EtherCAT – SI6 Manual · 2017. 8. 29. · In TwinCAT 2, you operate your EtherCAT system using...

EtherCAT – SI6Manual

en-US07/2017 ID 443025.01

stober.com

Table of contents STOBER

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Table of contents1 Foreword .............................................................................................................................. 5

2 User information.................................................................................................................. 6

2.1 Storage and transfer ..................................................................................................... 6

2.2 Described product type................................................................................................. 6

2.3 Timeliness..................................................................................................................... 6

2.4 Original language.......................................................................................................... 6

2.5 Limitation of liability....................................................................................................... 6

2.6 Formatting conventions ................................................................................................ 72.6.1 Use of symbols ............................................................................................... 72.6.2 Markup of text elements ................................................................................. 8

2.7 Program interfaces ....................................................................................................... 92.7.1 DS6: Structure of the program interfaces ....................................................... 92.7.2 AS6: Structure of the program interface ....................................................... 102.7.3 TwinCAT 2: Structure of the program interface ............................................ 112.7.4 TwinCAT 3: Structure of the program interface ............................................ 12

2.8 Trademarks................................................................................................................. 13

3 General safety instructions .............................................................................................. 14

3.1 Directives and standards ............................................................................................ 14

3.2 Qualified personnel..................................................................................................... 14

3.3 Intended use ............................................................................................................... 14

3.4 Transport and storage ................................................................................................ 15

3.5 Operational environment and operation ..................................................................... 15

3.6 Disposal ...................................................................................................................... 15

4 Network structure.............................................................................................................. 16

5 Connection......................................................................................................................... 17

5.1 Selecting suitable lines ............................................................................................... 17

5.2 X200, X201: Fieldbus connection ............................................................................... 17

6 Commissioning.................................................................................................................. 18

6.1 DS6: Configuring the drive controller.......................................................................... 196.1.1 Initiating the project ...................................................................................... 206.1.2 Parameterizing general EtherCAT settings .................................................. 216.1.3 Configuring PDO transmission ..................................................................... 226.1.4 Mapping the mechanical drive model ........................................................... 236.1.5 Synchronizing EtherCAT nodes ................................................................... 26

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6.1.6 Transmitting and saving a project configuration ........................................... 266.1.7 Exporting the ESI file .................................................................................... 27

6.2 AS6: Putting the EtherCAT system into operation...................................................... 286.2.1 Creating a standard project .......................................................................... 296.2.2 Installing an ESI file ...................................................................................... 296.2.3 Adding a SI6 drive controller ........................................................................ 296.2.4 Configuring synchronization using distributed clocks ................................... 306.2.5 Parameterizing a SoftMotion axis................................................................. 316.2.6 Configuring EoE communication .................................................................. 326.2.7 Identifying a MC6 motion controller .............................................................. 326.2.8 Transmitting a project configuration ............................................................. 336.2.9 Checking the functionality of the axes .......................................................... 33

6.3 TwinCAT 2: Putting the EtherCAT system into operation........................................... 346.3.1 Activating the EtherCAT master ................................................................... 356.3.2 Scanning the hardware environment............................................................ 366.3.3 Configuring synchronization using distributed clocks ................................... 376.3.4 Parameterizing an axis ................................................................................. 386.3.5 Configuring EoE communication .................................................................. 396.3.6 Transmitting a project configuration ............................................................. 39

6.4 TwinCAT 3: Putting the EtherCAT system into operation........................................... 406.4.1 Activating the EtherCAT master ................................................................... 416.4.2 Scanning the hardware environment............................................................ 426.4.3 Configuring synchronization using distributed clocks ................................... 436.4.4 Parameterizing an axis ................................................................................. 446.4.5 Configuring EoE communication .................................................................. 456.4.6 Transmitting a project configuration ............................................................. 45

7 Monitoring and diagnostics.............................................................................................. 46

7.1 Connection monitoring................................................................................................ 46

7.2 LED display................................................................................................................. 477.2.1 EtherCAT state ............................................................................................. 477.2.2 EtherCAT network connection...................................................................... 49

7.3 Parameters ................................................................................................................. 507.3.1 A255 EtherCAT Device State | G6 | 2 .......................................................... 507.3.2 A256 EtherCAT Address | G6 | 1 ................................................................. 507.3.3 A257 EtherCAT Diagnosis | G6 | 1 ............................................................... 507.3.4 A259 EtherCAT SM-Watchdog | G6 | 1 ........................................................ 527.3.5 A261 Sync-Diagnostics | G6 | 1.................................................................... 52

8 Looking for more information about EtherCAT?............................................................ 53

8.1 EtherCAT .................................................................................................................... 53

8.2 Communication protocols ........................................................................................... 54

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8.2.1 CoE: CANopen over EtherCAT .................................................................... 558.2.2 EoE: Ethernet over EtherCAT ...................................................................... 558.2.3 EoE: Application cases with STOBER devices ............................................ 55

8.3 Communication objects .............................................................................................. 598.3.1 Process data objects – PDO ........................................................................ 598.3.2 Service data objects – SDO ......................................................................... 608.3.3 Emergency objects – EMCY......................................................................... 61

8.4 EtherCAT state machine............................................................................................. 63

8.5 Synchronization .......................................................................................................... 658.5.1 SM-Sync: Synchronization using SyncManager event................................. 658.5.2 DC-Sync: Synchronization using distributed clocks ..................................... 66

9 Appendix ............................................................................................................................ 71

9.1 Supported communication objects.............................................................................. 719.1.1 ETG.1000.6 EtherCAT specification: 0x1000 – 0x1FFF .............................. 719.1.2 Manufacturer-specific parameters: 0x2000 – 0x53FF.................................. 749.1.3 CiA 402 Drives and motion control: 0x6000 – 0x65FF................................. 759.1.4 CiA 402 drives and motion control: 0x6800 – 0x6DFF................................. 789.1.5 Manufacturer-specific parameters: 0xA000 – 0xD3FF................................. 819.1.6 ETG.5000.1 Modular Device Profile: 0xF000 – 0xFFF................................. 82

9.2 SDO transmission: Error codes .................................................................................. 83

9.3 EMCY message – Incorrect state transitions: Error codes ......................................... 84

9.4 EMCY message – Device fault: Error codes .............................................................. 85

9.5 Detailed information.................................................................................................... 87

9.6 Abbreviations .............................................................................................................. 88

10 Contact ............................................................................................................................... 90

10.1 Consultation, service and address.............................................................................. 90

10.2 Your opinion is important to us ................................................................................... 90

10.3 Close to customers around the world ......................................................................... 91

Glossary ............................................................................................................................. 92

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1 ForewordThe STOBER drive control using multi-axis drive system consists of the SI6 drive controller andPS6 supply module combination. The SI6 drive controllers are available with the Ethernet-basedEtherCAT fieldbus system as standard. The fieldbus functionality is integrated into the firmwarein this case.

The STOBER product portfolio is also designed for combining the SI6 drive controller with theMC6 motion controller as an EtherCAT master; together with the associated AS6 developmentenvironment, STOBER gives you a complete and uniform solution with regard to EtherCATcommunication.

STOBER provides a perfect blend of drive control and drive technology in one modular softwareand hardware system by combining the SI6 drive controller and MC6 motion controller as anEtherCAT master. The synergy potential from this end-to-end system logic also provide benefitsfor commissioning and quick configuration of your fieldbus communication.

2 | User information STOBER

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2 User informationThis documentation assists you with commissioning the SI6 series of the 6th generation ofSTOBER drive controllers in combination with higher level controller systems over an EtherCATnetwork.

Technical knowledge

Operating an EtherCAT network requires having familiarity with the basics of the EtherCATnetwork technology.

Technical requirements

Before you begin operating your EtherCAT network, you need to wire the drive controllers andinitially check that they are functioning correctly. To do so, follow the instructions in thecommissioning instructions for the SI6 drive controller.

