EtherCAT User's Manual
Contents
1. eei eoi Figure 2 1 EtherCAT network 2 2 EtherCAT interface specification EtherCAT interface should be connected by twisted pair wire Electrical feature according to IEEE802 3 standard Interface RJ45 8 pin modularize connector According to ISO 8877 Figure 2 2 RJ45 connector ESTUTI AE Users Manual RJ45 connector Pin layout Pinno _____ Signalname abbreviation signa transmit direction o o 2 7 _______ ff Data receive RD _ Notused J Interface grounding grounding FG ________ 2 3 Wire specification e Level 5 or above e Shield Note Identify the cable model is suitable for the interface Identify items are as follows conductor specification single cable pair cable two pair four pair external diameter etc ESTUTI AUTOMATION EtherCAT User s Manual Chapter 3 EtherCAT EC information 3 1 CANopen over EtherCAT model ProNet Application CANopen service CoE EtherCAT State Application layer CANopen DS402 Machine lt FMMU 2 Data link layer EtherCAT SyncMan 0 SyncMan 2 SyncMan 3 EtherCAT data link layer EtherCAT physical layer Figure 3 1 Communication model EtherCAT CoE network model is composed of two parts data link layer an2. 10 BIN DING 11 3 5 Emergency message EO T 13 Chapter 4 Network synchronization based on distributed clocks 14 Chapter 5 CiA402 device protocol 16 5 1 CANopen over EtherCAT CoE state 16 5 2 Parameters for device control 17 5 OMG ___ _ 18 5222 SAS WON 19 5 2 9 Sh tdoWwn Option GOCA 2 2 ht 21 5 2 4 disable operation option 21 5 2 5 COGO EE 22 e 23 5 2 7 reachon Opon m TT 23 18 11 24 5 4 Control mode parameters 4 24 929 MOO pa 26 GORIO E 26 ETE 26 5 5 3 Parameters related to homing 27 Homing MenO TT TUE 30 5 6 Profile Velocity cosi on 32 ES
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4. WE Gugu Een Seam DmAsrfusari Fu fs 1 Pes mrri basada PINI Dees Baas ei BRD nem a m pari Bamra fete em L impii 3 Add one NC task and name it as Task 1 alg TERAS Seve er ent arriten Talr AT Mankper REM 1 2 10 13797 Perisi AT I Sonnen fe re met Echt Brive 1 SEAT Copyright d CLBADZ FF Hk je ITE litros ome rom FF Hes Q Tafctiot S apinga 1110411 Add Axis 1 under NC task 50 EtherCAT User s Manual ESTUTI AJI OMA I r ria Lil Gila pHi Jetis Flaw klip AB os a d Ah aL O gs aw p ME zn Goni prelia Ep 1 SiT K Taak 1 37 1 EL Cont 1 4 Conk i Infal ta Deis 1 FEE CARH 1191 LI FY Bade PII 1 infalata 9 7 il Syxtcm
5. o Value Introduction Shutdown servo excitation sianal Servo motor will stop freel After the servo motor decelerates and stops the servo excitation signal will be shut down 22 ESTUTI Introduction After servo motor stops urgently the servo excitation signal will be shut down After the servo motor decelerates to zero it will still stay in QuickStop status l6 _ After the servo motor stops urgently it will still stay in QuickStop status 5 2 6 halt option code When bit8 of Controlword is 1 halt option code will define how to halt ______ 2 Ass wo Value Range 1 2 Default Value 402 Introduction Servo motor will decelerate gradually to zero servo motor will decelerate urgently and then stop 5 2 7 fault reaction option code When it alarms fault reaction option code will decide how to halt 23 ESTUTI ____ fautreaction option _ Access aw valueRange Default Value 0 introduction The servo excitation signal will be shut down and servo motor will stop freely 5 3 Control mode Now ProNet servo drive supports 5 control modes HOMING MODE PROFILE VELOCITY MODE PROFILE POSITION MODE CYCLIC SYNCHRONIZATION POSITION MODE INTERPOLATION POSITION MODE This chapter will mainly describe these 5 control methods as above 5 4 Control mode parameters md __ name a 6060 INT 6061 modes
6. 0 _ profile acceleration Profile acceleration is the acceleration speed before reaching the target position 6083 n Name 0 00 profile acceleration Data Type UINT32 Aces Units acoeterationunis profile_deceleration Profile deceleration is the deceleration speed before reaching the target position 40 ESTUTI AUTOMATION EtherCAT User s Manual 000000000 Name oo Unis __ Ja quick stop deceleration Quick stop deceleration is the deceleration speed in Quick Stop 6085 Data Type UINT32 3A wen Jo motion profile type Motion profile type is used to select the motion curve Now we only support trapezoid speed curve 4 000 Name 0 2 Access RW PDO Mapping Value Range Default Value 5 7 4 Function description There are two methods to allocate a reference position Single step setting After reaching the target position servo drive will inform the master that Reach the target position And the servo drive will start new motion after getting new target position Before getting the new reference position the velocity of the servo motor is zero Continuous setting After reaching the target position the servo motor will keep moving toward next target position which is set in advance In this way the servo motor could move continuously
