim under warraniy 6 S Safety functions l l kaka kz 7 Safety NOtes a a EEEE RA ine h nek y d k N 7 BUS SYSLOMIS 255 koy d in Seya yk Esl ye xan n kk doxan yen
21. Maximum speed 2 1 min 1500 0 a 3 Motor parameters 313 Current limit 2 in fia 30 Limits 1 31 Limits 2 32 Motor adjustment 1 33 Motor adjustment 2 34 In UL monitoring H 4 Reference signals H 5 Monitoring functions aj 6 Terminal assignment a 7 Control functions w H 8 Unit functions rar H 39 IPOS parameters Z 32 Motor adjustment 1 947217163 6 Double click to display a particular group of unit parameters 7 Press the enter key to finalize any changes you make to numerical values in the input fields INFORMATION ri For detailed information about the unit parameters refer to parameter list for the unit 7 5 3 Starting up units online Proceed as follows to start up the units online 1 Switch to the network view 2 Click on Switch to online mode 1 in the toolbar De A k e 4 X Lt Scan 1 9007200438771211 1 Switch to online mode symbol 3 Select the unit you want to startup 4 Open the context menu and select the command Startup Startup The Startup wizard opens 5 Follow the instructions of the startup wizard and then load the startup data onto your unit 46 Manual MOVITRAC B Communication Interface FSE24B EtherCAT Error Diagnostics SS Z Diagnostic procedures lt AS 8 Error Diagnostics 8 1 Diagnostic procedures The diagnostics procedures described in the following section demonstrate the fault analysis methods for the following proble
22. Sync Manager Sync Unit 1600hex 6 bytes OutputData1 standard 3 PDO Fixed con 2 0 5632dez tent 1601hex 20 bytes OutputData1 standard 10 PO Fixed con 2 0 5633dec tent 1A00hex 6 bytes InputData1 standard 3 Pl Fixed con 3 0 6656dez tent 1A01hex 20 bytes InputData1 standard 10 Pl Fixed con 3 0 6657dec tent Ethernet Frame EtherCAT Header Header Header EtherCAT Master ere eee acycl Mailbox H Communication cycl InputData1 acycl Mailbox Standard 10 PI Communication cycl OutputData1 Standard 10 PO EtherCAT 3015235467 Example Static PDO for 10 cyclic process data words r acycl Mailbox Comm unication Standard 10 PO Ra EAR EE MALA Ka PO eo oe Poel rot MOVITRAC MOVITRAC Process Data 1 3 or IPOSPUS Process Data 4 10 IPOSPU Process Data 1 3 3015756555 The process output data transported with OutputData1 are assigned according to the following table The process output data PO1 PO3 can be linked with various process data control words setpoints via the process data configuration in the MOVITRAC B frequency inverter see MOVITRAC B Communication and Fieldbus Unit Profile man ual The process output data PO4 PO10 are only available in IPOSPI S Manual MOVITRAC B Communication Interface FSE24B EtherCAT 19 5 Configuration and Startup Configuration of the EtherCAT master for MOVI
23. T units are then connected via X30 OUT RJ45 INFORMATION Fi accordance with IEC 802 3 the maximum permitted cable length for 100 MBd Ethernet 100BaseT e g between two FSE24B units is 100 m 4 4 Shielding and routing bus cables Only use shielded cables and connection elements that also meet the requirements of category 5 class D according to IEC 11801 edition 2 0 Correct shielding of the bus cable attenuates electrical interference that can occur in in dustrial environments The following measures ensure the best possible shielding Manually tighten the mounting screws on the connectors modules and equipotential bonding conductors Use only connectors with a metal housing or a metalized housing Connect the shielding in the connector over a wide surface area Apply the shielding of the bus cable on both ends Route signal and bus cables in separate cable ducts Do not route them parallel to power cables motor leads Use metallic grounded cable racks in industrial environments Route the signal cable and the corresponding equipotential bonding close to each other using the shortest possible route Avoid using plug connectors to extend bus cables Route the bus cables closely along existing grounding surfaces Manual MOVITRAC B Communication Interface FSE24B EtherCAT Assembly and Installation Notes 4 Bus termination INFORMATION ri In case of fluctuations in the earth potential a co
24. TRAC B with XML file Assignment of the preset process output data Index Subindex Offset inthe PDO Name Data type Size in bytes 3DB8 0hex 0 0 PO1 UINT 15800 0dec 3DB9 0hex 2 0 PO2 UINT 15801 0dec 3DBA 0hex 4 0 PO3 UINT 15802 0dec 3DBB 0hex 6 0 PO4 UINT 15803 0dec 3DBC Ohex 8 0 PO5 UINT 15804 0dec 3DBD 0hex 10 0 PO6 UINT 15805 0dec 3DBE 0hex 12 0 PO7 UINT 15806 0dec 3DBF 0hex 14 0 PO8 UINT 15807 0dec 3DC0 0hex 16 0 PO9 UINT 15808 0dec 3DC1 0hex 18 0 PO10 UINT 15809 0dec Example Assignment of the preset process input data MOVITRAC Process Data 1 3 or MOVITRAC IPOSP4s Process Data 1 3 IPOSPlus Process Data 4 10 wy nc E ee Pit p 2 pis pia pis pis Piz pis P19 Pi 10 3015784203 The process input data transported with InputData1 are assigned permanently accord ing to the following table The process input data P11 PI3 can be linked with various process data status words actual values via the process data configuration in the MOVITRAC B frequency inverter see MOVITRAC B Communication and Fieldbus Unit Profile manual The process input data P14 P110 are only available in IPOSPIus 20 Manual MOVITRAC B Communication Interface FSE24B EtherCAT Configuration and Startup Configuration of the EtherCAT master for MOVITRAC B with XML file
25. Target Local 192 168 187 1 1 1 Run Time 1 MENE 3018638731 SEW parameter always have a data length of 4 byte 1DWord Refer to the MOVITRAC B Communication and Fieldbus Unit Profile manual for more details and information on scaling In the above example the DC link voltage was read off index 8325 subindex 0 For example the figure 639000 is received which according to the fieldbus unit profile corresponds to a voltage of 639 V 28 Manual MOVITRAC B Communication Interface FSE24B EtherCAT Operating Behavior in Connection with EtherCAT L 2 Parameterization via EtherCAT lt gt 6 2 3 Example of writing a parameter in TwinCAT via EtherCAT The function SDO WRITE is available for writing parameters The index of the parame ter to be written is necessary You can display the parameter index in the SHELL pro gram or in the parameter tree using the key combination CTRL F1 For implementation in TwinCAT the function module FB_EcCoESdoWrite is required This function module is available in the TcEtherCAT_lib library You can integrate this function module in two steps 1 Creating an instance of the function module FB_EcCoESdoWrite 2 The inputs of the function module are assigned as follows sNetID Net ID of the EtherCAT master nSlaveAddr EtherCAT address of the SEW unit from which data is to be written nlndex Index of the parameter to be written nSubIndex Subindex of the parameter