2.1 Storage and transferAs this documentation contains important information for handling the product safely andefficiently, it must be stored in the immediate vicinity of the product until product disposal and beaccessible to qualified personnel at all times.

Also pass on this documentation if the product is transferred or sold to a third party.

2.2 Described product typeThis documentation is binding for:

SI6 drive controller in conjunction with theDriveControlSuite software V 6.2-E or higher and associated firmware V6.2-E-EC or higher.

2.3 TimelinessCheck whether this document is the most up-to-date version of the documentation. We providethe latest document versions for our products for download on our website: http://www.stoeber.de/en/download.

2.4 Original languageThe original language of this documentation is German; all other language versions are derivedfrom the original language.

2.5 Limitation of liabilityThis documentation was created taking into account the applicable standards and regulationsas well as the current state of technology.

STOBER shall assume no responsibility for damage resulting from failure to comply with thedocumentation or from use that deviates from the intended use of the product. This is especiallytrue for damage caused by individual technical modifications to the product or projecting andoperation of the product by unqualified personnel.

http://www.stoeber.de/en/download

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2.6 Formatting conventionsOrientation guides in the form of signal words, symbols and special text markups are used toemphasize specific information so that you are able identify it in this documentation quickly.

2.6.1 Use of symbolsSafety instructions are identified with the following symbols. They indicate special risks whenhandling the product and are accompanied by relevant signal words that express the extent ofthe risk. Furthermore, useful tips and recommendations for efficient, error-free operation arespecially highlighted.

ATTENTION!

Notice

This indicates that damage to property may occur

▪ if the stated precautionary measures are not taken.

CAUTION!

Caution

This word with a warning triangle indicates that minor personal injury may occur


WARNING!

Warning

This word with a warning triangle means there may be a considerable risk of fatal injury


DANGER!

Danger

This word with a warning triangle indicates that there is a considerable risk of fatal injury


Information

Information indicates important information about the product or serves to emphasize a sectionin the documentation that deserves special attention from the reader.


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2.6.2 Markup of text elementsCertain elements of the continuous text are distinguished as follows.

Quick DC-Link module Words or expressions with a special meaning

Detailed information Internal cross-reference

http://www.stoeber.de External cross-reference

Software and display indicators

The following formatting is used to identify the various information content of elementsreferenced by the software interface or the drive controller display, as well as any user entries.

Main menu Settings

Window names, dialog names, page names or buttons,combined proper nouns, functions referenced by theinterface

Select Referencing method A

Predefined entry

Save your

User-defined entry

EVENT 52: COMMUNICATION

Display indicators (status, messages, warnings, faults)for status information referenced by the interface

Keyboard shortcuts and command sequences or paths are represented as follows.

[CTRL], [CTRL] + [S] Key, shortcut

Table > Insert table Navigation to menus/submenus (path specification)

Interpretation of parameter identification

Parameter identification consists of the following elements, where short forms are also possible,i.e. only specifying a coordinate or the combination of coordinate and name.

E50 Drive controller G6 0

CoordinateName

Version

Drive controllergeneration/series

http://www.stoeber.de


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2.7 Program interfacesThe following chapters include an overview of the program interfaces for the described softwarecomponents.

2.7.1 DS6: Structure of the program interfacesThe DriveControlSuite commissioning software offers a graphic interface which you can use toproject, parameterize and start up your drive controller quickly and efficiently.

1

2

3

4

5 6

Fig. 1: DriveControlSuite – Program interface

1 Project tree

2 Project menu

3 Workspace

4 Parameter view

5 Plausibility view

6 Output view


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2.7.2 AS6: Structure of the program interfaceThe AS6 development environment gives you a graphic interface you can use to organize yourautomation projects, configure associated networks like EtherCAT, create or debug programcode or parameterize drives.

1 4

5

6

3

2

Fig. 2: AS6 – Program interface

1 Device tree

2 Horizontal tabs

3 Vertical tabs

4 Editor window

5 Message window

6 Status bar


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2.7.3 TwinCAT 2: Structure of the program interfaceIn TwinCAT 2, you operate your EtherCAT system using the TwinCAT System Manager. Thefollowing graphic shows the program elements relevant to this documentation.

Config -Mode

1 2

3

Fig. 3: TwinCAT 2 (TwinCAT System Manager) – program interface

1 Tree view

2 Main window

3 Status display (configuration, run, connection setup/timeout mode)


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2.7.4 TwinCAT 3: Structure of the program interfaceIn TwinCAT 3, you operate your EtherCAT system using TwinCAT XAE. The following graphicshows the interface elements relevant to this documentation.

1

2

3

4

5 6

Fig. 4: TwinCAT 3 (TwinCAT XAE) – program interface

1 Solution explorer

2 Main window

3 Message view

4 Toolbox

5 Event display

6 Status display (configuration, run, connection setup/timeout mode)


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2.8 TrademarksThe following names used in connection with the device, its optional equipment and itsaccessories are trademarks or registered trademarks of other companies:

CANopen®, CiA®

CANopen® and CiA® are registered European Union trademarksof CAN in AUTOMATION e.V., Nuremberg, Germany.

EtherCAT®,Safety over EtherCAT®,TwinCAT®

EtherCAT®, Safety over EtherCAT® and TwinCAT® are registeredtrademarks of patented technologies licensed by BeckhoffAutomation GmbH, Verl, Germany.

Microsoft®, Windows®,Windows® XP,Windows® 7,Windows® 10

Microsoft®, Windows®, the Windows® logo, Windows® XP,Windows® 7 and Windows® 10 are registered trademarks ofMicrosoft Corporation in the United States and/or other countries.

All other trademarks not listed here are the property of their respective owners.

Products that are registered as trademarks are not specially indicated in this documentation.Existing property rights (patents, trademarks, protection of utility models) are to be observed.

3 | General safety instructions STOBER

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3 General safety instructionsThere are risks associated with the product described in this documentation that can beprevented by complying with the described warning and safety instructions as well as theincluded technical rules and regulations.

3.1 Directives and standardsThe following European directives and standards are relevant to the product specified in thisdocumentation:

§ Machinery Directive 2006/42/EC

§ Low Voltage Directive 2014/35/EU

§ EMC Directive 2014/30/EU

§ EN 61326-3-1:2008

§ EN 61800-3:2004 and A1:2012

§ EN 61800-5-1:2007

§ EN 61800-5-2:2008

§ EN 50178:1997

§ IEC 61784-3:2010

Subsequent references to the standards do not specify the respective year in order to improvereadability.

3.2 Qualified personnelIn order to be able to perform the tasks described in this documentation, the persons instructedto perform them must have the appropriate professional qualification and be able to assess therisks and residual hazards when handling the products. For this reason, all work on the productsas well as their operation and disposal may be performed only by professionally qualifiedpersonnel.

Qualified personal are persons who have acquired authorization to perform these tasks eitherthrough training to become a specialist and/or instruction by specialists.

Furthermore, valid regulations, legal requirements, applicable basic rules, this documentationand the safety instructions included in it must be carefully read, understood and observed.

3.3 Intended useAs defined by DIN EN 50178, the SI6 drive controller and the PS6 supply module are electricaldevices operating as power electronics to control the flow of energy in high-voltage systems fordrive controllers of the 6th generation of STOBER drive controllers. They are intended solely forthe operation of linear and rotational synchronous servo motors as well as asynchronousmotors and torque motors.

The connection of other electronic loads constitutes improper use!

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3.4 Transport and storageInspect the delivery for any transport damage immediately after you receive it. Notify thetransport company of any damage immediately. Do not put a damaged product into operation.

To ensure the faultless and safe operation of the products, they must be professionally set up,installed, operated and maintained. If you have to transport or store the products, you mustprotect them from mechanical impacts and vibrations as well as observe the recommendedtransport and storage conditions in the technical data.