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8. 5 5 4 Homing method e Homing method 1 Use C pulse and negative limit switch Servo drive needs to move at first toward negative direction fast till reaching the negative limit switch and then decelerate till stop And then servo motor will be bounced back slowly and find the target homing position Under this homing method the target homing position is the first C pulse away from the limit switch Index Pulse Negative Limit Switch e Homing method 2 Use C pulse and positive limit switch At first servo motor will move fast toward positive direction and decelerate to stop after reaching the positive limit switch And then servo motor will be bounced back slowly to find homing position Under this homing method the target homing position is the first C pulse away from the limit switch 30 the Users Manual Index Pulse Positive Limit Switch _ Tr Home method 3 and 4 Use C pulse and reference limit switch Servo drive s initial moving direction is relied on the status of reference point limit switch The target homing position is on the left side or right side of the reference limit switch The distance between the reference position switch and homing position is one C pulse Index Pulse Home Switch Homing method 17 20 Not to use C pulse These 4 homing methods are similar to approach 1 4 but the target homing position is not relied on C pulse any more but on the change of limit swit
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10. postonuis ____ VaueRame _ Jo homing method There are 4 signals as homing signals positive limit switch negative limit switch reference position switch and C pulse 27 ESTUTI Name homing method Objectcode VAR AR W ES 1 Value Range 1 2 3 4 17 18 19 20 Homing method table Direction Target positon Reference Position 2 pee eor ______ _ Nor ______ V R Y 17 negative 18 por POT 8 19 ___ negative reference position switch reference position switch 19 ___ 20 positive reference position switch reference position switch 20 es 35 17 currently position currently position homing speeds Two kinds of speed are used in finding the reference position The speed to find reference position and the speed to find zero position Object Code ARRAY Data Type INT32 28 ESTUTI Jon ooo __________ during search for svitehn Access Uis LNarue _________ speed during search for zero Aces RM units __ Jo o homing_acceleration Acceleration and deceleration in homing are all defined by homing acceleration 29 Ltoming acceleration Access Units acceleration units LPeteuit Value Jo
11. 5 2 2 statusword index _ smuewrd _ Data Type UINT16 Statusword bit introduction is as below bit introduction Ready to switch on Switched on Operation enabled Fault FN Voltage enabled Quick stop FE Switch on disabled Warning Target reached 19 ESTUTI AUTOMATION EtherCAT User s Manual introduction _ Internal limit active 13 12 Operation mode specific 15 14 e Bit0 3 Bitb and Bit The combination of these bits represents the status of the servo drive Nawwetbinary State Fault reaction active e Voltage enabled When this bit is 1 it means the main power is on e Bit5 Quick stop When this bit is 0 it means the servo drive will stop the servo motor according to the configuration 605A quick stop option code e Bit7 Warning When the bit is 1 it means the servo drive detects alarm e Bit10 Target reached In different control mode this bit has different meanings n Profile Position Mode when the set position is reached this bit will be set as 1 When Halt is activated and speed decreases to zero this bit will be set as 1 When a new position is set this bit will be cleared n Profile Velocity Mode when the speed reaches the required speed this bit will be set as 1 When Halt is activated the speed will decrease to zero and this bit will be set as 1 e 11 Internal limit active When this bit is 1 it means that the inte
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13. orofile acceleration Target reached Set point et acknowledge m Trajectory generator has assumed the positioning values No following error Following error Following error 5 7 3 Parameters related to position control _______ Type At PDO Mapping wo Le siauswod ves J m 6081 UINT32 RW 6082 2 ves 6083 UNT2 yes lo 6084 profile deceleration UINT32 RW YES lo 6085 UNT RW Yes O 6086 16 38 the rT User s Manual target_position Target_position is reference position and this position could be an incremental value or an absolute value It is up to bit6 of control word 607A n e _ Name target_ poston VAR Access RW Units postionunis LNetue menge Default Value JO profile velocity Profile velocity is the speed that the servo motor could finally reach after acceleration 6081 n mx Name profe velociy VAR Aces Unis 0o _ Detauitvaiue _ end velocity End velocity is the speed when servo motor reaches the target position Normally we set this value as 0 in order to stop the servo motor when the servo motor reaches the requested position But in continuous multiple position this value could be set as a non zero value 39 ESTUTI index 6o82 encvelooty Aces aw _ Units speedunts Value range
14. Eile Ni DG kl Uri ton 43 7 uU Bl Tak rig a l5 27 7 il prep Asia La Z k bi B a z amp l ue uli Ll ani at T n hes aas TO Larizh frat 1 1 proc unge LE T iT me S tt 2 1 T T je nm Si TU ULE L 2 Keta i zi Choose application laver EtherCAT User s Manual fma Tre HC Lici wal 153 1 II Lg orotocol CoE Doli PRB 6 0 Jasia mulis duas arde Poppiar rende arr Fu Siar brie Lir gt e we Deae ia eles bo ie T Lucas HE oe T LTT TILE ez 367 Drow ETI 25 4 Time dw Ji zar L gt Wa Halili Click Link to button and map servo drive axis to the device 51 ESTUTI AUTOMATION 7 m A Hager os NE E Cem poration 1
