Fieldbus Interface XFE24A EtherCAT® MOVIAXIS® / Manuals – … · 2014. 8. 2. · 6 Manual –...

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Manual

MOVIAXIS® Multi-Axis Servo InverterXFE24A EtherCAT® Fieldbus Interface

Edition 04/2013 20078544 / EN

SEW-EURODRIVE—Driving the world

Manual – MOVIAXIS® Fieldbus Interface XFE24A EtherCAT® 3

Contents

Contents1 General information ............................................................................................ 6

1.1 How to use this documentation................................................................... 61.2 Structure of the safety notes ....................................................................... 6

1.2.1 Meaning of signal words .............................................................. 61.2.2 Structure of the section safety notes ........................................... 61.2.3 Structure of the embedded safety notes...................................... 6

1.3 Rights to claim under warranty ................................................................... 71.4 Exclusion of liability..................................................................................... 71.5 Copyright..................................................................................................... 71.6 Other applicable documentation ................................................................. 71.7 Product names and trademarks.................................................................. 7

2 Safety Notes ........................................................................................................ 82.1 Preliminary information ............................................................................... 82.2 General information .................................................................................... 82.3 Target group ............................................................................................... 82.4 Transportation and storage......................................................................... 82.5 Installation/assembly................................................................................... 92.6 Electrical connection ................................................................................... 92.7 Startup/operation ........................................................................................ 9

3 Introduction ....................................................................................................... 103.1 General information .................................................................................. 10

3.1.1 Content of this manual............................................................... 103.1.2 Additional documentation .......................................................... 10

3.2 Characteristics .......................................................................................... 103.2.1 MOVIAXIS® and EtherCAT® ..................................................... 103.2.2 Access to all information............................................................ 103.2.3 Cyclic data exchange via EtherCAT® ........................................ 103.2.4 Acyclic data exchange via EtherCAT® ...................................... 113.2.5 Configuration of the EtherCAT® communication option ............ 113.2.6 Monitoring functions................................................................... 113.2.7 Diagnostics ................................................................................ 113.2.8 PDO Editor................................................................................. 11

4 Assembly and Installation Notes..................................................................... 124.1 Requirements............................................................................................ 124.2 Pin assignment ......................................................................................... 13

4.2.1 XFE24A EtherCAT® connection ................................................ 134.3 Shielding and routing bus cables .............................................................. 134.4 Bus termination ......................................................................................... 144.5 Setting the station address ....................................................................... 144.6 Operating displays of the XFE24A option ................................................. 14

4.6.1 LED RUN (green/orange) .......................................................... 154.6.2 LED ERR (red)........................................................................... 154.6.3 LED Link/Activity (green) ........................................................... 16

4 Manual – MOVIAXIS® Fieldbus Interface XFE24A EtherCAT®

Contents

5 Project Planning and Startup........................................................................... 175.1 Validity of the XML file for the XFE24A communication option................. 175.2 Project planning of the EtherCAT® master for MOVIAXIS® with XML file 17

5.2.1 XML file for operation with MOVIAXIS®..................................... 175.2.2 Project planning procedure........................................................ 175.2.3 PDO configuration for operation with MOVIAXIS® .................... 17

5.3 Settings on MOVIAXIS® using the single axis positioning ........................ 205.3.1 Settings with software assistant................................................. 205.3.2 Manual settings.......................................................................... 22

6 Operating Behavior on EtherCAT®.................................................................. 246.1 Control of the MOVIAXIS® multi-axis servo inverter ................................. 24

6.1.1 Control example in TwinCAT with MOVIAXIS® ......................... 256.1.2 EtherCAT® Timeout-Überwachung (MOVIAXIS®)..................... 276.1.3 Reaktion Feldbus-Timeout ........................................................ 28

6.2 Parameterization via EtherCAT® .............................................................. 296.2.1 SDO services READ and WRITE .............................................. 296.2.2 Reading a parameter in TwinCAT via EtherCAT®..................... 306.2.3 Writing a parameter in TwinCAT via EtherCAT® ....................... 31