26. a e e seker a h ra ku ora d k sk d n kar ker taser catia 7 2 3 Hoist applications 34l Pal lalik aa ea iaa aa E ari ia ar 7 24 x DiISDOSA iets iad len eeta a ar a e kak dan E a da EEE 7 a E aeo LLT a oie cli keye sek aa ete ea seh e Ke era ku K eae ev Se seven ates nawae ea rab VER WE EK Ka w ET 8 3 1 General information LL kk kk keka k kk kk kK kK AKA 8 3 1 1 Gontent of this manial 2 ii ioaa ii i kr ninan K de hne date de 8 3 1 2 Additional documentation kk kk k 8 3 2 GRaracteriSti68 4 2 5 l22 ee l n AZA Eyb bid edie dd aed 8 3 2 1 MOVITRAC B and EtherCAT iiiin eerren 8 3 2 2 Access to all information kek 8 3 2 3 Cyclic data exchange via EtherCAT 0 0 cscecscecseeseseeeseeeen 8 3 2 4 Acyclic data exchange via EtherCAT ieren 9 3 2 5 Configuration of the EtherCAT communication option 9 3 2 6 Monitoring Functions srera Ee E 9 3 2 7 Diagnostics Su 1355y iro n RD KERE AN S 9 4 Assembly and Installation NNOteS LL EEE Ek kk Kek KK 10 4 1 Installation of the FSE24B communication option EEUU U Uj 10 4 2 Connection and terminal assignment u keke 11 4 3 Pin assignment X30 IN OUT 0000 eee Ek kk kek kk KS 12 4 3 1 FSE24B EtherCAT connection c ccccccsesessessesesetseseseeeseees 12 4 4 Shielding and routing bus cables 0 00 0 eee ceeeee
27. additional network settings If the EtherCAT master is connected to an Ethernet network via an engineering inter face PCs in the same subnet can access SEW drives on EtherCAT with MOVITOOLS MotionStudio see following figure To do so the telegrams from the en gineering PC are routed via the Ethernet interface of the EtherCAT master to the mail box gateway so called routing Manual MOVITRAC B Communication Interface FSE24B EtherCAT Operating MOVITOOLS MotionStudio via EtherCAT XN g A 7 Communication via EtherCAT lt D gt Two variants are available for routing 1 Variant Access to the mailbox gateway by determining the standard gateway on the engineering PC In this variant the IP address of the EtherCAT master is specified as standard gateway On the engineering PC open the dialog window for setting the network proper ties Make the following entries depending on the network Use the following IP address IP address 10 3 64 60 Subnet mask 255 255 252 0 T Standard gateway raU 7 10 3 64 170 TT 3267406603 IP address IP address of the engineering PC Subnet mask Subnet mask of the engineering PC Standard gateway IP address of the EtherCAT master engineering interface in the Ethernet network 2 Variant Defining a static route In this variant an entry is added to the routing table of the engineering PC that routes the engineering data via the EtherCAT m
28. aster to the mailbox gateway The command for creating a static route in the DOS box is route p add Target MASK Netmask Gateway Target Corresponds to the IP address of the EtherCAT mailbox gateway in the EtherCAT master Netmask Is usually set to 255 255 255 255 host routing Gateway Corresponds to the IP address of the EtherCAT master engineering in terface in the Ethernet network Microsoft Windows 2066 Version 5 66 2195 lt C Copyright 1985 2666 Microsoft Corp K gt route p add 169 254 61 254 MASK 255 255 255 255 180 3 64 178 K gt 3267408267 Manual MOVITRAC B Communication Interface FSE24B EtherCAT 41 7 42 Sx Operating MOVITOOLS MotionStudio via EtherCAT V Communication via EtherCAT 7 4 4 Checking the network settings i Irrespective of whether MOVITOOLS MotionStudio and the EtherCAT master are running on the same PC or the EtherCAT mailbox gateway is accessed via routing you should check the network settings You can use the ping command to check whether the communication path to the EtherCAT mailbox gateway is established correctly To do so proceed as follows e Open a command line interface window on your engineering PC to enter a DOS command e Enter ping and the IP address of the EtherCAT mailbox gateway The complete command line for the described network setting example is Ping 169 254 61 254 e If there is no response
29. component Default Leistungsteil gt Properties 2446350859 The example shows the context menu with the tools for MOVIDRIVE The commu nication mode is set to online and the unit is scanned in the network view 3 Select a tool e g Parameter tree to configure the unit E Tool start page EE Parameter tree Default Power section MTF A0003 543 D f Tree EI B 43 MOVIFIT FC parameters ta a r 0 Display values W 1 Setpoints ramp generators tes E 3 Motor parameters Be 5 Monitoring functions a 6 Terminal assignment EL 7 Control functions 8 Unit functions ts E 2446355211 34 Manual MOVITRAC B Communication Interface FSE24B EtherCAT Operating MOVITOOLS MotionStudio via EtherCAT N lt A 7 Connection mode lt 7 3 Connection mode 7 3 1 Overview MOVITOOLS MotionStudio differentiates between online and offline communica tion mode You can select the communication mode yourself Depending on the se lected communication mode you can choose offline or online tools specific to your unit The following figure illustrates the two types of tools 1 2 3 Offline Tool Online Tool J 4 9007200497934219 1 Hard drive of the engineering PC 2 RAM of the engineering PC 3 Engineering PC 4 Unit Tools Description Offline Changes made using offline tools affect ONLY the RAM 2 too
30. e Aegir 6 Terminal assignment 5 60 hehe raya 870 Setport description POT Control word 1 ER B2 Binay ouiputs 871 Setpoint description PO2 set speed 64 Analog outputs option S 7 Control functions 872 Setpomt Gesonption POS No function Sas regen 873 Actual value descriptor PIT js tatus word 1 up 81 Serial Communication 074 Actual value description PI2 Actual speed 82 Brake operation E 02 Fauk responses O75 Actual value description PIJ Apparent output curer 84 Reset behavior 86 Modulation 87 Process data parameter assignment 88 Setial communication SBus Marua operation 803 SBus fimecut dely lifo TT TT 884 SBus baud rate 500 kbaud 886 CANopen address f2 3017475723 To control the MOVITRAC B frequency inverter via EtherCAT you must set the pa rameters P100 Setpoint source and P101 Control signal source to SBus With the set ting SBus the MOVITRAC B frequency inverter is parameterized for receiving the setpoints from the FSE24B communication option The MOVITRAC B frequency in verter now responds to the process output data transmitted from the master program mable controller FSE24B automatically sets the SBus1 timeout interval P883 to 20 ms to ensure that the MOVITRAC B frequency inverter can stop when the communication with the higher level controller is interrupted For safety reasons you must also enable the frequency inverter at the terminals for con