Store the products in a dry and dust-free room if you do not install them immediately.

3.5 Operational environment and operationThe products are subject to sales restrictions in accordance with IEC 61800-3.

The products are not designed for use in a public low-voltage network that supplies residentialareas. Radio-frequency interference can be expected if the products are used in this type ofnetwork.

The products are designed exclusively for operation in TN networks.

The products are intended exclusively for installation in control cabinets with at least protectionclass IP54.

Always operate the products within the limits specified by the technical data.

The following applications are prohibited:

§ Use in potentially explosive atmospheres

§ Use in environments with harmful substances as specified by EN 60721, such as oils, acids,gases, vapors, dust and radiation

Implementation of the following applications is permitted only after approval from STOBER:

§ Use in non-stationary applications

3.6 DisposalObserve the current national and regional regulations when disposing of the product! Dispose ofthe individual product parts depending on their properties, e.g. as:

§ Electronic waste (circuit boards)

§ Plastic

§ Sheet metal

§ Copper

§ Aluminum

§ Battery

4 | Network structure STOBER

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4 Network structureAn EtherCAT network normally consists of an EtherCAT master (controller) and EtherCATslaves, i.e. drive controllers from the SI6 series in combination with components from third-partymanufacturers. The SI6 drive controllers also require at least one PS6 supply module as anenergy supply.

The EtherCAT network structure is generally optimized for a bus topology. Each EtherCATslave has an incoming and continuing bus connection.

Overall network expansion is virtually unlimited because a maximum of 65,535 EtherCAT nodescan be connected together.

The following graphic provides a generalized depiction of an EtherCAT network with anEtherCAT master and EtherCAT slaves. You can configure and parameterize the drivecontrollers using the STOBER DS6 DriveControlSuite software; using the STOBER AS6AutomationControlSuite development environment lets you do this for the entire EtherCATnetwork for instance.

MC6 motion controller

EtherCAT

1 x PS6 supply module3 x SI6 drive controllers

Commissioning

Commissioning

Com

man

d le

vel

Con

trolle

r lev

elFi

eld

leve

l

Fig. 5: EtherCAT – Network structure

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5 ConnectionIn order to connect the SI6 drive controller to other EtherCAT nodes, the top of each devicefeatures two RJ-45 sockets.

5.1 Selecting suitable linesEtherCAT is an Ethernet-based communications technology optimized for automationtechnology.

Ethernet patch cables or crossover cables meeting the CAT 5e quality level are the idealcables. The Fast Ethernet technology allows a maximum cable length of 100 m between twonodes.

Information

Ensure that you only use shielded cables with an SF/FTP, S/FTP or SF/UTP design.

5.2 X200, X201: Fieldbus connectionDrive controllers from the SI6 series have the two RJ-45 sockets X200 and X201. The socketsare located on top of the device. The associate pin assignment and color coding correspond tothe EIA/TIA-T568B standard.

Socket Pin Designation Function

1|2| ... |7|8 1 Tx+ Communication

2 Tx−

3 Rx+

4 — —

5 — —

6 Rx− Communication

7 — —

8 — —

Tab. 1: X200 and X201 connection description

6 | Commissioning STOBER

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6 CommissioningAre you looking to operate several SI6 drive controllers using the STOBER MC6 motioncontroller or operate a controller from Beckhoff Automation GmbH & Co. KG over an EtherCATnetwork?

The following chapters cover the associated commissioning tasks using the STOBER DS6DriveControlSuite software in combination with the AS6 AutomationControlSuite developmentenvironment as well as TwinCAT 2 and TwinCAT 3 from Beckhoff.

We put forward the following system environment as an example so that it is possible to followalong with the individual commissioning steps with precision:

§ STOBER drive controllers from the SI6A series with firmware version 6.2-E or later

§ STOBER DS6 DriveControlSuite commissioning software in version 6.2-E or later

either in combination with

§ STOBER MC6 motion controller, version C

§ STOBER AutomationControlSuite development environment in version 3.5.9.2 or later

or in combination with

§ Beckhoff CX2030 embedded PC

§ Beckhoff TwinCAT 2 or TwinCAT 3 automation software

Commissioning is divided into the following steps:

1. DS6 DriveControlSuiteConfigure all of the drive controllers, i.e. application type, device control systems, processdata for the fieldbus communication, mechanical drive model in DriveControlSuite. Depending on the selected application (CiA 402 Controller Based or CiA 402 ControllerBased HiRes Motion), scale your axis models on the drive controller side or the controllerside. In both cases, transfer your project configuration to the drive controller of the systemnetwork.

2. AutomationControlSuite AS6 or TwinCAT 2/TwinCAT 3Scale your axis model if necessary and then map your entire hardware environment in therespective software. Synchronize the operation of the distributed clocks in all EtherCAT nodes and configure thecommunication of individual nodes over the EoE protocol. Finally, transfer the entire configuration to the motion controller or to the controller and thenstart up your EtherCAT system.

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6.1 DS6: Configuring the drive controllerProject and configure all drive controllers for your drive system in DS6 DriveControlSuite (alsosee the chapter DS6: Structure of the program interfaces [} 9]).

Information

Since you are working with a higher level motion controller or a controller, the following stepsare described using controller-based applications CiA 402 Controller Based and CiA 402Controller Based HiRes Motion in combination with the CiA 402 device control. Operationwith the STOBER Drive Based application is also possible.

Information

Always perform the steps included in the following chapters in the specified order!


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6.1.1 Initiating the projectIn order to be able to configure all drive controllers and axes of your drive system usingDriveControlSuite, you must record them as part of a project.

6.1.1.1 Projecting the drive controller and axisCreate a new project and project the first drive controller along with the accompanying axis.

Creating a new project

1. Start DriveControlSuite.

2. Click on Create new standard project.

ð The projecting window opens and the Drive controller button is active.

Projecting the drive controller

1. Properties tab: Establish the relationship between your circuit diagram and the drive controller to beprojected in DriveControlSuite.Reference: Specify the reference code (equipment code) of the drive controller.Designation: Give the drive controller a unique name.Version: Version your project configuration.Description: If necessary specify supporting additional information such as the changehistory of the project configuration.

2. Drive controller tab:Select the SI6 series and the device type that corresponds to the drive controller. Firmware: Select the EtherCAT version V 6.x -EC.

3. Option modules tab:Safety module: If the drive controller is part of a safety circuit, select the correspondingsafety module.

4. Device control tab:Device controller: Select CiA 402.Process data Rx, Process data Tx: Select EtherCAT Rx and EtherCAT Tx for transmittingthe EtherCAT process data.


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Projecting the axis

1. Click on Axis 1.

2. Properties tab: Establish the connection between your circuit diagram and the axis to be projected inDriveControlSuite.Reference: Specify the reference code (equipment code) of the axis.Designation: Give the axis a unique name.Version: Version your project configuration.Description: If necessary specify supporting additional information such as the changehistory of the project configuration.

3. Application tab: Select the desired controller-based application.If you are working with the MC6 motion controller and AS6 development environment, werecommend CiA 402 Controller Based HiRes Motion (version with user-defined units ofmeasure).If you are working with hardware and software products from Beckhoff, we recommend CiA402 Controller Based (incremental version).

4. Motor tab: Select the type of motor operated using this axis. If you are working with motors from third-part suppliers, enter the accompanying motor data at a later time.

5. Repeat steps 2 – 4 for the 2nd axis (only for double-axis controllers).

6. Confirm with OK.

6.1.2 Parameterizing general EtherCAT settingsü You have projected a device control with the EtherCAT Rx and EtherCAT Tx process data

as part of drive controller and axis projecting.

1. Highlight the relevant drive controller in the project tree and click on the first projected axisin the project menu > Wizard section.