15. RxPDO ESTUTI AUTOMATION EtherCAT User s Manual Distributed Free run DC mode activated by configuration data DC supported DC cycle time 250us 2ms FEE 256 bytes read only LED light EtherCAT system indicator S YS x1 EtherCAT run indicator RUN x1 EtherCAT error indicator ERR x1 Homing mode Profile position mode CiA402 Drive Profile Profile velocity mode Cyclic synchronous position mode 1 7 EC 100 module structure Figure 1 1 Module structure 1 8 LED indicators SYS EC 100 module indicates light used to show the software status in the module LED light green yellow LED ightigreenivetiow Status Description 0 2 No power supply or reset status On Flashing yellow d j Boot mode Module s internal program has finished On green Continuously on qe initiation and operates well RUN RUN light is used to indicate the communication status of EtherCAT ESTUTI AUTOMATION EtherCAT User s Manual LED indicator green Introduction Status Description System Off Continuously off M Initiation On pre operation Blinking status safety Double operation flashing mode ERR ERR light is used to indicate the error in EtherCAT communication LED light red Introduction AT RN Comtinsousy of i Due to register pr 200 problem or object configuration problem the status changing required by the master couldn t be ac
16. could also set the distance between homing position and reference point as much as the value defined by home offset 607C 5 5 1 Control word 84 4 78 4 Halt home start operation please referred to previous chapters 0 Homing mode inactive 0 Start homing mode Homing operation start Homing mode active 1 Interrupt homing mode Halt PE Execute the instruction of bit 4 a Stop axle with homing acceleration 5 5 2 State word o 2 homing attained target reached Please refer to the previous chapters Name Value Description mI Halt 0 Home position not reached Target Halt 1 Axle decelerates reached Halt 0 Home position reached Halt 1 Axle has velocity 0 1 Homi Homing mode not yet completed oming attaine 9 Homing mode carried out successfull Homing error No homing error 26 ESTUTI AUTOMATION EtherCAT User s Manual _ Description Homing error occurred 1 Homing mode carried out not successfully The error cause is found by reading the error code 5 5 3 Parameters related to homing mode Object Name Type Atir homing acceleration home offset Home offset defines the distance between reference position and homing position Home Zero Position Position home offset Figure 5 2 Homing mode 00 5 ____ VAR Aces Units
17. drive EtherCAT bus option And then please follow steps as below 1 Use the right button of the mouse to single click I O Device and choose EtherCAT network adapter Name it as Device 1 P X ig MM File Hit fis ption Tels 9 0 Dirica qr 8 1 lt 4 LUL kur EJ Isa ur arbe BE hr LIN T Talay ume TILH Te 49 ESTUTI AUTOMATION 2 3 4 bF E pr m ur TN Ba paima d foe Use the right button of the mouse to single click Device 1 and add a slave ProNet device rt al Plin Wibertur s Ek LT Adagia Miri i malia Bai m ede dri lis Hede male Bie bes B Tim Guri BL T labels de dh r ai F p E ren mi ris Dep ors fj Debes an kit Dowd GR met ick im phia Comper C Pie IB ie BULLET Peer cupply ee u Fillimin Mim Elon li mmm i Pi
18. mapping and SM PDO Assign object reading PDO mapping PDO mapping is related to the mapping from object dictionary to PDO s application objects real time process data The index 0x1600 and 0x1A00 in object dictionary are separately reserved for the mapping tables of RXPDO and TxPDOs The graph as below is one example 11 ESTUTI 7 Object Dictionary Index Sub _ ObjectContents OxiAO0 1 oxoTtroxtt 8 0 1 00 2 OxGUUUOxUU 8 PDO Length 32 Bits ness mm ie ones objeto Mapping Object Application Object Figure 3 2 PDO mapping example PDO configuration Sync manager object SMCO is composed of multiple PDOs SM PDO Assign object 0x1C12 and 0x1C13 describes the relationship between PDOs and Sync Manager as below Object Dictionary sub Object Contents _ ET Ox1C13 1 0x1A00 2 0x1C13 0x1A01 Sync Manager Entity z Sync Manager PDO Assign Object Figure 3 3 PDO configuration example Mapping Objects Note The PDO mapping objects index 1600h to 1603h 1A00h to 1A03h and the Sync Manager PDO assign objects Index 1C12h and 1C13h can be written only in Pre Operation state 12 ESTUTI AUTOMATION EtherCAT User s Manual PDO mapping process 1 Stop PDO allocating function set the sub index 0 of 0 1 12 and Ox1c13 into 0 2 Stop PDO mapping function set sub index 0 of 0x1600 0x160