31. eee eeeeeeeeeeeteeeaeeeeeteeaeees 12 4 5 BUS terminations 2 3s edt te ee ee ea hte ei as be aa ta 13 4 6 Setting the station Address 0 0 0 eee ceeeeee eee EEE EEE kek kk KAS 13 4 7 Status LEDs of FSE24B A da kak k wan k cenit weenie 13 4 7 1 LED RUN LO SOR aiiin ds iy y 4555455554 kan neka aah n u ak n n Ken n bak K 14 4 7 2 SIBA ERR lo DYE N A YD Ma seit ee 14 4 7 3 LED S S F red ui xi Hadiy y k ak ke d ya ee ii ee 15 4 7 4 LED Link Activity green liiui kk kk kk kes 16 5 Configuration and Startup ssssssssessssenrnunnnnnnunnnnnnnunnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnn AWK 17 5 1 Validity of the XML file for the FSE24B communication option 17 Manual MOVITRAC B Communication Interface FSE24B EtherCAT Contents 5 2 Configuration of the EtherCAT master for MOVITRAC B with XML file 17 5 2 1 XML file for running the FSE24 communication option on MOVFIRAG B i Hie nika dak diken dee nay k n bu re k mies 17 5 2 2 Configuration procedure EEiii Ek kk kk kk kk 17 5 2 3 Configuration of process data objects PDO 17 5 3 Setting the MOVITRAC B frequency inverter k ueeeeE 22 6 Operating Behavior in Connection with EtherCAT scssssssssssseresereees 23 6 1 Control of the MOVITRAC B frequency inverter eessen 23 6 1 1 Control example in TwinCAT with MOVITRAC B
32. eout between EtherCAT FSE24B and MOVITRAC B ueeeee 25 Control example in TWiINCAT j 24 Unit GITOF eiri ie qi balke Ea nk ban eed ennai 26 COD TE ayd yak Er kn n NEN dd MEKANA Vi 0 in EKRAN AN 6 D Data exchange via EtherCAT oieee 8 Designated use iasssccsssnseeerrnreerrnnnesenernddenennnes 31 Diagnostic procedures for troubleshooting 47 DISPOSAl E A E EE AEE E 7 E ErrordiagnosttS ye ran AET xdke xa 47 Establishing communication with other units 32 EtherCAT Communication with EtherCAT 43 EtherCAT to FSE24B connection 12 Exclusion of liability EEEE E 6 Executing functions with the units 32 45 F Functions Functional principle 2 cccccceeeeeeeeeeeeeeee 31 G General information rrn neenee eee 5 Copyright nica sea anette 6 How to use the documentation 5 General notes Exclusion of liability 6 Right to claim under warraniy 6 H How to use this documentation 5 l Installation notes E iiE EEE 10 Introduction 2208 wee DD eel es 8 L LED ERR redh kk y a EE 14 LED Link Activity green u 16 LED RUN green k llililil keke 14 LED SYS F
33. finition of display statuses Display Definition Timeline On Display is switched on permanently Off Display is switched off permanently Flickering The display switches between on and 50ms off with a frequency of 10 Hz on off 50ms 3013055499 Flickering once The display flickers once very shortly 50ms followed by an off phase on Off ba te D 3013416843 Flashing Display switches on and off at a fre on quency of 2 5 Hz 200 ms on 200 ms 200ms 200ms off off 3013456907 Flashing once The display flashes once shortly 200 on ms followed by a longer off phase 200ms lt 1s a 1000 ms off 3013459851 Flashing twice The display flashes twice in quick suc on cession followed by an off phase 200ms 200ms 200ms 1s tJ r NL cn lll OL 3013463435 Flashing three The display flashes three times in quick on times succession followed by an off phase 200ms 200ms 200ms non zon WE peed 1 be tek alek a odek 3013466379 Flashing four The display flashes four times in quick on times succession followed by an off phase 200ms 200ms 200ms 200ms 200ms 200ms 200ms 1s off 3014762123 4 7 3 LED SYS F red The LED SYS F red shows the status of the communication between the FSE24B front module and MOVITRAC B Condition Error Description Off No error Communication between the FSE24B front module and MOVITRAC B is without fa
34. he EtherCAT master uE kerkere ereke kerker eker 40 7 4 3 Configuring the network at the engineering PC 40 7 4 4 Checking the network settingjS eze 42 7 4 5 Communication settings in MOVITOOLS MotionStudio 43 7 5 Executing functions with the units 00 0 ik k kk 45 7 5 1 Parameterizing Un S lll aka kak KA 45 7 5 2 Reading or changing unit parameters iEEE 45 7 5 3 Starting Up UNItS ONTINE k55 4155444518410055 14n ked n k s kek n k k 46 8 Error Diagnostics y s ly nusas k yeka iea SR W REK deda sa x A Ru i 47 8 1 Diagnostic procedures killl ldiaEkaEEkkkak kak aka ak KARA AA KAW WAA 47 9 Technical Data xu darik kan dikl piyade ya da sekan ked kak n ANLAN xan had A DERENAN K rk sS ARYAN 50 9 1 FSEZ24B communication option for MOVITRAC Bitcc trvtenas eer catcet 50 WINN ees k kek k KK ORA Ka KIRAR RA E E WEK ke SERA A bn KAWE K w RUYA ON E Gc AW KRA ek wa VERKAN RAE 51 Manual MOVITRAC B Communication Interface FSE24B EtherCAT General Information How to use the documentation 1 General Information 1 1 Howto use the documentation The manual is part of the product and contains important information on operation and service The manual is written for all employees who assemble install startup and ser vice the product The manual must be accessible and legible Make
35. he descrip tion of the dangerous action This is the formal structure of an embedded safety note ASIGNAL WORD Nature and source of hazard Possible consequence s if disregarded Measure s to prevent the danger Manual MOVITRAC B Communication Interface FSE24B EtherCAT General Information Right to claim under warranty 1 3 Right to claim under warranty A requirement of fault free operation and fulfillment of any rights to claim under limited warranty is that you adhere to the information in the documentation Therefore read the manual before you start operating the device Make sure that the manual is available to persons responsible for the plant and its op eration as well as to persons who work independently on the device You must also en sure that the documentation is legible 1 4 Exclusion of liability You must observe this documentation and the documentation of the connected devices from SEW EURODRIVE to ensure safe operation and to achieve the specified product characteristics and performance requirements SEW EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non observance of these operating instructions In such cases any liability for defects is excluded 1 5 Copyright 2010 SEW EURODRIVE All rights reserved Copyright law prohibits the unauthorized duplication modification distribution and use of this document in whole or in part