2. Select the EtherCAT wizard.

3. A213 Fieldbus scaling:Leave the default setting at 1 = raw value (values are passed unchanged).

4. A258 EtherCAT PDO timeout:In order to be able to detect a communication failure, monitor the arrival of cyclical processdata by defining a PDO timeout. Permitted value range: 0 – 65535 ms. Please note:0 and 65535 = Monitoring is inactive 1 to 65531 = Monitoring is active65532 = Monitoring is active but the loss of a data packet is then ignored65533 = Monitoring is active but the loss of 3 data packets in a row is ignored


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6.1.3 Configuring PDO transmissionPDO channels are able to transmit control and status information in realtime as well as actualand target values from an EtherCAT master to EtherCAT slaves and vice versa.

PDO communication allows for several PDO channels to be operated simultaneously pertransmission and sending direction. The channels for axes A and B each include a PDO with adefined sequence of up to 24 parameters to be transmitted. These are free to be configured inany way. One channel is reserved for FSoE communication and is parameterized automatically.

In order to guarantee error-free communication between the controller and drive controller,STOBER offers application-dependent pre-assignment of the channels which can be changedat any time.

Information

Are you working with the MC6 motion controller and the AS6 development environment? Note that the specified configuration for PDO transmission can be expanded individually whenusing the applications CiA 402 Controller Based or Controller Based HiRes Motion.If you are using a different application, such as STOBER Drive Based, any PDO configurationsare possible. In this case, export an ESI file and make it available to AS6AutomationControlSuite (see the chapter Exporting the ESI file [} 27]).

6.1.3.1 Adapting RxPDO

ü You have configured the global EtherCAT settings.


2. Select the EtherCAT assistant > Received process data RxPDO.

3. Check the default settings and/or configure the process data according to yourrequirements.A225[0] – A225[23], A226[0] – A226[23]:Parameters whose values are received by the drive controller from the controller. Theposition of the parameters provides information about the associated receiving sequence.

6.1.3.2 Adapting TxPDO

ü You have configured the global EtherCAT settings.


2. Select the EtherCAT assistant > Sent process data TxPDO.

3. Check the default settings and/or configure the process data according to yourrequirements.A233[0] – A233[23], A234[0] – A234[23]: Parameters whose values the respective drive controller sends to the controller. Theposition of the parameters provides information about the associated transmissionsequence.


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6.1.4 Mapping the mechanical drive modelTo be able to put your real drive train with one or more drive controllers into operation, you mustmap your complete mechanical environment in DriveControlSuite.

Information

Note that the scaling of the axis depends on the controller-based application you haveprojected.

If you have selected CiA 402 Controller Based HiRes Motion application, scale the axis in thedrive controller, i.e. parameterize it in DriveControlSuite.

If you have selected the incremental version of the CiA 402 Controller Based application, scalethe axis in the controller, i.e. parameterize it in AutomationControlSuite for instance.

When scaling the axis, follow the instructions for the application you are projecting.

6.1.4.1 Parameterizing a STOBER standard motorYou have projected a STOBER synchronous servo motor with EnDat encoder and integratedholding brake.

With the project configuration of the corresponding motor, limit values for currents and torquesas well as associated temperature data are automatically transferred to the respectiveparameters of the individual wizards. At the same time, all additional data on the energy supply,holding brake and encoder are transferred.

6.1.4.2 Defining the axis model1. Highlight the relevant drive controller in the project tree and click on the first projected axis

in the project menu > Wizard section.

2. Select the Axis model wizard.

3. I05 Axis type:In order to individually configure the units of measure and the number of decimal places forspecifying and displaying position target values, velocity values and acceleration values,select 0: Free setting, rotational or 1: Free setting, translational.

4. B26 Motor encoders:Define the interface to which the motor encoder is connected.

5. I02 Position encoders:Define the interface to which the position encoder is connected.

6. I00 Travel range:Define the travel range. Note that 1: Endless is possible only in combination with the CiA402 Controller Based HiRes Motion application.


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6.1.4.3 CiA 402 Controller Based HiRes Motion: Scaling an axis

ü You have projected the HiRes version of the CiA 402 Controller Based application. Scalethe axis as described below and specify only the number of decimal places in the controllersoftware, i.e. the value parameterized in I06.


2. Select the Axis model > Axis scaling wizard.

3. A584[0] Gear ratio.Motor revolutions and A584[1] Gear ratio.Shaft revolutions: Specify the gear ratio.

4. A585[1] Feed constant.Shaft revolutions and A585[0] Feed constant. Feed:Specify the feed rate per revolution of the gear unit output.

5. I06 Position decimal places: Specify the number of decimal places for specifying and displaying position target values,velocity values and acceleration values. Note that changing this value means the decimalplace is moved.

6. I09 Unit of measure: Specify the desired unit of measure.

7. A571 Polarity:Specify the polarity of the axis model.

8. A568 Position range limit (only for endless travel range I00 = 1):Specify the revolution length of the axis.

6.1.4.4 CiA 402 Controller Based: Scaling an axis

ü You have projected the incremental version of the CiA 402 Controller Based application.Scale the axis in the controller software and, as described below, specify only theincrements per motor revolution in DriveControlSuite.


2. Select the Axis model > Axis scaling wizard.

3. A585[1] Feed constant.Shaft revolutions 1 and A585[0]Feed constant. Feed2

Leave the default settings of A585[1] at 1 U and A585[0] at 1048576 inc (= 20 bit = 220) andadapt the corresponding value in the controller software.

4. I06 Position decimal places: Since you are working with the incremental version of the controller-based application,leave the default setting at 0.

1 corresponds to CiA 402 Feed constant 0x6092, 0x2 for SI6, axis A and 0x6892, 0x2 for SI6, axis B2 corresponds to CiA 402 Feed constant 0x6092, 0x1 for SI6, axis A and 0x6892, 0x1 for SI6, axis B


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6.1.4.5 Limiting the axisThe tasks of a controller include setting axis limits and monitoring them. The target valuesnecessary for this are parameterized in the controller and transmitted to the individual drivecontrollers. Note that, for this reason, the target values of the controller are not negativelyaffected by the individually configured values on the drive controller side.

Limiting the position (optional)

1. Highlight the relevant drive controller in the project tree and click on the first projected axisin the project menu > Wizard area.

2. Select the Axis model > Limit position wizard.

3. If necessary, limit the position of your axis using a software or hardware limit switch tosecure the travel range.

Limiting velocity, acceleration, jerk (optional)

The specified default values are designed for slow velocities without gear units. For this reason,adapt the saved values.

Note that the velocity of the motor is parameterized in units other than that of the axis model.Therefore check the velocity of the motor against the velocity of the output.

1. Select the Motor wizard.

2. To determine the maximum velocity at the output, copy the value of the B13 Nominal motorvelocity parameter to the clipboard.

3. Select the Axis model > Scaling axis wizard > Conversion of positions, velocities,accelerations, torque/force section.

4. Velocity line: Paste the copied value of the B13 parameter from the clipboard and confirm with ENTER.

5. Select the Axis model > Limit velocity, acceleration, jerk wizard.

6. I10 Maximum velocity: The specified velocity is in relation to 3000 rpm. Change this if necessary.

7. Determine the limiting values for acceleration and jerk if necessary and enter them into theassociated parameters.

Limiting torque/force (optional)

The specified default values take into account the rated operation together with the overloadreserves.

1. Select the Axis model > Limit torque/force wizard.

2. If the motor force must be limited, adapt the saved values.


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6.1.5 Synchronizing EtherCAT nodesPrecise synchronization of the EtherCAT nodes is absolutely required for spatially distributedprocesses that require simultaneous actions (path interpolation). EtherCAT provides thedistributed clocks (DC-Sync) method for this. Synchronization using distributed clocks is moreprecise when compared to the SyncManager event synchronization (SM-Sync) because it issubject to fewer fluctuations. For this reason, DC-Sync is pre-configured in EtherCAT mastersand slaves.