6.3 Parameterization return codes.................................................................. 336.3.1 Elements.................................................................................... 336.3.2 Error class.................................................................................. 336.3.3 Error code.................................................................................. 336.3.4 Additional code .......................................................................... 336.3.5 List of implemented error codes for SDO services .................... 34

7 Operating MOVITOOLS® MotionStudio via EtherCAT®................................. 357.1 About MOVITOOLS® MotionStudio .......................................................... 35

7.1.1 Tasks ......................................................................................... 357.1.2 Functional principle.................................................................... 35

7.2 First steps ................................................................................................. 377.2.1 Starting the software and creating a project .............................. 377.2.2 Establishing communication and scanning the network ............ 377.2.3 Configuring units........................................................................ 38

7.3 Connection Mode...................................................................................... 397.3.1 Overview.................................................................................... 397.3.2 Selecting the communication mode (online or offline) ............... 40

7.4 Communication via EtherCAT®................................................................. 417.4.1 Overview.................................................................................... 417.4.2 Configuration of the mailbox gateway in the EtherCAT® master447.4.3 Configuring the network at the engineering PC......................... 457.4.4 Checking the network settings................................................... 467.4.5 Communication settings in MOVITOOLS® MotionStudio .......... 47

7.5 Executing functions with the units............................................................. 497.5.1 Parameterizing units .................................................................. 497.5.2 Reading or changing unit parameters........................................ 497.5.3 Starting up units (online)............................................................ 50


Contents

8 Motion Control via EtherCAT® ......................................................................... 518.1 EtherCAT® introduction............................................................................. 51

8.1.1 Clock synchronism..................................................................... 528.1.2 Speed setpoint interface (velocity mode)................................... 538.1.3 Settings for Velocity mode (speed interface) ............................. 548.1.4 Position setpoint interface (position mode)................................ 588.1.5 Position mode settings............................................................... 59

8.2 EtherCAT® master settings....................................................................... 628.2.1 Velocity mode settings............................................................... 628.2.2 Position mode settings............................................................... 62

8.3 Example TwinCAT .................................................................................... 628.3.1 Parameterizing clock synchronous operation ............................ 628.3.2 NC axis parameterization .......................................................... 648.3.3 Encoder parameterization.......................................................... 658.3.4 Velocity mode ............................................................................ 65

9 Error Diagnostics .............................................................................................. 679.1 Diagnostic procedures .............................................................................. 679.2 List of errors .............................................................................................. 699.3 Disposal .................................................................................................... 69

10 Technical Data................................................................................................... 7010.1 XFE24A option for MOVIAXIS® ................................................................ 70

Index................................................................................................................... 71


1 How to use this documentationGeneral information

1 General information1.1 How to use this documentation

The documentation is an integral part of the product and contains important informationon operation and service. The documentation is written for all employees who assemble,install, start up, and service this product.

The documentation must be accessible and legible. Make sure that persons responsiblefor the system and its operation, as well as persons who work independently on the unit,have read through the documentation carefully and understood it. If you are unclearabout any of the information in this documentation, or if you require further information,contact SEW-EURODRIVE.

1.2 Structure of the safety notes1.2.1 Meaning of signal words

The following table shows the grading and meaning of the signal words for safety notes,warnings regarding potential risks of damage to property, and other notes.

1.2.2 Structure of the section safety notesSection safety notes do not apply to a specific action but to several actions pertaining toone subject. The symbols used either indicate a general hazard or a specific hazard.

This is the formal structure of a section safety note:

1.2.3 Structure of the embedded safety notesEmbedded safety notes are directly integrated in the instructions just before the descrip-tion of the dangerous action.

This is the formal structure of an embedded safety note:

• SIGNAL WORD Type and source of danger.

Possible consequence(s) if disregarded.

– Measure(s) to prevent the danger.

Signal word Meaning Consequences if disregardedDANGER Imminent danger Severe or fatal injuries

WARNING Possible dangerous situation Severe or fatal injuries

CAUTION Possible dangerous situation Minor injuries

NOTICE Possible damage to property Damage to the drive system or its envi-ronment

INFORMATION Useful information or tip: Simpli-fies the handling of the drive system.