19. of operation displa INT8 modes of operation oervo drive s control mode is defined by modes of operation 24 ESTUTI AUTOMATION EtherCAT User s Manual index Name modes oi operation _ Acceess 1 0 005 05 Value Range Default Value 4042 Introduction LNotanycontrol PROFILE POSITION MODE PROFILE VELOCITY MODE 6 HOMING MODE 8 CYCLIC SYNCHRONIZATION POSITION modes of operation display Servo drive s current control mode could be read from the modes of operation display 6061 Name modes of operation display Data Type INT8 PDO Mapping Value Range 1 3 6 7 8 Note e Only through the parameters of modes of operation display we could get the control mode of the servo drive 25 ESI EtherCAT User s Manual e Only in Target Reached status servo drive s control mode can be transit to configured control mode And then modes of operation display could be the same as modes of operation 5 5 Homing mode PRONET servo drive now supports multiple homing methods Clients could choose the homing method that suits the motor type and application For example if the servo drive uses incremental encoder we could choose C pulse to do the homing If the servo drive is using serial encoder or resolver we couldn t use C pulse as the homing method Clients can set homing method homing speed and acceleration After the servo drive finds the reference point we
20. register ESC 0x980 and 0 981 e Free Run mode ESC register 0x980 0x0000 In this mode local application cycle communication cycle and master cycle is independent DC mode ESC register 0 980 0x0300 In this mode local application is synchronous with 5 PDO Mapping Sync Manager channel 2 process data output Synchronization Current status of DC mode Synchronization Mis T 0 Free run type e 2 DC Mode Synchronous with SyncO 0x1C32 Synco event cycle ns The value is set by 2 Cycle time No UINT master via ESC register range 1250007 n Sync Manager channel 3 process data input Synchronization na LI RO No 0x1C33 Calc and copy time Time schedule figure in DC mode is as follows 14 ESTUTI AUTOMATION EtherCAT User s Manual Master application task Master application task Master application task Master Network v Y Y Frame U Frame U Frame U gt SS Calc Copy time 1C33 06 Y Y vi Figure 4 1 Time schedule figure in DC mode 15 Sy EtherOAT Users Manual gt AU Chapter 5 CiA402 device protocol ProNet s device control is used mainly to achieve the motion control in different control modes The master controls the servo drive through co
21. than 115 1 3 Product introduction ProNet servo drive achieves EtherCAT communication through EC100 network module It is a real time Ethernet communication and the application layer applies CANopen Drive Profile CiA 402 Besides supporting the PV PP IP and other control mode defined in CANopen DS402 this module also supports CSP control mode Clients could switch the control mode by changing correspondent parameters It is available from simple velocity control to high speed high precision position control 1 4 CoE terms The tables below lists the terms used in CANopen and EtherCAT Abbreviation Description APRD Auto Increment Physical Read a command of EtherCAT Date link layer ESTUTI APVVR Auto Increment Physical Write a command of EtherCAT Date link layer APRW Auto Increment Physical ReadWrite a command of EtherCAT Date link layer Date link layer B B C C BRD _______ Broadcast Read command of EtherCAT Date link layer BRW Broadcast Write a command of EtherCAT Date link layer CA CANin Automation 000000000002 CoE CANopen over EtherCAT o _____ RD RW iA oE DC ESC ESM ETG EEPROM Electrically Erasable Programmable Read Only Memory EtherCAT Slave Controller EtherCAT State Machine LN EtherCAT Technology Group http www ethercat org Real time Standard for Industrial Ethernet Control Automation Technology Ethernet for Control Automation Technology OP ____ OD __
22. the current reference speed value of the servo drive The unit of this parameter is user s velocity unit 606B p Object Code VAR Data Type INT32 ves 00002 __ Default Value velocity actual value The master can read velocity actual value to know the current velocity of the servo motor The unit of this parameter is user s velocity unit 34 ESTUTI Name eo pri _ J o velocity window The difference between velocity actual value 606C and target velocity 60FF is defined as actual velocity error window If the actual velocity error window is always smaller than velocity window 606D within the time set by velocity window time 606E then bit 10 of status word target reached will be set as 1 to indicate that the set velocity has been reached 6060 Name window Object Code VAR Data Type UINT16 o Aces RW Units speedunts 0 0 0 ValueRage O velocity window time Velocity window comparator is composed of velocity window time and velocity window 35 ESTUTI inex Mame window time units VatueRange pav velocity threshold Velocity threshold indicates a range close to zero speed in order to define if the servo Name motor has already stopped velocity th
23. to actual demand we need to set the first target position target position 607A target speed acceleration deceleration and other relevant parameters Set bit 4 new set point of control word as 1 Set bit 5 change set immediately as 0 Set 516 absolute comparative according to the type of object position oet bit 12 set point acknowledge of the status word and then start to operate position control Set the second target position target position 607A target speed acceleration deceleration speed Set bit4 new set point as 1 bit 5 change set immediately as 0 Set Bite absolute comparative according to the target position type After reaching the first target position the servo drive will not stop and keep moving toward the second target position After reaching the second target position the servo drive will respond through status word bit 10 target reached And then the servo motor will follow the program to keep moving or accept new target position 43 ESTUTI AUTOMATION EtherCAT User s Manual t t t lime 5 8 Interpolation position mode 5 8 1 Control word 7654 Enable ip mode please referred to previous chapters Value Description __ Interpolated position mode inactive 1 Enable ip mode LIEN Interpolated position mode active Halt Execute the instruction of bit 4 a 5 8 2 State word 1 2 nis 190 ip mode ac