PLL synchronization wizard

Leave the default settings in the first step and optimize them if necessary once you have startedup the EtherCAT network and can assess and evaluate the quality of communication.

If you want to adjust the synchronization after the fact, proceed as described in the Optimizevalues and correct problems [} 68] chapter.

6.1.6 Transmitting and saving a project configurationIn order to be able to transmit a project configuration to one or more drive controllers, you mustconnect your PC to the network.

Transmitting a project configuration

ü In order to be able to transmit a project configuration to one or more drive controllers, youmust connect your PC to the network. The relevant drive controllers are switched on.

1. Highlight the module under which you recorded your drive controller in the project tree andclick on Connection and assignment in the project menu.

ð The Setting up a connection window opens.

2. Direct connection tab > IP address column: Highlight the IP addresses of the relevant drive controllers or activate all listed IP addressesusing the context menu. Confirm your selection with OK.

ð The Assignment window opens. All drive controllers connected to the selected networkinterface are displayed.

3. Drive controllers connected via communication: Select the first drive controller to which you would like to transmit the project configurationand click on Ignore > Send to drive controller.

4. Click on Create new and select the drive controller.

5. Repeat steps 3 and 4 for all other drive controllers to which you wish to transmit yourproject configuration.

6. Click on Establish online connections.

ð The project configuration is transmitted to the drive controllers.


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Saving a project configuration

1. Highlight the drive controllers which have been sent the project configuration in the projecttree and click on the first projected axis in the project menu > Wizard area.

2. Select the Save values wizard > Action management section and click on Save values.

3. As the configuration is only effective after a restart of the drive controller, select the Restartwizard > Action management section and click on Restart.

6.1.7 Exporting the ESI fileThe functions and properties of the STOBER drive controllers are described in the form ofvarious objects and collected in an ESI file.

The ESI files of the STOBER drive controllers are already included in the AS6 developmentenvironment. Only export an ESI file then if the configuration of your PDO transmission deviatesfrom the standard specified in DriveControlSuite for the CiA 402 Controller Based and CiA 402Controller Based HiRes Motion applications.

Generating an ESI file is mandatory if you are working with TwinCAT. The file must be madeavailable in the directory specified below.

Note that both AS6 and TwinCAT can be read in only one ESI file per device type. If you want tocombine different mappings or applications for a device series in one ESI file, you can add to anexisting file accordingly.

In addition, a new ESI file has to be exported and provided after every change to the PDOtransmission.

ü You have configured the PDO transmission.


2. Select the EtherCAT wizard.

3. Click on Create ESI file (EtherCAT Slave Information).

ð The Write ESI file dialog box opens.

4. Save the XML file to the directory that the controller will read it from (e.g.: TwinCAT default installation: C:\TwinCAT\IO\EtherCAT).


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6.2 AS6: Putting the EtherCAT system into operationThe AS6 development environment gives you the option to map the hardware environment ofyour EtherCAT system and to configure and parameterize all necessary bus parametersincluding data exchange via master and slaves (also see the chapter AS6: Structure of theprogram interface [} 10]).

Note that all system nodes have to be networked physically before commissioning. In addition,you have projected the drive controllers in question in advance, i.e. EtherCAT slaves inDriveControlSuite, and transmitted the project configuration to those drive controllers.

Information

For the following description, we require that you have projected the CiA 402 Controller BasedHiRes Motion application.

Information



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6.2.1 Creating a standard project1. Start the AS6 development environment.

2. Select Basic Operations > New Project.

ð The New Project dialog box opens.

3. Select the standard MC6 project that corresponds to your hardware version. Give it a nameand save it wherever you want.

ð AutomationControlSuite opens and the Devices view is active.

6.2.2 Installing an ESI fileü You have added the specific PDO transmission for the CiA 402 Controller Based HiRes

Motion application (default setting) in DriveControlSuite and want to provide AS6 with anup-to-date ESI file.

1. Select Tools > Device Repository > Install.

2. Navigate to the location where you saved the ESI file, highlight the file and click Open.

ð The ESI file is integrated into the AS6 library (Device Repository > Installed devicedescriptions > Fieldbusses > EtherCAT > Slave).

6.2.3 Adding a SI6 drive controller1. In the device tree, navigate to the module EtherCAT_Master > Context menu Add Device.

ð The Add Device dialog box opens.

2. Device > Vendor:Select STOEBER ANTRIEBSTECHNIK GmbH & Co. KG and open the folder with the samename.

ð All STOBER drive controllers in the SoftMotion HiRes version are displayed.

3. Highlight the desired drive controller and confirm with Add Device.

4. Repeat step 3 for all of the drive controllers in your EtherCAT system.

ð The selected drive controllers are added in the device tree under the EtherCAT_Mastermotion controller.


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6.2.4 Configuring synchronization using distributed clocksü As the more precise of the two sync methods, synchronization using distributed clocks (DC-

Sync) is pre-configured in the EtherCAT master. In order to reduce jitter in general, we recommend setting data transmission (I/O) of thecontroller to task begin in the EtherCAT configuration.

1. In the device tree, navigate to the module EtherCAT_Master and double click to open it.

ð EtherCAT_Master tab > General opens in the editor window.

2. Distributed Clock:Cycle Time, Sync Offset: Check the default values and change them if necessary.

3. In order to set I/O to task begin, select the menu Tools > Options > Device editor, enablethe Show generic device configuration views option and confirm with OK.

4. On the EtherCAT_Master tab, change to the vertical tab EtherCAT Parameters that is nowvisible.

5. FrameAtTaskStart parameter:Set the value of the parameter to True.

ð From now on, controller data transmission will take place at the start of the task.

6. In the device tree, double click on the first of the added SI6 drive controllers.

ð SI6_HiRes tab > General opens in the editor window.

7. Distributed Clock:DC enabled (multiplier = 1) and Sync0 as sync event are enabled by default.

8. If you want to change the default settings, enable the Additional > Enable Expert Settingsoption and change the default settings.

9. Repeat steps 7 and 8 for each additional drive controller in your EtherCAT network.

ð The EtherCAT master and slaves will now be synchronized with the first EtherCAT slavethat has the distributed clocks option enabled.


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6.2.5 Parameterizing a SoftMotion axisü You have selected the CiA 402 Controller Based HiRes Motion application and fully

configured the associated axis model in DriveControlSuite.

1. In the device tree, navigate to the first SoftMotion axisSM_Drive_ETC_STOEBER_SI6_HiRes of the first added SI6 drive controller and doubleclick to open it.

ð SM_Drive_ETC_STOEBER_SI6_HiRes tab > Commissioning opens in the editorwindow.

2. Switch to the General vertical tab > Axis type and limits area.

3. Modulo/Finite:Activate your drive according to the listed options and parameterize the conditionsnecessary in each case. Modulo > Modulo settings: Define the modulo range by entering the associated modulovalue. Finite > Software limits: If you want to put a limit on position values with a lower negativelimit or upper positive limit, enable this option and enter the associated values.

4. Software error reaction: If braking is to be done on a delay, enable the Brake option and enter the associated value.In addition, you can parameterize a maximum distance within which the drive must havereached a stop after an error has occurred. Target value monitoring of the drive controller is enabled by default for the CiA 402Controller Based and Controller Based HiRes Motion applications. In order to prevent thedrive controller from transitioning into the excessive target value jump state, parameterizeramp that can realistically be implemented.

5. Dynamic limits (optional): If you are using CNC or robotic functions, parameterize the associated limit values forvelocity, acceleration and deceleration.

6. Velocity ramp type (optional): Using the velocity ramp type, define the velocity profile for movement-generating single axismodules and for master/slave modules and enable the associated option.

7. Position lag supervision (optional): Use the associated drop-down box to define the response of the controller when positionlag is detected. Lag limit: Lag is detected if the difference between the target position and actual positionexceeds the lag limit. If you have enabled position lag supervision by selecting a response,specify the associated value.