SIGNAL WORDType and source of danger.

Possible consequence(s) if disregarded.• Measure(s) to prevent the danger.


1Rights to claim under warrantyGeneral information

1.3 Rights to claim under warrantyA requirement of fault-free operation and fulfillment of any rights to claim under limitedwarranty is that you adhere to the information in the documentation. Therefore, read themanual before you start operating the device.

Make sure that the manual is available to persons responsible for the plant and its op-eration, as well as to persons who work independently on the device. You must also en-sure that the documentation is legible.

1.4 Exclusion of liabilityYou must observe this documentation and the documentation of the connected devicesfrom SEW-EURODRIVE to ensure safe operation and to achieve the specified productcharacteristics and performance requirements. SEW-EURODRIVE assumes no liabilityfor injury to persons or damage to equipment or property resulting from non-adherenceto these operating instructions. In such cases, any liability for defects is excluded.

1.5 Copyright© 2013 – SEW-EURODRIVE. All rights reserved.

Unauthorized duplication, modification, distribution or any other use of the whole or anypart of this documentation is strictly prohibited.

1.6 Other applicable documentationThe following publications and documents apply to the connected units:

• "MOVIAXIS® Multi-Axis Servo Inverter" operating instructions

• "MOVIAXIS® Multi-Axis Servo Inverter" project planning manual

• For units with functional safety, also observe the corresponding manual "FunctionalSafety" or "Safe Disconnection – Conditions".

• Installation and startup only by qualified electricians observing the relevant accidentprevention regulations and the operating instructions of the connected units.

1.7 Product names and trademarksAll product names in this documentation are trademarks or registered trademarks oftheir respective titleholders.

EtherCAT® is a registered trademark and patented technology, licensed by BeckhoffAutomation GmbH, Germany.


2 Preliminary informationSafety Notes

2 Safety NotesThe following basic safety notes must be read carefully to prevent injury to persons anddamage to property. The operator must ensure that the basic safety notes are read andadhered to. Make sure that persons responsible for the plant and its operation, as wellas persons who work independently on the unit, have read through the operating instruc-tions carefully and understood them. If you are unclear about any of the information inthis documentation or if you require further information, please contact SEW-EURODRIVE.

2.1 Preliminary informationThe following safety notes are primarily concerned with the use of MOVIAXIS® units. Ifyou use other SEW components, also refer to the safety notes for the respective com-ponents in the corresponding documentation.

Please also observe the supplementary safety notes in the individual chapters of thisdocumentation.

2.2 General informationNever install damaged products or put them into operation. Submit a complaint to theshipping company immediately in the event of damage.

During operation, multi-axis servo inverters can have live, bare and movable or rotatingparts as well as hot surfaces, depending on their enclosure.

Removing covers without authorization, improper use as well as incorrect installation oroperation may result in severe injuries to persons or damage to property.

Refer to this documentation for more information.

2.3 Target groupOnly qualified electricians are authorized to install, startup or service the units or cor-rect unit faults (observing IEC 60364 or CENELEC HD 384 or DIN VDE 0100 andIEC 60664 or DIN VDE 0110 as well as national accident prevention guidelines).

Qualified personnel in the context of these basic safety notes are: All persons familiarwith installation, assembly, startup and operation of the product who possess the nec-essary qualifications.

Any activities regarding transportation, storage, operation, and disposal must be carriedout by persons who have been instructed appropriately.

2.4 Transportation and storageObserve the notes on transportation, storage and proper handling.

INFORMATIONThis communication system allows you to adapt the MOVIAXIS® multi-axis servo in-verter to your application. As with all bus systems, there is a danger of invisible,external (as far as the servo drive is concerned) modifications to the parameterswhich give rise to changes in the unit behavior. This may result in unexpected(not uncontrolled) system behavior.