36. ication Server is integrated into the MOVITOOLS MotionStudio software package for establishing communication with the units The SEW Communication Server allows you to create communication channels Once the channels are established the units communicate via these communication channels using their communication options You can operate up to four communication channels at the same time MOVITOOLS MotionStudio supports the following types of communication channels e Serial RS485 via interface adapters System bus SBus via interface adapters Ethernet EtherCAT e Fieldbus PROFIBUS DP DP V1 e Tool Calling Interface The available channels can vary depending on the unit and its communication options The software package offer uniformity in executing the following functions e Parameterization for example in the parameter tree of the unit e Startup e Visualization and diagnostics Programming The following basic components are integrated into the MOVITOOLS MotionStudio software package allowing you to use the units to execute functions e MotionStudio MOVITOOLS All functions communicate using tools MOVITOOLS MotionStudio provides the right tools for every unit type Manual MOVITRAC B Communication Interface FSE24B EtherCAT Operating MOVITOOLS MotionStudio via EtherCAT Ae First steps lt 7 2 First steps 7 2 1 Starting the software and creating a project Proceed as foll
37. it param eters grouped in folders You can manage unit parameters using the context menu or the toolbar The following steps illustrate how to read or edit unit parameters 7 5 2 Reading or changing unit parameters proceed as follows to read or change unit parameters 1 Switch to the required view project view or network view 2 Select the connection mode e Click the Switch to online mode button 1 if you want to read or change param eters directly on the unit e Click the Switch to offline mode button 2 if you want to read or change param eters in the project D Bi l q A Lt Scan 1 2 9007200389198219 1 Switch to online mode icon 2 Switch to offline mode icon 3 Select the unit you want to parameterize 4 Open the context menu and select the Parameter tree command Then the Parameter tree view opens on the right section of the screen Manual MOVITRAC B Communication Interface FSE24B EtherCAT 45 Operating MOVITOOLS MotionStudio via EtherCAT Executing functions with the units 5 Expand the Parameter tree up to the node you require bE Parameter tree drive3 MCO7B0004 281 4 Xx z2 MOVITRAC B Parameters Motor parame x lo 3 2 5 MOVITRAC B Parameters 310 Start stop speed 2 1 Zmir 60 ar H 0 Display values 311 Minimum speed 2 1 min 150 Cc T TT sey H 1 Setpoints ramp generators lt H E 2 Controller parameters 312
38. kage Machine control Machine level PLC PTT System control System level 1 3 Functions Tools SEW Communication Server SBus SNDI Ethernet qQ Parameter setting Serial S7 MP 3 Startup _ C gt wa Visualization amp diag 2 Program Pro 8 gramming 4 Unit control Field level Firmware Firmware Firmware Units 1194152459 1 Communication channel for fieldbus or Industrial Ethernet 2 MOVITOOLS MotionStudio software package with integrated SEW Communication Server 3 Communication between fieldbus stations or Industrial Ethernet stations 4 Communication channel to SBus CAN or serial via interface adapter Manual MOVITRAC B Communication Interface FSE24B EtherCAT 31 7 Sx Operating MOVITOOLS MotionStudio via EtherCAT WV Z About MOVITOOLS MotionStudio Engineering via interface adapters Establishing com munication with other units Executing func tions with the units 32 If your unit supports the SBus or Serial communication options you can use a suit able interface adapter for engineering The interface adapter is additional hardware that you can obtain from SEW EURODRIVE You can use it to connect your engineering PC with the respective com munication option of the unit The type of interface adapter you require depends on the communication options of the respective unit The SEW Commun
39. ls Save your project so that the changes can be stored on the hard disk 1 of your engineer ing PC 3 Perform the Download PC gt unit function if you want to transfer the changes to your unit 4 as well Online Changes made using online tools affect ONLY the unit 4 tools Perform the Upload unit gt PC function if you want to transfer the changes to your RAM 2 Save your project so that the changes can be stored on the hard disk 1 of your engineer ing PC 3 Manual MOVITRAC B Communication Interface FSE24B EtherCAT 35 Sx Operating MOVITOOLS MotionStudio via EtherCAT a Connection mode INFORMATION The online communication mode is NOT a response message which informs you that you are currently connected to the unit or that your unit is ready for communi cation Should you require this feedback observe section Setting the cyclical ac ri cessibility test in the online help or the manual of MOVITOOLS MotionStudio Project management commands such as download and upload the online unit status and the unit scan work independent of the set communication mode MOVITOOLS MotionStudio starts up in the communication mode that you set be fore you closed down 7 3 2 Selecting the communication mode online or offline Proceed as follows to select the communication mode 1 Select the communication mode e Switch to online mode 1 for functions online tool
40. mmunication channel 2 3 Click Edit 3 in the right section of the window This will display the settings for the Ethernet communication type 4 Set the communication parameters Follow the instructions described in the section Setting communication parameters for EtherCAT Setting communi Proceed as follows to set the EtherCAT communication parameters cation parameters hw Aka 1 t up the EtherCAT tocol T lect the EtherCAT sett tab for EtherCAT Set up the erC protocol To do so select the erCAT settings ta 2 Tick the Activate EtherCAT checkbox 3 Change the set communication parameters if necessary Refer to the detailed de scription of the communication parameters for EtherCAT Manual MOVITRAC B Communication Interface FSE24B EtherCAT 43 Sx Operating MOVITOOLS MotionStudio via EtherCAT a Communication via EtherCAT 44 4 To add an IP address click on the symbol Add IP address 2 Ethernet 1 Ethernet SMLP settings Ethercat settings IV Activate Ethercat Default No Basic settings Timeout 200 ms Default 120 ms Scan range start 1001 Default 1001 Scan range end 1010 Default 1010 Activate access without master Default No 1 IF Show scan duration Default No Ethercat master IP addresses 2 3 Cancel 18014399831358731 1 Activate access without master check box If no EtherCAT mas