8. Switch to the Scaling/Mapping vertical tab > Scaling area.

9. Precision (decimal digits):Specify the parameterized number of decimal places in DriveControlSuite (I06 Positiondecimal places) for specifying and displaying position target values, velocity values andacceleration values.

10. Repeat steps 2 – 9 for each additional SoftMotion axis in your EtherCAT network.

ð The SoftMotion axes are parameterized.


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6.2.6 Configuring EoE communicationü You have fully configured the associated axis model in DriveControlSuite.

1. In the device tree, navigate to the module EtherCAT_Master and double click to open it.

ð EtherCAT_Master tab > General opens in the editor window.

2. Switch to the EoE configuration vertical tab.

ð All necessary parameters for EoE communication over the EtherCAT master to theslaves is already pre-assigned.

3. Ethernet over EtherCAT (EoE) configuration:Check the EtherCAT communication parameters; these must match the correspondingparameters of the virtual network adapter. If you happen to change the address ranges, thechanges also have to be applied in the MC6 motion controller.

4. Configured EoE during the compile:Both configuration options must be enabled.

5. In order to configure the EtherCAT slaves, select the menu Build > Build.Note that the EoE configuration tap remains opened during compiling.

ð EoE slave configuration: The MAC address, IP address, subnet mask and the address of the default gateway aretransferred to the individual slaves automatically and entered into the correspondingcolumns in the table.

ð The EoE communication is enabled for the EtherCAT master and slaves.

Information

Depending on your EoE network topology, you may have to set the routing on your EtherCATmaster PC manually to connect the Ethernet and EtherCAT networks (see the chapter EoE:Application cases with STOBER devices [} 55]).

6.2.7 Identifying a MC6 motion controller1. In the device tree, highlight the EtherCAT_Master module and select the menu Online >

Login.

ð The No active path defined. Do you want to set it? dialog box opens.

2. Confirm with Yes.

ð Device tab > Communication Settings opens in the editor window.

3. Click Scan Network.

ð The Select Device dialog box opens.

4. Select the network path to the controller:Identify the MC6 motion controller by its device name, highlight it and confirm with OK.

ð The selected MC6 motion controller is active.


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6.2.8 Transmitting a project configurationTransfer the entire project configuration to the motion controller.

1. In the device tree, navigate to Device (STOEBER MC6 (AS6)) and double click to open it.

ð Device tab > Communication Settings opens. If you want to disable searching for a DHCP server on the network when starting themotion controller, enter a fixed IP address (see the MC6 motion controller manual). Thismakes it faster to connect to the motion controller after a restart.

2. Select the menu Online > Login.

3. Confirm the warning notification.

4. To start the controller, select the menu Debug > Start.

ð The EtherCAT network is ready for operation.

6.2.9 Checking the functionality of the axesCheck the functionality of the axes before operation in production.

Information

Ensure that a suitable safety application that ensures safe shut-off of the axis (emergency off,safety switch, etc.) exists before the start of testing.

1. In the device tree, navigate to the first SoftMotion axisSM_Drive_ETC_STOEBER_SI6_HiRes of the first added SI6 drive controller and doubleclick to open it.

ð SM_Drive_ETC_STOEBER_SI6_HiRes tab > Commissioning opens in the editorwindow.

2. Control:Click Enable.

ð The axis is monitored using the activated control panel.

3. Jog:Check the reliability of the standard values and move the axis step by step. Test thedirection of movement, velocity, etc. using the Jog+, Jog−, JogStep+ and JogStep−buttons.

4. To deactivate the enable signal, click Enable again.


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6.3 TwinCAT 2: Putting the EtherCAT system intooperation

TwinCAT automation software gives you the option to map the hardware environment of yourEtherCAT system and to configure and parameterize all necessary bus parameters includingdata exchange via master and slaves (also see the chapter TwinCAT 3: Structure of theprogram interface [} 12]).


Information

For the following description, we require that you have projected the CiA 402 Controller Basedapplication.

Information



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6.3.1 Activating the EtherCAT masterü You have already projected all drive controllers of your system using DriveControlSuite and

transmitted the project configuration to the individual drive controllers. The EtherCATmaster is connected to the network, all system components have an FSoE address and areenergized and the infrastructure is ready for operation. You have saved the generated ESIfile in the specified directory.

1. Start TwinCAT System Manager.

ð The stored ESI file is read in upon program start and the main window of TwinCATSystem Manager opens. General tab is active.

2. If the run-time package (EtherCAT master) and TwinCAT System Manager have beeninstalled on the same PC, they are connected to each other automatically. Continue to step10.

3. If the run-time package (EtherCAT master) and TwinCAT System Manager have beeninstalled on different computers, you must connect the computers to each other. Click onChoose target system.

ð The Choose Target System dialog box opens.

4. Click on Search (Ethernet).

ð The Add Route dialog box opens.

5. Click on Broadcast Search.

ð All available control systems are listed.

6. Highlight the desired controller, activate the IP Address option and confirm with Add Route.

ð The Logon Information dialog box opens.

7. Enter the following information for a new device (TwinCAT standard access) and confirmwith OK:User name: AdministratorPassword: 1

8. Close the dialog box.

9. Choose Target System dialog box: Highlight the previously selected EtherCAT master and confirm with OK.

ð The EtherCAT master is saved as the target system.

10. In order to be able to configure the EtherCAT system online, you must activate the Configmode of TwinCAT System Manager. Select the menu Actions > Set/Reset TwinCAT to Config mode.

ð The Restart TwinCAT System in Config Mode dialog box opens.

11. Confirm with OK.

ð The EtherCAT master is saved as the target system and TwinCAT System Manager is inConfig mode.


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6.3.2 Scanning the hardware environmentIf all system components are connected to the EtherCAT network and the network is energized,it is possible to scan for connected devices automatically. In this scenario, TwinCAT SystemManager searches for connected devices and terminals and integrates them into the existingproject in accordance with their configuration entries in the accompanying ESI files.

If the actual EtherCAT infrastructure is not available, i.e. you are configuring in offline mode, youmust map and project all connected devices manually in TwinCAT System Manager. You canget more detailed information on this in the online help tool for TwinCAT System Manager.

ü You have activated Config mode.

1. In the tree view, navigate to I/O Configuration > I/O Devices > Context menu Scan Devices.

ð TwinCAT System Manager scans the EtherCAT system for the EtherCAT master. The ... new I/O Devices found dialog box opens.

2. Activate the EtherCAT master in question and confirm with OK.

ð The EtherCAT master is arranged in the tree view under I/O devices as device(EtherCAT). The Scan for boxes? dialog box opens.


ð TwinCAT System Manager scans the EtherCAT system for the EtherCAT slaves.The Device(s) added. Append linked axis to NC configuration? dialog box opens.

4. In order to activate the NC function, confirm with Yes.

ð In the tree view, the EtherCAT slaves are created; NC functionality is connected. The Activate Free Run dialog box opens.

5. In order to shift the system components during configuration into free run mode and therebyenable verification of the signal exchange, confirm with Yes.

ð EtherCAT master and slaves are created in the TwinCAT System Manager.


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6.3.3 Configuring synchronization using distributed clocksü You have fully configured the associated axis model in DriveControlSuite. As the more

precise of the two sync methods, synchronization using distributed clocks (DC-Sync) is pre-configured in the EtherCAT master and slaves.

1. In the tree view, navigate to the EtherCAT master.

2. In the main window, switch to the EtherCAT tab and click Advanced Settings.

ð The Advanced Settings dialog box opens.