2Installation/assemblySafety Notes

2.5 Installation/assemblyAdhere to the instructions in section 4, "Mechanical Installation".

2.6 Electrical connectionObserve the applicable national accident prevention guidelines when working on livemulti-axis servo inverters (for example, BGV A3).

Perform electrical installation according to the pertinent regulations, e.g. cable crosssections, fusing, protective conductor connection. For any additional information, referto the applicable documentation.

You will find notes on EMC-compliant installation, such as shielding, grounding, ar-rangement of filters and routing of lines, in the documentation of the multi-axis servo in-verter. Always observe these notes even with multi-axis servo inverters bearing the CEmarking. The manufacturer of the system or machine is responsible for maintaining thelimits established by EMC legislation.

Protective measures and protection devices must comply with the regulations in force,e.g. EN 60204 or EN 61800-5-1.

Required preventive measure: Grounding the unit.

Cables may only be connected and switches may only be operated in a de-energizedstate.

2.7 Startup/operationYou are allowed to perform installation and startup of the EtherCAT® XFE24A fieldbusinterface only when observing applicable accident prevention regulations and theMOVIAXIS® Multi-Axis Servo Inverter operating instructions!

Adhere to the instructions in section 5, EtherCAT® Configuration and Startup.


3 General informationIntroduction

3 Introduction3.1 General information3.1.1 Content of this manual

This user manual illustrates:

• MOVIAXIS® startup on EtherCAT® fieldbus system.

• The configuration of the EtherCAT® masters via XML files.

• The operation of MOVITOOLS® MotionStudio via EtherCAT®.

3.1.2 Additional documentationFor information on how to connect MOVIAXIS® simply and effectively to the EtherCAT®

fieldbus system, you should request the following documentation on fieldbus technologyin addition to this user manual for the FSE24B EtherCAT® option:

• "MOVIAXIS® Multi-Axis Servo Inverter" operating instructions

• "MOVIAXIS® Multi-Axis Servo Inverter" project planning manual

The MOVIAXIS® Multi-Axis Servo Inverter project planning manual contains a list of allparameters of the servo inverter that can be read or written via the various communica-tion interfaces, such as system bus and also via the fieldbus interface.

3.2 CharacteristicsThe MOVIAXIS® multi-axis servo inverter enables you to use the XFE24A option to con-nect to higher-level automation systems via EtherCAT ® thanks to its powerful, universalfieldbus interface.

3.2.1 MOVIAXIS® and EtherCAT®

The unit behavior of the servo inverter which forms the basis of EtherCAT® operation isreferred to as the unit profile. It is independent of any particular fieldbus and is thereforea uniform feature. This feature allows the user to develop fieldbus-independent drive ap-plications. This makes it much easier to change to other bus systems, such as Profibus(option XFP11A).

3.2.2 Access to all informationMOVIAXIS® offers digital access to all drive parameters and functions via theEtherCAT® communication interface. The servo drive is controlled via fast, cyclic pro-cess data. Via this process data channel, you can enter setpoints such as the setpointspeed, ramp generator time for acceleration / deceleration, etc. as well as trigger variousdrive functions such as enable, control inhibit, normal stop, rapid stop, etc. At the sametime you can also use this channel to read back actual values from the servo inverter,such as actual speed, current, unit status, error number or reference signals.

3.2.3 Cyclic data exchange via EtherCAT®

Process data is usually exchanged cyclically between EtherCAT® master and theMOVIAXIS® multi-axis servo inverter. The cycle time is specified during the configura-tion of the EtherCAT® master.


3CharacteristicsIntroduction

3.2.4 Acyclic data exchange via EtherCAT®

Acyclic READ/WRITE services are introduced in line with the EtherCAT® specification.They are transmitted during normal cyclical operation along with the messages withoutaffecting the performance of the process data communication via EtherCAT®.

Read and write access to the drive parameters is made possible via SDO (Service DataObjects), which are implemented according to CoE (CAN application protocol overEtherCAT®) or VoE services (Vendor-specific over EtherCAT®).

This parameter data exchange enables you to implement applications in which all theimportant drive parameters are stored in the master programmable controller, so thatthere is no need to make parameter settings manually on the servo drive itself.