24. 3 and 0x1A00 0x1A03 into 0 3 Set the number of mapping entries in PDO mapping objects Set sub index 0 of object OX1600h to 0x1603h 0x1A00h to 0x1A03h 4 Setthe assignment of the Sync manager and PDO Set sub index 1 of object Ox1C12h and Ox1C 13h 5 Enable the assignment of the Sync manager and PDO Set sub index 0 of object Ox1C12h and 0x1C13h to 1 6 Over again open PDO assignment function set the sub index 0 of Ox1c12 and 0x1c13 into 1 3 5 Emergency message When the servo drive generates an alarm Coe will activate an emergency message and inform consumers the current servo drive model number and error code Emergency message structure 6 bytes 2 bytes 2 bytes 1 byte 5 bytes 1 n bytes Mailbox Header CoE Header Standard data frame head Standard CANopen urgent event message Optional ye Jo fs 86 7 Emergency Error Reserved Manufacturer Specific Error Field Error Code Register ProNet Reserved Object Alarm Warning 1001h Code 2 13 ESTUTI Chapter 4 Network synchronization based on distributed clocks Any slave in the EtherCAT network can be used as reference clock for the whole network It provides system time And the distribute clock in slave device synchronizes with the reference clock It enables slave s local application to synchronize with reference clock events EC netX50 model achieves the synchronous mode as following Switching synchronous mode can be controlled by synchronous control
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26. EtherCAT User s Manual Version V1 01 ESTUN AUTOMATION TECHNOLOGY CO LTD Drive Your Success HH TANI e 21100 vico Ina release The section 5 8 Interpolation position 2012 11 20 V1 01 Gao Lvbo mode is added ESTUTI AUTOMATION EtherCAT User s Manual Content Chapter 1 Brief introduction of EtherCAT ecce sesa rene eee 1 TN NAI SEO T 1 1 2 EtherCAT general introduction 1 1 3 Product IN OQUGUON 1 TA OE eM e 1 Tie 2 1 6 Communication eee eee 3 6 bees 0 MERERETUR 4 O EE D IIC WO CC ERE 4 Chapter 2 Installation and connection eee eese ree rne 7 2 1 Installation and pria dius exacta atra abd pta tog x 7 2 2 EtherCAT interface specification 7 2 IRC SO CC OM se 8 Chapter 3 EtherCAT EC 9 3 1 CANopen over EtherCAT eene 9 3 2 eva aU Ek Eats dirt UY RH RA ERR 10 3 9 EtherCAT network state
27. TUTI AUTOMATION EtherCAT User s Manual 2 99 32 56 aee rii WON 33 5 6 3 Parameters related to velocity 6 33 5 7 Profile position MOOG RTT T 37 eT WON 37 SE o ET 38 5 7 3 Parameters related to position control 38 5 7 4 Function description 42 5 8 Interpolation position 44 OU WON RR 44 44 5 8 3 Parameters related to interpolation position 45 5 9 Cyclic synchronous position 48 Chapter 6 EtherCAT communication 49 Appendix Object 53 ii ESTUTI AUTOMATION EtherCAT User s Manual Chapter 1 Brief introduction of EtherCAT 1 1 What is EtherCAT EtherCAT is an open network based on Ethernet to achieve real time control It could support high speed and synchronized control By using efficient network topology the network structure with too many concentrator and complicated connections are avoided It is very suitable to use this protocol in motion control and other factory automation applications 1 2 EtherCAT general introduction Et
28. __ Operational state of EtherCAT state machine Object Dictionar Object Dictionary PDO 7 Process Data oo SyncManager ESC unit for coordinated data exchange between master and slaver controller TXPDO Transmit PDO i e Process Date that will be transmitted by ESC 1 5 Data type The table below lists all the data types and their range that will be used in this manual ESTUTI AUTOMATION EtherCAT User s Manual Datatype INTE 128 to 127 UINT16 Unsigned integer 16 0 to 65535 UINT32 Unsigned integer 32 0 to 4294967295 INT32 Signed integer 32 2 147483648 to 2147483627 020000100000 1 6 Communication specifications applied IEC 61158 Type12 IEC 61800 7 CiA402 Drive Profile communication standard e 5 RJ45 EtherCAT Signal IN CN6 RJ45 EtherCAT Signal OUT Level 5 twisted pair wire INT16 Integer 16 32768 to 32767 SyncManager SMO output mailbox SM1 input mailbox e SM2 input process data SM3 Output orocess data FMMUO mapped to output area of process EtherCAT data RXPDO communication FMMU1 mapped to transmit area of process data TxPDO FMMU2 mapped to mailbox status EtherCAT APRD FPRD BRD LRD APWR FPWR BWR LVVR Commands ARMW FRMW Note APRW FPRW BRW LRW Commands are not supported Data Link Layer PDO data Dynamic PDO mapping Mailbox CoE Emergency Message SDO Request SDO Response SDO information Note Don t support TXPDO RxPDO and remote TxPDO