3. In the tree view, select Distributed Clocks.

4. Automatic DC Mode Selection: This option must be activated.


6. In the tree view, navigate to the first EtherCAT slave.

7. In the main window, switch to the DC tab and click Advanced Settings.


8. Enable: This option must be activated.

9. DC enabled (multiplier = 1): This list entry must be selected.

10. Sync Unit Cycle (µs):Check the default value for the cycle time of the controller and change it if necessary.

11. Enable SYNC 0: This option must be activated.


13. Repeat steps 7 – 12 for each additional slave in your EtherCAT network.



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6.3.4 Parameterizing an axis1. In the tree view, navigate to NC-Configuration > Axes > Axis 1.

2. In the main window, switch to the Settings tab.

3. Unit: Select degrees (°) as the unit.


5. In the main window, switch to the Parameters tab.

6. Open the parameter lists Velocities and Dynamics:If you are using CNC or robotic functions, parameterize the associated limit values forvelocity, acceleration and deceleration.

7. Open the parameter list Limit Switches:Soft Position Limit Minimum Monitoring: If you want to put a limit on position values with alower negative limit, select the list entry True and enter the associated value in MinimumPosition. Soft Position Limit Maximum Monitoring: If you want to put a limit on position values with anupper positive limit, select the list entry True and enter the associated value in MaximumPosition.


9. In the tree view, navigate to Axis 1_Enc.


11. Open the parameter list Encoder Evaluation:Scaling Factor: Specify a value of 0.000343322 (360 ÷ 1048576) – in accordance with theparameterization of A585[0] = 1048576 inc for the feed rate constant in DriveControlSuite.


13. Repeat steps 2 – 12 for each additional axis.

ð The axes are parameterized.


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6.3.5 Configuring EoE communication1. In the tree view, navigate to the EtherCAT master.



3. In the left tree view, select EoE-Support:Virtual Ethernet Switch > Enable: This option must be activated.





7. In the left tree view, navigate to Mailbox > EoE:Virtual Ethernet Port: This option must be activated.IP Port: Activate this option. IP Address: Activate this option and configure the IP address according to the subnet ofyour EoE network.




Information


6.3.6 Transmitting a project configurationTransfer the project configuration to the EtherCAT master.

1. Select the menu Actions > Activate Configuration.

2. Confirm the mapping build with Yes.

3. Confirm the transfer of the project configuration to the EtherCAT master with OK.

4. Select the menu Actions > Set/Reset TwinCAT to Run Mode.

ð The Restart TwinCAT System in Run Mode dialog box opens.

5. Confirm with OK.

ð The project configuration has been transferred to the EtherCAT master.


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6.4 TwinCAT 3: Putting the EtherCAT system intooperation

TwinCAT automation software gives you the option to map the hardware environment of yourEtherCAT system and to configure and parameterize all necessary bus parameters includingdata exchange via master and slaves (also see the chapter TwinCAT 3: Structure of theprogram interface [} 12]).


Information

For the following description, we require that you have projected the CiA 402 Controller Basedapplication.

Information



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6.4.1 Activating the EtherCAT masterü You have already projected all drive controllers of your system using DriveControlSuite and

transmitted the project configuration to the individual drive controllers. The EtherCATmaster is connected to the network, all system components have an FSoE address and areenergized and the infrastructure is ready for operation. You have saved the generated ESIfile in the specified directory.

1. Start TwinCAT XAE.

ð The stored ESI file is read in upon program start and the main window of TwinCATSystem Manager opens. Start page tab is active.

2. Select File > New > Project.

ð The New Project dialog box opens.

3. Select Installed > Templates > TwinCAT Projects > TwinCAT XAE Project (XML format).

4. Name, Location, Solution name: Label the project and enter a save location and an internal project name.


6. If the run-time package (EtherCAT master) and TwinCAT XAE have been installed on thesame PC, they are connected to each other automatically. Continue to step 12.

7. If the run-time package (EtherCAT master) and TwinCAT System Manager have beeninstalled on different computers, you must connect them to each other. Click on the list field in the TwinCAT XAE toolbar and select Choose TargetSystem.

ð The Choose Target System dialog box opens.

8. Click on Search (Ethernet).

ð The Add Route dialog box opens.

9. Click on Broadcast Search.

ð All available control systems are listed.

10. Highlight the desired controller, activate the IP Address option and confirm with Add Route.

ð The Logon Information dialog box opens.

11. Enter the following information for a new device (TwinCAT standard access) and confirmwith OK:User name: AdministratorPassword: 1


13. Choose Target System dialog box: Highlight the previously selected EtherCAT master and confirm with OK.

ð The EtherCAT master is saved as the target system.

14. In order to be able to configure the EtherCAT system online, you must activate Configmode for the TwinCAT XAE software. Select the menu TWINCAT > Set/Reset TwinCAT to Config Mode.

ð The Restart TwinCAT System in Config Mode dialog box opens.

15. Confirm with OK.

ð The EtherCAT master is saved as the target system, TwinCAT XAE is in Config mode.


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6.4.2 Scanning the hardware environmentIf all system components are connected to the EtherCAT network and the network is energized,it is possible to scan for connected devices automatically. In this scenario, TwinCAT XAEsearches for connected devices and terminals and integrates them into the existing project inaccordance with their configuration entries in the accompanying ESI files.

If the actual EtherCAT infrastructure is not available, i.e. you are configuring in offline mode, youmust map and project all connected devices manually in TwinCAT XAE. You can get moredetailed information on this in the online help tool of the TwinCAT XAE software.

ü You have activated Config mode.

1. In the solution explorer, navigate to I/O > Devices > Context menu Scan.

ð TwinCAT XAE scans the EtherCAT system for the EtherCAT master. The ... new I/O devices found dialog box opens.

2. Activate the EtherCAT master in question and confirm with OK.

ð The EtherCAT master is created in the solution explorer under I/O > Devices as adevice (EtherCAT). The Scan for boxes? dialog box opens.


ð TwinCAT XAE scans the EtherCAT system for the EtherCAT slaves.The EtherCAT drives added dialog box opens.

4. Append linked axis to:In order to activate the NC or CNC functionality, confirm with OK.

ð The EtherCAT slaves are created in the solution explorer. The Activate Free Run dialog box opens.

5. In order to shift the system components during configuration into free run mode and therebyenable verification of the signal exchange, confirm with Yes.

ð EtherCAT master and slaves are created in TwinCAT XAE.


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6.4.3 Configuring synchronization using distributed clocksü You have fully configured the associated axis model in DriveControlSuite. As the more

precise of the two sync methods, synchronization using distributed clocks (DC-Sync) is pre-configured in the EtherCAT master and slaves.

1. Navigate to the EtherCAT master in the solution explorer.



3. In the tree view, select Distributed Clocks.

4. Automatic DC Mode Selection: This option must be activated.



7. In the main window, switch to the DC tab and click Advanced Settings.


8. Enable: This option must be activated.

9. DC enabled (multiplier = 1): This list entry must be selected.

10. Sync Unit Cycle (µs):Check the default value for the cycle time of the controller and change it if necessary.

11. Enable SYNC 0: This option must be activated.





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6.4.4 Parameterizing an axis1. In the solution explorer, navigate to Motion > NC-Task 1 SAF > Axes > Axis 1.

2. In the main window, switch to the Settings tab.

3. Unit: Select degrees (°) as the unit.



6. Open the parameter list Maximum Dynamics:If you are using CNC or robotic functions, parameterize the associated limit values forvelocity, acceleration and deceleration.

7. Open the parameter list Limit Switches:Soft Position Limit Minimum Monitoring: If you want to put a limit on position values with alower negative limit, select the list entry True and enter the associated value in MinimumPosition. Soft Position Limit Maximum Monitoring: If you want to put a limit on position values with anupper positive limit, select the list entry True and enter the associated value in MaximumPosition.


9. In the solution explorer, navigate to Enc.


11. Open the parameter list Encoder Evaluation:Scaling Factor Numerator: Specify a value of 0.000343322 (360 ÷ 1048576) – inaccordance with the parameterization of A585[0] = 1048576 inc for the feed rate constant inDriveControlSuite.