3.2.5 Configuration of the EtherCAT® communication optionThe EtherCAT® communication option is designed so that all fieldbus-specific settingsare made during startup of the EtherCAT® system. This means the servo inverter canbe integrated into the EtherCAT® environment and switched on quickly.

3.2.6 Monitoring functionsUsing a fieldbus system requires additional monitoring functions for the drive technol-ogy, for example, time monitoring of the fieldbus (fieldbus timeout) or rapid stop con-cepts. You can, for example, adapt the monitoring functions of MOVIAXIS® specificallyto your application. You can determine, for instance, which of the servo inverter's errorresponses should be triggered in the event of a bus error. For many applications, a rapidstop would be the preferred response, but you can also set other error responses. Asthe range of functions for the control terminals is also guaranteed in fieldbus mode, youcan continue to implement rapid stop concepts using the terminals of the servo drive,irrespective of the fieldbus used.

3.2.7 DiagnosticsThe MOVIAXIS® multi-axis servo inverter offers numerous diagnostic options for startupand service. For example, you can use the integrated fieldbus monitor to control bothsetpoint values sent from the higher-level controller as well as the actual values.

3.2.8 PDO EditorFurthermore, you are supplied with a variety of additional information about the statusof entire process data flow. The PDO Editor in conjunction with the MOVITOOLS® Mo-tionStudio PC software offers you an easy-to-use diagnostic tool for setting all drive pa-rameters (including the fieldbus parameters) and for displaying the fieldbus and unit sta-tus information in detail.


4 RequirementsAssembly and Installation Notes

4 Assembly and Installation Notes4.1 Requirements

For operation on EtherCAT® bus systems, only MOVIAXIS® units that fulfill the followingcriteria may be used:

• The designation "XFE24A" is on the nameplate,

• The component XFE24A has already been installed at the factory. For informationon the option card slots, refer to the "MOVIAXIS® Multi-Axis Servo Inverter" operat-ing instructions.

6827866763

INFORMATIONFor the installation of the EtherCAT® bus, you can use commercially available cablesthat are intended for EtherCAT® bus systems.

The EtherCAT® cables are not included in the scope of delivery of SEW-EURODRIVE.


4Pin assignmentAssembly and Installation Notes

4.2 Pin assignmentUse prefabricated, shielded RJ45 plug connectors compliant with IEC 11801, edition2.0, category 5.

4.2.1 XFE24A EtherCAT® connectionThe XFE24A option is equipped with a linear bus structure with two RJ45 connectors.The EtherCAT® master is connected (if necessary, via additional EtherCAT® slaves) toX30IN (RJ45) with a shielded, twisted-pair cable. Additional EtherCAT® units are thenconnected via X31OUT (RJ45).

4.3 Shielding and routing bus cablesOnly use shielded cables and connection elements that also meet the requirements ofcategory 5, class D according to IEC 11801, edition 2.0.

Correct shielding of the bus cable attenuates electrical interference that can occur in in-dustrial environments. The following measures ensure the best possible shielding:

• Manually tighten the mounting screws on the connectors, modules, and equipotentialbonding conductors.

• Use only connectors with a metal housing or a metalized housing.

• Connect the shielding in the connector over a wide surface area.

• Apply the shielding of the bus cables on both ends.

• Route signal and bus cables in separate cable ducts. Do not route them parallel topower cables (motor leads).

• Use metallic, grounded cable racks in industrial environments.

• Route the signal cable and the corresponding equipotential bonding, if necessary,close to each other using the shortest possible route.

• Avoid using plug connectors to extend bus cables.

6828323851

A = Front viewB = View from back[1] Pin 1 TX+ Transmit Plus[2] Pin 2 TX– Transmit Minus[3] Pin 3 RX+ Receive Plus[6] Pin 6 RX– Receive Minus

[3] [2] [1]23

6

1

[6]

A B

INFORMATIONAccording to IEC 802.3, the maximum cable length for 100 MBaud Ethernet is 100 m(100BaseT), e.g. between 2 XFE24A interfaces.