41. mpensating current may flow via the bilaterally connected shield that is also connected to the protective earth PE Make sure you supply adequate equipotential bonding in accordance with relevant VDE reg ulations in such a case 4 5 Bus termination Bus termination e g with bus terminating resistors is not necessary If no slave is con nected to an EtherCAT device it recognizes this immediately 4 6 Setting the station address EtherCAT devices from SEW EURODRIVE do not have an address that can be set on the unit The units are detected by their position in the bus structure and are assigned an address by the EtherCAT master The addresses can be displayed for example using the FBG60B keypad parameter P093 You can set a fixed additional device ID at the back of the FSE24B using the DIP switches S1 and S2 The device ID can be read in MOVITOOLS MotionStudio via pa rameter group PO9_ or via SDO access to index 10497 subindex 3 from the EtherCAT master 4 7 Status LEDs of FSE24B The FSE24B EtherCAT communication option has three LEDs that indicate the current status of the FSE24B the EtherCAT system and the connection to MOVITRAC B FSE24B RUN ERR sys F 3012714763 Manual MOVITRAC B Communication Interface FSE24B EtherCAT 13 14 4 7 1 Assembly and Installation Notes Status LEDs of FSE24B LED RUN green The RUN LED green indicates the status of the FSE24
42. ms e Inverter does not operate on EtherCAT e Inverter cannot be controlled using the EtherCAT master For more information dealing specifically with the inverter parameter settings for various fieldbus applications refer to the MOVITRAC B Communication and Fieldbus Unit Profile manual and the MOVITRAC B system manual Step 1 Check the connection between the inverter and EtherCAT Is the bus connected plugged into the master inverter NO gt A YES j What is the state of the Link activity LED of the FSE24B option OFF A ON j Is the physical connection between the inverter and EtherCAT OK Make sure EtherCAT is connected correctly at X30 IN incoming NO gt A EtherCAT connection X30 OUT outgoing EtherCAT connection YES j Continue with 2 Response of the RUN LED A Check the bus cabling Step 2 Response of the RUN LED Has the master switched the slave to INIT state Flashing green Slave is in PRE OPERATIONAL state C Lights up green Slave is in SAFE OPERATIONAL state c once Lights up green Slave is in OPERATIONAL state C Startup the bus in the master B Option FSE24B is defective Continue with 3 Response of the ERR LED Manual MOVITRAC B Communication Interface FSE24B EtherCAT 8 A Error Diagnostics i Diagnostic procedures Step 3 Response of the ERR LED OFF Flicke
43. n on scaling In the above example the internal setpoint n11 index 8489 subindex 0 was set to a speed of 100 rpm According to the MOVITRAC B Communication and Fieldbus Unit Profile manual the required speed must be multiplied by a factor of 1000 6 3 Parameterization return codes In the event of an incorrect parameterization the inverter sends back various return codes to the parameterized master These codes provide detailed information about the cause for the error Refer to the MOVITRAC B Communication and Fieldbus Unit Pro file manual for a description of the return codes 30 Manual MOVITRAC B Communication Interface FSE24B EtherCAT Operating MOVITOOLS MotionStudio via EtherCAT A About MOVITOOLS MotionStudio lt 7 Operating MOVITOOLS MotionStudio via EtherCAT The use of the engineering software MOVITOOLS MotionStudio is described in detail in the MOVITRAC B Communication and Fieldbus Unit Profile manual and in the MOVITRAC B system manual This chapter only describes the peculiarities of the com munication via EtherCAT in detail 7 1 About MOVITOOLS MotionStudio 7 1 1 Tasks The software package enables you to perform the following tasks with consistency e Establishing communication with units e Executing functions with the units 7 1 2 Functional principle Overview The following figure illustrates the functional principle of the MOVITOOLS Motion Studio software pac
44. not require any particular firmware status e The transmission of up to 10 process input and output data words and the display of fieldbus status parameters in parameter group PO9_ is pos sible as of MOVITRAC B firmware status 18225632 11 Tools for startup e PC program MOVITOOLS MotionStudio from version 5 40 Engineering at the PC via EtherCAT advanced diagnostics using the fieldbus status parameters in parameter group PO9_ is possible with MOVITOOLS MotionStudio 5 70 and higher Manual MOVITRAC B Communication Interface FSE24B EtherCAT Index Index A Additional documentation EE 8 Assembly and installation notes 10 B Bus cables Shielding and routing E 12 Bus systems General safety notes EiiEEEEeEE 7 Bus termination kek 13 Cc Communication Communication with EtherCAT 43 Communication channel Functional principle 31 Communication types Functional principle E 31 Configuration and startup 17 Configuration of the EtherCAT master for MOVITRAC B eee eyer erer 17 Connecting FSE24B to EtherCAT 12 Connection and terminal assignmen 11 Content of this Manual ccccceeeeeeeeeeeeeeeteeeaeees 8 Control of MOVITRAC B via EtherCAT 23 Communication tim
45. on option INFORMATION Do not edit or amend the entries in the XML file SEW assumes no liability for inverter malfunctions caused by a modified XML file Configuration of the EtherCAT master for MOVITRAC B with XML file XML file for running the FSE24 communication option on MOVITRAC B For the configuration of the EtherCAT master you can use a special XML file SEW_FSE24B XML Copy this file into a designated directory of your configuration software Refer to the manuals of the respective configuration software for details on the proce dure The XML files standardized by the EtherCAT Technology Group ETG can be read by all EtherCAT masters 5 2 2 Configuration procedure Proceed as follows to configure MOVITRAC B with EtherCAT fieldbus interface 1 Install copy the XML file according to the specifications of your configuration soft ware Once the file has been installed correctly the unit appears next to the slave stations under SEW EURODRIVE Drives with the designation MOVITRAC FSE24B 2 Use the menu item Insert to add the unit to the EtherCAT structure The address is assigned automatically For easier identification you can give a name to the unit 3 Select the process data configuration required for your application see chapter PDO configuration 4 Link the I O or periphery data with the input and output data of the application pro gram After configuration you can start the E