13. Repeat steps 2 – 12 for each additional axis.

ð The axes are parameterized.


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6.4.5 Configuring EoE communication1. Navigate to the EtherCAT master in the solution explorer.



3. In the left tree view, select EoE-Support:Virtual Ethernet Switch > Enable: This option must be activated.





7. In the left tree view, navigate to Mailbox > EoE:Virtual Ethernet Port: This option must be activated.IP Port: Activate this option. IP Address: Activate this option and configure the IP address according to the subnet ofyour EoE network.




Information


6.4.6 Transmitting a project configurationTransfer the project configuration to the EtherCAT master.

1. Select the menu TWINCAT > Activate Configuration.

2. Confirm the transfer of the project configuration to the EtherCAT master with OK.

ð The Restart TwinCAT System in Run Mode dialog box opens.

3. Confirm with OK.

ð The project configuration has been transferred to the EtherCAT master.

7 | Monitoring and diagnostics STOBER

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7 Monitoring and diagnosticsFor monitoring purposes and in the event of a fault, the various monitoring and diagnosticoptions described below are available.

7.1 Connection monitoringIn order to be able to detect a communication failure, activate the watchdog function. Thismeans that you monitor the arrival of cyclical process data by defining a PDO timeout in A258EtherCAT PDO-Timeout (see the chapter Parameterizing general EtherCAT settings [} 21]).

In the Operational operating state, an activated watchdog triggers fault 52: Communication withcause 6: EtherCAT PDO off if a new PDO is not received within the specified timeout.

Monitoring is not triggered if the EtherCAT master regularly ends communication by leaving theoperational state.

STOBER 7 | Monitoring and diagnostics07

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7.2 LED displaySTOBER drive controllers feature diagnostic LEDs that visualize the state of fieldbuscommunication and the states of the physical connection.

7.2.1 EtherCAT stateThere are 2 LEDs on the front of the drive controller that provide information about theconnection between EtherCAT master and slave and about the state of the data exchange. Thisinformation can also be read out in parameter A255 EtherCAT device state.

21 Err

Run

FSoE

Fig. 6: LEDs for the EtherCAT state

1 Red: Error

2 Green: Run

Red LED Behavior Error Description

Off No Error No error

Flashing InvalidConfiguration

Invalid configuration

1x flashing Unsolicited StateChange

The EtherCAT slave changedoperating states by itself

2x flashing ApplicationWatchdog Timeout

The EtherCAT slave did notreceive new PDO data during theconfigured watchdog timeout

Tab. 2: Meaning of the red LED (error)


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Green LED Behavior Operating state Description

Off Init No communication between theEtherCAT master and slave; theconfiguration starts, saved valuesare loaded

Flashing Pre-operational No PDO communication; theEtherCAT master and slaveexchange application-specificparameters via SDOs

1x flashing Safe-operational The EtherCAT slave sends thecurrent actual values to theEtherCAT master, ignores itstarget values and refers to internaldefault values

On Operational Normal operation: The EtherCATmaster and slave exchange targetand actual values

Tab. 3: Meaning of the green LED (run)


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7.2.2 EtherCAT network connectionThe LEDs LA ECIN and LA ECOUT at X200 and X201 on the top of the device indicate the stateof the EtherCAT network connection.

LA

LA

2

4

3

1

INEC

X200:

OUT

EC

X201:

Fig. 7: LEDs for the state of the EtherCAT network connection

1 Green: LA ECOUT at X201

2 Yellow: No function

3 Green: LA ECIN at X200

4 Yellow: No function

Green LED Behavior Description

Off No network connection

Flashing Active data exchange with other EtherCAT nodes

On Network connection exists

Tab. 4: Meaning of the green LEDs (LA)


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7.3 ParametersThe following diagnostic parameters are available for EtherCAT communication in combinationwith SI6 drive controllers.

7.3.1 A255 EtherCAT Device State | G6 | 2Operating state of the EtherCAT slave according to the EtherCAT state machine (ESM).

§ 0: invalid

§ 1: Init State No communication between EtherCAT master and slave; the configuration starts, savedvalues are loaded

§ 2: Pre-Operational State No PDO communication; the EtherCAT master and slave exchange application-specificparameters via SDOs

§ 4: Requested Bootstrap State EtherCAT slave sends current actual values to the EtherCAT master, ignores its targetvalues and refers to internal default values

§ 8: Operational State Normal operation: The EtherCAT master and slave exchange target and actual values

§ 17: Error - Init State – 21: Error - Operational State (Details: A257)

7.3.2 A256 EtherCAT Address | G6 | 1Address of the drive controller in the EtherCAT network. The EtherCAT master specifies theaddress.

7.3.3 A257 EtherCAT Diagnosis | G6 | 1Diagnostic information about the EtherCAT operating state and the state of the EtherCATnetwork connection.

§ [0]: EtherCAT operating state (format: StX ErX L0X L1X) *

§ [1]: EtherCAT network connection – error counter (format: L0 xx L1 xx) **

§ [2]: Data error – error counter (format: R0 xxxx R1 xxxx) ***

* EtherCAT operating state (format: StX ErX L0X L1X)

§ St1 = Init

§ St2 = Pre-Operational

§ St4 = Safe-Operational

§ St8 = Operational

§ Er0 = No ErrorNo error

§ Er1 = Booting ErrorEC6 error


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§ Er2 = Invalid ConfigurationChange from St1 to St2: configuration of the SDO channel does not agree with thespecification; change from St2 to St4: data length of the PDO channel does not agree withthe specification

§ Er3 = Unsolicited State ChangeDrive controller changes state without a request from the master

§ Er4 = WatchdogTimeout defined in A258 exceeded without data transmission

§ Er6 = Master SyncMaster synchronization does not match the master specification

§ Er7 = Invalid Configuration TxPDOData length of the transmit PDO channel does not match the specification

§ Er8 = Invalid Configuration RxPDOData length of the receive PDO channel does not match the specification

§ Er9 = Invalid Configuration TxSDOData length of the transmit SDO channel does not match the specification

§ Er10 = Invalid Configuration of RxSDOData length of the receive SDO channel does not match the specification

§ L00 = No LinkNo connection to another EtherCAT device via X200 (IN port)

§ L01 = Link DetectedConnection to another EtherCAT device via X200 (IN port)

§ L10 = No LinkNo connection to another EtherCAT device via X201 (OUT port)

§ L11 = Link DetectedConnection to another EtherCAT device via X201 (OUT port)

** EtherCAT network connection – error counter (format: L0 xx L1 xx)

§ L0 xx = Link Lost CounterNumber of connection failures (hexadecimal) at X200 (IN port)

§ L1 xx = Link Lost CounterNumber of connection failures (hexadecimal) at X201 (OUT port)

*** Data error – error counter (format: R0 xxxx R1 xxxx)

§ R0 xx = Rx Error CounterNumber of data errors (hexadecimal) at X200 (IN port)

§ R1 xx = Link Lost CounterNumber of data fields (hexadecimal) at X201 (OUT port)


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7.3.4 A259 EtherCAT SM-Watchdog | G6 | 1State of the EtherCAT SyncManager watchdog (prerequisite: A258 = 65534).

§ [0]: Resulting timeout time (in ms)

§ [1]: State0 = not triggered; 1 = triggered = Event 52: Communication cause 6: EtherCAT PDO-Timeout

§ [2]: Number of times triggered

7.3.5 A261 Sync-Diagnostics | G6 | 1Diagnostics of EtherCAT synchronization.

§ [0]: Error code

• 0 = No error

• 1 = SyncManager 2 and SyncManager 3 have different cycle times

•

EtherCAT – SI6 Manual · 2017. 8. 29. · In TwinCAT 2, you operate your EtherCAT system using...

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