4 Bus terminationAssembly and Installation Notes

• Route the bus cables closely along existing grounding surfaces.

4.4 Bus terminationBus termination (e.g. with bus terminating resistors) is not necessary. If no follow-up unitis connected to an EtherCAT® device, this is automatically detected.

4.5 Setting the station addressEtherCAT® devices from SEW-EURODRIVE do not have an address that can be set onthe unit. The units are detected by their position in the bus structure and are assignedan address by the EtherCAT® master. This can be displayed in MOVITOOLS® Motion-Studio or via Index 8454.0.

4.6 Operating displays of the XFE24A option

INFORMATIONIn case of fluctuations in the ground potential, a compensating current may flow via thebilaterally connected shield that is also connected to the protective earth (PE). Makesure you supply adequate equipotential bonding in accordance with relevant VDE reg-ulations in such a case.

[1] Switch F1 (no function)[2] LED RUN; color: green/orange[3] LED ERR; color: red[4] LED Link IN; color: green[5] LED Link OUT; color: green

6830104715

[1]

[2][3][4][5]


4Operating displays of the XFE24A optionAssembly and Installation Notes

4.6.1 LED RUN (green/orange)

The LED RUN (green/orange) indicates the status of the XFE24A option.

4.6.2 LED ERR (red)The LED ERR (red) indicates an EtherCAT® error.

Condition State Description

Off INIT The XFE24A option is in the INIT state.

Flashing green PRE-OPERATIONAL Mailbox communication is possible but no process data communication

Flashing once (green)

SAFE-OPERATIONAL Mailbox and process data communication is possible. The slave outputs are not output yet.

Green OPERATIONAL Mailbox and process data communication is possible.

Flickering green INITIALISATION or BOOT-STRAP

The XFE24 option is starting up and has not yet reached the INIT state.The XFE24A option is in the BOOTSTRAP state. The firmware is being down-loaded.

Flashing orange NOT CONNECTED The XFE24A option was not yet addressed by an EtherCAT® master after switch-ing it on.

Condition Error Description

Off No error The EtherCAT® communication of the XFE24A option is in operating state.

Flickering Boot error A boot error was detected. The state INIT was achieved, but the "Change" parameter in the AL status register has been set to "0x01:change/error".

Flashing Invalid configuration General configuration error.

Flashing once Unprompted state change The slave application has changed the EtherCAT® state automatically. The "Change" parameter in the AL state register is set to "0x01:change/error".

Flashing twice Timeout of the application watchdog

A watchdog timeout has occurred in the application.

Flashing three times

Reserved -

Flashing four times

Reserved -

On PDI watchdog timeout A PDI watchdog timeout occurred.


4 Operating displays of the XFE24A optionAssembly and Installation Notes

Definition of the display statuses

4.6.3 LED Link/Activity (green)Each EtherCAT® port for incoming EtherCAT® cables (X30 IN) and outgoing EtherCAT®

cables (X31 OUT) has a "Link/Activity" LED. It indicates whether the EtherCAT® con-nection to the preceding or following unit is available and active.

Display Definition Timeline

On Display is switched on permanently.

Off Display is switched off permanently.

Flickering The display switches between on and off with a frequency of 10 Hz.

3013055499

Flickering once The display flickers once very shortly, followed by an off phase.

3013416843

Flashing Display switches on and off at a fre-quency of 2.5 Hz (200 ms on, 200 ms off).

3013456907

Flashing once The display flashes once shortly (200 ms), followed by a longer off phase (1,000 ms).

3013459851

Flashing twice The display flashes twice in quick suc-cession, followed by an off phase.

3013463435

Flashing three times

The display flashes three times in quick succession, followed by an off phase.

3013466379

Flashing four times

The display flashes four times in quick succession, followed by an off phase.