29. ch or reference point For example as below method 19 and method 20 are just similar to method 3 and method 4 3l ESTUTI AUTOMATION EtherCAT User s Manual Home Switch Homing method 35 set current position as the homing point 5 6 Profile velocity mode 5 6 1 Control word Execute the motion Stop axle 32 ESTUTI 5 6 2 State vvord aem m 12 9 9 Jeo MaxSlippageError Target reached Refer to previous chapters Name _ Value Target Halt 0 Target position not reached e Halt 1 Axle decelerates 1 Halt Target velocity reached Halt 1 Axle has velocity 0 reached Speed is not equal 0 1 Max slippage Speed is equal 0 Maximum slippage not reached Maximum slippage reached 5 6 3 Parameters related to velocity mode 6069 n velocity sensor actual value i error 606B velocity demand value 606C velocity actual value 6090 UINT16 606E velocity window time UINT16 RW 606F n velocity threshold UINT16 RW 6070 velocity threshold time UINT16 INT32 velocity sensor actual value The master could read velocity sensor actual value to know the current velocity The parameters unit is internal speed unit 33 ESTUTI Name _________ velocity sensor actual vao VAR YES Units O 1rmps 1R 10min VaueRange velocity demand value Master can read velocity demand value to know
30. d application layer Data link layer is mainly in charge of EtherCAT communication protocol Application layer is mainly oriented to CANOpen drive profiles DS402 communication protocol Object dictionary in CoE includes parameters application data and PDO mapping information Process data object PDO is composed of objects in the object dictionary that could operate PDO mapping The content of PDO data is defined by PDO mapping PDO data s read and write are periodical without checking OD However mail communication SDO is not periodic When they are read or written it is necessary to check OD Note To decode SDO data and PDO data on EtherCAT data link layer correctly we need to configure FMMU and Sync Manager as below Sync Manager Configuration Sync Manager Assignment Fixed 0000 Start Address Fixed Assigned to Receive Mailbox 128byte Fixed 0x1000 Assigned to Transmit Mailbox 128byte Fixed 0x1080 Assigned to Receive PDO 0 to 200byte 0x1100 Assigned to Transmit Oto 200byte 0 1358 ESTUTI AUTOMATION EtherCAT User s Manual FMMU Settings FMMU 0 Mapped to Receive PDO FMMU 1 Mapped to Transmit PDO FMMU 2 Mapped to Fill Status of Transmit Mailbox 3 2 EtherCAT slave information EtherCAT slave information XML document could be read by the master to build the master slave configuration ESTUN ProNet servo drive offers document as below ESTUN ProNet CoE xml 3 3 EtherCAT network state
31. e The servo motor is not Ready to Switch On Servo on yet Switched On Servo drive ready and main power is on Servo on and control the servo motor according to the control Operation Enable d mode Quick Stop Active Servo drive stops in pre defined method Servo drive detects alarm and stop according to pre defined Fault Reaction Active method Servo motor is still on 5 2 Parameters for device control mde Objet type _ 804 VAR Statuswrd LUN fro 605B n 6050 16 605E p Fault reaction option code INT16 17 5 2 1 controlword index 6040 Contro word Object Code Data Type UINT16 PDO Mapping Control word bit description 15 11 in 9 7 B 4 3 2 1 0 manufacturer AL Enable ick Enable Switch specific 3 3 operation stor e Bit0 3 and The transmission of state machine will be triggered by the command composed by these 5 bits Device control command list Command Bit of the controlword Enable operation Switch on voltage operation Enable operation Fault reset Note X means this bit could be ignored 18 ESTUTI e 6 8 In different control mode these 4 bits definition will be different Control mode profile position mode profile velocity mode Start homing operation D Change set immediatel reserved reserved Halt e The other bits All reserved
32. herCAT technology breaks the limits of normal internet solution Through this technology we don t need to receive Ethernet data decode the data and then copy the process data to different devices EtherCAT slave device could read the data marked with this device s address information when the frame passes this device As the same some data will be written into the frame when it passes the device In this way data reading and data writing could be done within several nanoseconds EtherCAT uses standard Ethernet technology and support almost kinds of topologies including the line type tree type star type and so on Its physical layer could be 100 BASE TXI twisted pair wire 100BASE FX fiber or LVDS low voltage differential signaling It could also be done through switch or media converters or in order to achieve the combination of different Ethernet structure Relying on the ASICs for EtherCAT in the slave and DMA technology that reads network interface data the processing of the protocol is done in the hardware EtherCAT system could update the information for 1000 within 30us It could exchange a frame as big as 1486 bytes within 300us This is almost like 12000 digital output or input Controlling one servo with 100 8 byte I O data only takes 100 Within this period the system could update the actual positions and status presented by command value and control data Distributed clock technology could make the cyclic synchronous error lower