46. ows to start MOVITOOLS MotionStudio and create a project 1 Start the MOVITOOLS MotionStudio from the Windows start menu via Start Programs SEW MOVITOOLS MotionStudio MOVITOOLS MotionStudio 2 Create a project with name and storage location 7 2 2 Establishing communication and scanning the network Proceed as follows to establish a communication with MOVITOOLS MotionStudio and scan your network 1 Set up a communication channel to communicate with your units For detailed information on how to configure a communication channel see the sec tion regarding the relevant communication type 2 Scan your network unit scan Press the Start network scan button 1 in the tool bar D W SA Cr seen 1 9007200387461515 Manual MOVITRAC B Communication Interface FSE24B EtherCAT 33 7 Sx Operating MOVITOOLS MotionStudio via EtherCAT T First steps 7 2 3 Configuring units Proceed as follows to configure a unit 1 Mark the unit usually the power section 1 in the network view 2 Right click to open the context menu and display the tools for configuring the unit Netzwerk a gr Ethemet PNIO 10 3 71 129 MTS u intem 1 gt 1 MTS bE 1 Parameter 2 Comparison Offline Startup Startup Application modules Parameter tree Programming Manual operation Technology activation Shell Diagnostics B Et MOVITOOLS CC u Manage
47. r example adapt the monitoring functions of MOVITRAC B specifi cally to your application You can determine for instance which of the frequency in verter s error responses should be triggered in the event of a bus error For many appli cations a rapid stop would be the preferred response but you can also set other error responses As the control terminals also function in fieldbus operation you can still im plement fieldbus independent emergency stop concepts via the terminals of the fre quency inverter The MOVITRAC B inverter offers numerous diagnostic options for startup and service purposes For example you can use the integrated fieldbus monitor to control both set point values sent from the higher level controller as well as the actual values Manual MOVITRAC B Communication Interface FSE24B EtherCAT 10 4 4 1 Assembly and Installation Notes Installation of the FSE24B communication option Assembly and Installation Notes Installation of the FSE24B communication option INFORMATION i MOVITRAC B does not need a certain firmware status if you only want to use pro cess data objects with 3 process data words The MOVITRAC firmware 18225632 11 is required if 10 process data words are to be transmitted to and from MOVITRAC B Advanced diagnostics via parameter group 09_ bus diagnostics is to be used Always attach the front module to the unit with the screw that is included in the de
48. ring Flashes red twice Lights up red once 48 Case 1 RUN LED lights up green slave is in OPERATIONAL state j EtherCAT communication of the FSE24B option is in the operating state Case 2 e LED RUN flashes green slave is in the state PRE OPERATIONAL e LED RUN lights up green once slave is in the state SAFE OPERATIONAL Startup the bus in the master and activate the state OPERATIONAL in the slave Start process data communication Requirement RUN LED flashes green slave is in PRE OPERATIONAL state e LED RUN lights up green once slave is in the state SAFE OPERATIONAL A boot error was detected Boot the FSE24B option If the ERR LED continues to flicker option FSE24B is defective Case 1 RUN LED lights up green slave is in OPERATIONAL state Fieldbus timeout activate process output data Case 2 e RUN LED flashes green slave is in PRE OPERATIONAL state e RUN LED lights up green once slave is in SAFE OPERATIONAL state Watchdog timeout Start bus in the master and switch slave to OPERATIONAL state Start process data communication Requirement RUN LED flashes green slave is in PRE OPERATIONAL state e LED RUN lights up green once slave is in the state SAFE OPERATIONAL j An unprompted state change has occurred Repair the configuration error and start the bus in the master again Switch the slave to OPERATIONAL state Start the
49. s sNetID Net ID of the EtherCAT master nSlaveAddr EtherCAT address of the SEW unit from which data is to be read nlndex Index of the parameter to be read nSublIndex Subindex of the parameter to be read pDstBuf Pointer to the data range in which the read parameter is to be stored cbBufLen Maximum memory size for parameters to be read in byte bExecute A positive edge starts the read process tTimeout Timeout interval of the function module The output flags bBusy and bError indicate the status of the service nErrld shows the error number when the bError flag is set if an error occurs Manual MOVITRAC B Communication Interface FSE24B EtherCAT 27 6 2 Operating Behavior in Sonne caol with EtherCAT Parameterization via EtherCAT The function module is integrated in TwinCAT as follows TwinCAT PLC Control ReadPdo pro MAIN PRG ST 5 xl i rie cat EDE DE eae _ lal xl 3ej ul a seelaa PROG GRAM MAIN Read_Data DWORD ReadSdo FB_EcCoESdoRead IF ReadSdo bBusy FALSE THEN ReadSdo bexecute TRUE rising edge for the execute input sNetid 192 168 187 1 2 1 AMS NetID of the EtherCAT master nSlaveAddr 1001 EtherCAT Address of the SEW device nindex 8325 e g DC link voltage index nSubindexs 0 pDstBuf ADR Read_Data pointer to the variable cbButLen 4 number of Bytes of the index bExecute FALSE Timeout T 500ms
50. s that should directly influ ence the unit Switch to offline mode 2 for functions offline tools that should influence your project D i D X L Scan 1 2 9007200389198219 1 Switch to online mode symbol 2 Switch to offline mode symbol 2 Select the unit node 3 Right click to open the context menu and display the tools for configuring the unit Manual MOVITRAC B Communication Interface FSE24B EtherCAT Operating MOVITOOLS MotionStudio via EtherCAT DZ Communication via EthercaT lt W gt 7 4 Communication via EtherCAT 7 4 1 Overview EtherCAT provides the user with acyclic parameter services in addition to cyclic pro cess data This acyclic data exchange takes place via the mailbox gateway of the EtherCAT master The parameter services of MOVITOOLS MotionStudio are integrated into the EtherCAT telegrams via the mailbox gateway in the EtherCAT master The feedback of the drives is transferred by the the EtherCAT slave in the same way to the mailbox gateway and further to MOVITOOLS MotionStudio Two cases must be distinguished for the installation of the mailbox gateway and MOVITOOLS MotionStudio Case 1 Installation in the same unit page 38 The EtherCAT master and MOVITOOLS MotionStudio run on the same unit No additional hardware required e Case 2 Installation in different units page 39 The EtherCAT master and MOVITOOLS MotionSt
51. sposal MOVITRAC B may not be used as a safety device in hoist applications Use monitoring systems or mechanical protection devices as safety equipment to avoid possible dam age to property or injury to people Observe the applicable national regulations Dispose of the following materials separately in accordance with the country specific regulations in force as e Electronics scrap e Plastics Sheet metal Manual MOVITRAC B Communication Interface FSE24B EtherCAT 3 3 1 3 1 1 Introduction General information Introduction General information Content of this manual This user manual illustrates e The installation of the FSE24B EtherCAT communication option in the MOVITRAC B frequency inverter The startup of MOVITRAC B in the EtherCAT fieldbus system The configuration of the EtherCAT masters via XML files The operation of MOVITOOLS MotionStudio via EtherCAT 3 1 2 Additional documentation 3 2 3 2 1 For information on how to connect MOVITRAC B simply and effectively to the EtherCAT fieldbus system you should request the following documentation on fieldbus technology in addition to this user manual for the FSE24B EtherCAT option e Manual MOVITRAC B Communication and Fieldbus Unit Profile MOVITRAC B system manual Apart from describing the fieldbus parameters and the corresponding coding the MOVITRAC B Communication and Fieldbus Unit Profile manual and
52. sure that persons responsible for the system and its operation as well as persons who work independently on the unit have read through the manual carefully and understood it If you are unclear about any of the information in this documentation or if you require further information contact SEW EURODRIVE 1 2 Structure of the safety notes 1 2 1 Meaning of the signal words The following table shows the grading and meaning of the signal words for safety notes notes on potential risks of damage to property and other notes Signal word Meaning Consequences if disregarded A DANGER Imminent danger Severe or fatal injuries A WARNING Possible dangerous situation Severe or fatal injuries A CAUTION Possible dangerous situation Minor injuries NOTICE Possible damage to property Damage to the drive system or its envi ronment INFORMATION Useful information or tip Simplifies the handling of the drive system 1 2 2 Structure of section safety notes Section safety notes do not apply to a specific action but to several actions pertaining to one subject The used symbols indicate either a general or a specific hazard This is the formal structure of a section safety note A SIGNAL WORD Type and source of danger Possible consequence s if disregarded e Measure s to prevent the danger 1 2 3 Structure of embedded safety notes Embedded safety notes are directly integrated in the instructions just before t
53. ter is available you can Note Activate this check box only if no other activate a parameterization master in master is available MOVITOOLS MotionStudio 2 Add IP address button 3 IP address edit box 5 Enter the IP address of the mailbox gateway in the EtherCAT master in the IP address input field 3 and click the OK button Manual MOVITRAC B Communication Interface FSE24B EtherCAT eer NA Operating MOVITOOLS MotionStudio via EthercAT gt N 7 Executing functions with the units lt Communication The following table describes the communication parameters for EtherCAT parameters for e Tar r Se Re 7 EtherCAT ommunication parameters escription nformation Timeout Waiting time in ms that the client Default setting 200 ms waits for a response from the e Increase the value as server after it has made a required if a delay in commu request nication is causing malfunc tions Scan range of Start address for the EtherCAT By entering values here you can scan range limit the EtherCAT scan range 7 and thereby shorten the length of Scan range end Stop address for the EtherCAT time it takes to scan the unit scan range IP address EtherCAT master IP address of the mailbox gate way in the EtherCAT master 7 5 Executing functions with the units 7 5 1 Parameterizing units Units are parameterized in the parameter tree The parameter tree shows all un
54. therCAT communication The LEDs RUN and ERR indicate the communication status of FSE24B see chapter Status LEDs of FSE24B Manual MOVITRAC B Communication Interface FSE24B EtherCAT 17 18 Configuration and Startup Configuration of the EtherCAT master for MOVITRAC B with XML file 5 2 3 Configuration of process data objects PDO Rx process data objects Tx process data objects In the CoE CAN application protocol over EtherCAT variant EtherCAT uses the pro cess data objects PDO defined in the CANopen standard for cyclic communication be tween master and slave In line with CANopen a difference is made between Rx re ceive and Tx transmit process data objects Rx process data objects Rx PDO are received by the EtherCAT slave They transport process output data control values setpoints digital output signals from the EtherCAT master to the EtherCAT slave Tx process data objects TX PDO are returned from the EtherCAT slave to the EtherCAT master The transport process input data actual values status digital input information etc Two PDOs of different size can be used for e yee process input and output data for com munication with the FSE24B of MOVITRAC B e OutputData1 standard 3 PO Static PDO with 3 cyclic process output data words that are connected in fixed con figuration with the standard process data of MOVITRAC B see MOVITRAC B Communication and Fieldb