33. hieved Single Sync error flash Communicatio n data error Double o DL Les Application 200 ms 200 mej 200 ms 1000 ms flash i program supervision overtime SyncManager watchdog overtime ESTUTI AUTOMATION EtherCAT User s Manual Flickerin Initiating error HUUU em hr On Continuously on PDI supervision overtime LINK ACT green light on RJ45 COM1 COM2 LINK ACT light is used to indicate the physical communication and if there is data exchange LED light green Introduction Off Continuously off Physical level communication has not been started EtherCAT controller has not been started d m slave is exchanging data On or Continuously on There is connection in link layer but there is no date exchange ESTUTI AUTOMATION EtherCAT User s Manual Chapter 2 Installation and connection 2 1 Installation and connection EtherCAT network is normally composed of one master for example industrial PC and some slaves for example servo drives filed bus terminals and so on Every EtherCAT slave has two standard Ethernet interfaces
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35. machine EtherCAT state machine is used to describe the states that one slave applies and the state change State change request is normally launched by the master and answered by the slave The graph below describes the slave s state machine Init SI PS SP OD PS SP Description Init No mailbox communication No process data communication 10 ESTUTI 7 7 4 Status Desoripton Init to Pre Op Master configures data link layer address and initiate mailbox communication Master initializes DC clock synchronization Master requests to change into Pre op status Master sets AL control register Slave checks if mailbox initialization is good Mailbox communication is activated Pre Op Process data communication is not available Pre Op to Safe Op Master configures SyncManager channels and FMMU channels for process data Master configures PDO mapping and the sync manager PDO assignment parameters via SDO e Master requests Safe Operational state e Slave checks whether the sync manager channels for process data communication and if required the distributed clocks settings are correct output Output is set as safety status Master asks to change into OP status 3 4 PDO mapping Process data of EtherCAT slaves is composed by SyncMangaer channels Each SyncMangaer channel describes the consistent area of process data EtherCAT slaves with application control function should support PDO
36. nchronous position mode Cyclic synchronous position mode is similar to position interpolation mode In this control mode the master could offer extra speed and torque to achieve speed and torque feed forward control The interpolation cycle time defines the time for target position updating In this case interpolation cycle time is the same as sync time Parameters related to CYCLIC SYNCHRONOUS POSITION MODE mde name At PDO Mapping Lei umne ves _ Lees Postion actual vawe mre Ro ves _ T T 6082 RW fyes O 6083 uints2 yes 6084 profile deceleration UINT32 RW ves o o e085 sop deceleration untae aw ves 6081 UINT32 RW 48 ESTUTI AUTOMATION EtherCAT User s Manual Chapter 6 EtherCAT communication example In this example we use Beckhoff TwinCAT software as the real time master Please prepare as below before the test 1 1 the network interface model number and install the network interface correctly 2 2 lnstall Beckhoff TwinCAT software 3 3 Copy the device description document XML document to the directory C TwinCAT lO EtherCAT You could contact Estun to have this XML document 4 4 Setdrive s parameter 006 0 4 select EtherCAT communication mode Pn704 1 the address 5 After finishing copying reactivate TwinCAT software Then TwinCAT will list an ESTUN ProNet servo
37. ntrol word and knows the status of the servo drive by reading the servo drive s status word 5 1 CANopen over EtherCAT CoE state machine Power Disabled Not Ready to Switch On Fault Reaction Active Switch On PEE Disabled Ready to Switch On 10 3 6 Power Enabled Switched Operation Enable Figure 5 1 CANopen state machine As above the state machines could be divided into 3 parts power disabled power enabled and fault All the states will be into Fault status after alarm After power enabled servo drive will finish initiating and then enter SWITECH ON DISA status Now we could configure the servo drive for example set the working mode of the servo drive as profile position mode 16 ESTUTI At this time the main power supply is still shut down and the servo motor is now excitated After the state transition 2 3 and 4 the servo drive will be in OPERATION ENABLE mode At this time the main power will be switched on and servo drive starts to control the servo motor according to the configured working mode So before this state we must ensure the servo drive s parameters are correct State Transition 9 will be used to shut down the main power supply Once alarm happens to the servo drive the servo drive s state will be in FAULT state States Description Not Ready to Switch On Servo drive is initiating Switch On Disabled Initiation completed Servo drive enters Switch On stat