55. to the ping command repeat the steps described in the two previous sections Configuration of the mailbox gateway in the EtherCAT master page 40 Configuring the network at the engineering PC page 40 INFORMATION Settings of the EtherCAT master are not adopted Ifthe settings of the EtherCAT master are not accepted perform a reboot Manual MOVITRAC B Communication Interface FSE24B EtherCAT Operating MOVITOOLS MotionStudio via EtherCAT A 7 Communication via EtherCAT lt D gt 7 4 5 Communication settings in MOVITOOLS MotionStudio Configuring the Proceed as follows to configure a communication channel for EtherCAT communication 1 Click on Configure communication plugs 1 in the toolbar channel with sas EtherCAT D Ii i X Scan 1 9007200388082827 1 Configure communication plugs symbol This will open the Configure communication plugs window Configure communication connections x 2 IY Activ BE Activate Ethercat No M Activate emet Activate SMLP Yes Edit 3 Serial SBus _ Har T Lees I Activate ibu oli inia Amnn ian Sahin eti m oH f A tr war 18014399653863307 1 Type of communication dropdown menu 2 Activate checkbox 3 Edit button 2 From the dropdown menu 1 select Ethernet as the communication type In the example ETHERNET is activated as the communication type for the first co
56. udio run on different units This is the case if no suitable Windows based operating system is available or MOVITOOLS MotionStudio is to be runona separate PC The EtherCAT mas ter needs a second Ethernet interface that is connected to the engineering PC on which MOVITOOLS MotionStudio is running INFORMATION Unassigned EtherCAT interfaces of an EtherCAT slave must not be used for engi ri neering purposes Use only the EtherCAT master interface intended for engineering for this purpose Manual MOVITRAC B Communication Interface FSE24B EtherCAT 37 7 Sx Operating MOVITOOLS MotionStudio via EtherCAT ae Communication via EtherCAT Example 1 Instal The illustration shows case 1 The EtherCAT master and MOVITOOLS MotionStudio lation in the same are installed in the same unit unit 1 EtherCAT 5 3266486283 1 Monitor 2 PC with EtherCAT master with integrated mailbox gateway MBX and MOVITOOLS MotionStudio 3 Internal IP routing 4 EtherCAT interface 5 Units examples with EtherCAT interfaces 38 Manual MOVITRAC B Communication Interface FSE24B EtherCAT Operating MOVITOOLS MotionStudio via EtherCAT x lt A 7 Communication via EtherCAT lt Example 2 Instal The illustration shows case 2 The EtherCAT master and MOVITOOLS MotionStudio lation in different are installed in different units units EtherCAT
57. ults On No communication No communication between the FSE24B front module and MOVITRAC B Check the P88 parameters in MOVITRAC B Baud rate CAN 500 kBd e Profile CAN MOVILINK e SBus address 0 Manual MOVITRAC B Communication Interface FSE2 4B EtherCAT 15 16 Assembly and Installation Notes Status LEDs of FSE24B 4 7 4 Link Activity LED green Each EtherCAT port for incoming EtherCAT cables X30 IN and outgoing EtherCAT cables X30 OUT has a Link Activity LED It indicates whether the EtherCAT con nection to the preceding or following unit is available and active X47 X30 IN X30 OUT 1 2 r n my ICO TOO i LED Link Activity 1 3036161675 1 No function Manual MOVITRAC B Communication Interface FSE24B EtherCAT Configuration and Startup 5 Validity of the XML file for the FSE24B communication option 5 1 5 2 5 2 1 Configuration and Startup This chapter contains information about the configuration of the EtherCAT master and startup of MOVITRAC B for fieldbus operation INFORMATION The latest versions of the XML files for FSE24B are available on the SEW website www sew eurodrive com under the heading Software Validity of the XML file for the FSE24B communicati
58. us Unit Profile manual e OutputData1 standard 10 PO Static PDO with 10 cyclic process output data words that are connected in fixed con figuration with the standard process data of MOVITRAC B see MOVITRAC B Communication and Fieldbus Unit Profile manual The process output data words 4 10 can only be used via IPOSPIUS e InputData7 standard 3 PI Static PDO with 3 cyclic process input data words that are connected in fixed config uration with the standard process data of MOVITRAC B see MOVITRAC B Com munication and Fieldbus Unit Profile manual e InputData7 standard 10 Pl Static PDO with 10 cyclic process input data words that are connected in fixed con figuration with the standard process data of MOVITRAC B see MOVITRAC B Communication and Fieldbus Unit Profile manual The process input data words 4 10 can only be used via IPOSPIUS INFORMATION Either 3 or 10 process data words can be transmitted in each direction If for example PDO OutputData7 standard 3 PO is used PDO nputData1 stan dard 3 PI must be used as well Both input PDO or both output PDO may not be activated at the same time Manual MOVITRAC B Communication Interface FSE24B EtherCAT Configuration and Startup 5 Configuration of the EtherCAT master for MOVITRAC B with XML file List of the possible process data objects PDO for FSE24B MOVITRAC B Index Size Name Mapping
59. y the response monitoring time configured in the master elapses in the FSE24B communication option The ERR LED of FSE24B indicates that no new user data is being received At the same time FSE24B interrupts the process data communication with MOVITRAC B which means that after 20 ms the SBus timeout response P836 set in MOVITRAC B is triggered If the FSE24B communication option can no longer address a MOVITRAC B unit it sends the error code F111 System error on status word 1 if set in parameter group 87_ to the EtherCAT master SYS F LED system error is lit The status of the EtherCAT connection the assigned EtherCAT address and other status information is displayed in parameter group 09_ bus diagnostics with MOVITRAC firmware 18225632 11 and higher The FSE24B communication option detect a series of errors and locks subsequently All status LEDs are off 6 2 Parameterization via EtherCAT 6 2 1 The SDO services READ and WRITE which are common in CoE CAN application pro tocol over EtherCAT provide access to the drive parameter in EtherCAT SDO services READ and WRITE The user interface is displayed differently depending on the EtherCAT master or con figuration environment In each case however the following data is required for execut ing the SDO command SDO READ Slave address 16 bit Index 16 bit Subindex 8 bit Description EtherCAT address of the inverter from which
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