38. reshold time Velocity threshold time is used to set the shortest time when servo motor s speed is under velocity threshold The unit is ms When the time that servo motor s speed is lower than the threshold is more than velocity threshold time status word bit 12 speed is zero will be set as 1 36 ESTUTI AUTOMATION EtherCAT User s Manual 00022 Mame velocity time punts ___ e Default Value target velocity Target velocity is reference speed ______ RM Detatvawe o S 5 7 Profile position mode 5 7 1 Control word rje 5 qa Jeo Please refer to previous chapters New Set point Does not assume target position Assume target position 37 ESTUTI Finish the actual positioning and then start the next positioning Interrupt the actual positioning and start the next positionina Abs rel lo Target position is an absolute value Change set immediately Target position is a relative value Execute positioning Stop axle with profile deceleration if not supported with 5 7 2 State word Following error Set point acknowledge please refer to previous chapters Halt Target position not reached Halt 1 Axle decelerates Halt 0 Target position reached Halt 1 Velocity of axle is 0 Trajectory generator has not assumed the positioning values
39. rnal torque has surpassed the set value e Biti2 13 These two bits in different control mode have different meaning 20 ESTUTI Control mode profile position mode velocity mode set point acknowledge Sped Homing attained e The other bits All reserved 5 2 3 shutdown option code When Operation Enable mode is transit to Ready to Switch On status Shutdown option code will be used to define how to stop the servo motor 6058 p CCO Name Shutdown opton code Aces Value Range Default Vetus o O value Introduction oe Shutdown servo excitation signal Servo motor will stop freely After the servo motor decelerates and stops the servo excitation signal will be shut down 5 2 4 disable operation option code When the status of Operation Enable transits to Switched On status disable operation option code will decide how to halt 21 ESTUTI feso Name Disable operation option code Access Value Range Default Value Value Introduction hg Shutdown servo excitation signal Servo motor will stop freely After the servo motor decelerates and stops the servo excitation signal will be shut down 5 2 5 quick stop option code When the Operation Enable status transits to Quick Reaction Active status quick stop option code will define how to stop Name Laviek stop option code Deta Type Aces fow wis e 01258
40. tive Target reached please referred to previous chapters Vae Description 000 Halt 0 Target position not yet reached Halt 1 Axle decelerates Halt 0 Target position reached Halt 1 Velocity of axle is 0 Interoolated position mode inactive Interpolated position mode active 44 ESTUTI 5 8 3 Parameters related to interpolation position control ocon __ 60C0 h Interpolation sub mode select 60C1 h ARRAY Interpolation data record INT32 6002 h RECORD Interpolation time period Interpolation sub mode select Interpolation sub mode select is used to select the method of interpolation under IP control Pronet servo drive only offers linear interpolation Name ____ merpotation sub mode select Ames Value Range Jo S JO Interpolation data record Interpolation data record is used to reserve interpolation potion data Our servo drive s interpolation command only uses the first data whose subindex is 1 Object Code ARRAY Data Type INT32 45 ESTUTI Aces aw Detauttvaiue 0 Aces aw Default Value _ Comment Interpolation time period Interpolation time period is used to reserve the time data of interpolation position 46 ESTUTI index ____ 9022 Access index ocan a Lrject code Aces aw Obiectcode 00002 Aes 47 ESTUTI Manual 5 9 Cyclic sy
41. without pause Between two reference positions the servo motor doesn t need to decelerate to zero Above two methods could be switched to each other by using control word bit 4 bit 5 and statues word bit 12 set point acknowledge in real time Through handshaking mechanism we could pause the position control in the process and use these bits above to reset the target position and then re active and operate oingle step setting procedure 1 Atfirst set the status into Operational and set the control mode parameter 6060 as 1 2 According to the actual demand we could set the target position target positon 607A n and so on 3 We need set 514 new set point of the control word as 1 bit 5 change set immediately as 0 bit 6 absolute comparative should be determined by whether the reference target position is an absolute value or a comparative value 42 ESTUTI AUTOMATION EtherCAT User s Manual We use bit12 set point acknowledge of the status word to configure the servo drive acknowledge mechanism And then we start to operate position control After reaching the target position servo drive will need to respond through bit 10 target reached of the status word And then servo drive will follow the program to keep moving or accept new target position to t t t Time Continuous step setting procedure 1 At first we need to set NMT status into operational and set control mode 6060 as 1 According
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