3014762123

on

off

50ms

50ms

50mson

off

on

off

200ms 200ms

200ms 1s

on

off

200ms 1s

on

off

200ms 200ms

200ms

on

off

200ms 200ms 1s200ms 200ms

200ms

on

off

200ms 200ms 1s200ms 200ms 200ms 200ms

6783085451

INX

30

OU

TX

31

OU

TX

31

LED"Link/Activity"


5Validity of the XML file for the XFE24A communication optionProject Planning and Startup

5 Project Planning and StartupThis chapter contains information about the configuration of the EtherCAT® master andstartup of the servo inverter for fieldbus operation.

5.1 Validity of the XML file for the XFE24A communication optionThe XML file is necessary for using XFE24A as a fieldbus option in MOVIAXIS®.

5.2 Project planning of the EtherCAT® master for MOVIAXIS® with XML file5.2.1 XML file for operation with MOVIAXIS®

For the configuration of the EtherCAT® master, you can use a special XML file(SEW_XFE24A.XML). Copy this file into a designated directory of your configurationsoftware.

Refer to the manuals of the respective configuration software for details on the proce-dure.

The XML files standardized by the EtherCAT® Technology Group (ETG) can be read byall EtherCAT® masters.

5.2.2 Project planning procedureProceed as follows to configure MOVIAXIS® with EtherCAT® fieldbus interface:

1. Install (copy) the XML file according to the requirements of your project planning soft-ware. Once the file has been installed correctly, the unit appears next to the slavestations (under SEW-EURODRIVE → Drives) with the designation MOVI-AXIS+XFE24A.

2. Use the menu item [Insert] to add the unit to the EtherCAT® structure. The addressis assigned automatically. For easier identification, you can give the unit a name.

3. Select the process data configuration required for your application (see chapterPDOconfiguration for operation in the MOVIAXIS®).

4. Link the I/O or periphery data with the input and output data of the application pro-gram.

After configuration, you can start the EtherCAT® communication. The RUN and ERRLEDs indicate the communication status of the XFE24A option (see chapter "Operatingdisplays of the XFE24A option and chapter "Error Diagnostics").

5.2.3 PDO configuration for operation with MOVIAXIS®

In the CoE (CAN application protocol over EtherCAT®) variant, EtherCAT® uses the pro-cess data objects (PDO) defined in the CANopen standard for cyclic communication be-

INFORMATIONThe latest versions of the XML files for XFE24A are available on the SEW website(www.sew-eurodrive.com) under the heading "Software".

INFORMATIONDo not edit or amend the entries in the XML file. SEW assumes no liability for servoinverter malfunctions caused by a modified XML file!


5 Project planning of the EtherCAT® master for MOVIAXIS® with XML fileProject Planning and Startup

tween master and slave. In line with CANopen, a difference is made between Rx (re-ceive) and Tx (transmit) process data objects.

Rx process data objects

Rx process data objects (Rx-PDO) are received by the EtherCAT® slave. They transportprocess output data (control values, setpoints, digital output signals) from theEtherCAT® master to the EtherCAT® slave.

Tx process data objects

Tx process data objects (TX-PDO) are returned from the EtherCAT® slave to theEtherCAT® master. They transfer process input data (actual values, statuses, digitalinput information, etc.).

For communication with MOVIAXIS® via XFE24A, there is a PDO type available for cy-clical process input and output data.

• OutputData1 (standard 16 PO)

Static PDO with 16 cyclical process output data words which are permanently linkedwith the standard process data of the MOVIAXIS® (see "MOVIAXIS® Multi-AxisServo Inverter" project planning manual).

• InputData1 (standard 16 PI)

Static PDO with 16 cyclical process output data words which are permanently linkedwith the standard process data of the MOVIAXIS® (see "MOVIAXIS® Multi-AxisServo Inverter" project planning manual).

List of the possible process data objects (PDO) for XFE24A MOVIAXIS®

Static PDO for 16 cyclic process data words

The process output data transported with OutputData1 are assigned according to thefollowing table. The process output data PO1 – PO16 can be linked to different processdata (control words, setpoints) via the PDO Editor in theMOVIAXIS® multi-axis servo in-verter (see MOVIAXIS® Multi-Axis Servo Inverter project planning manual).

Index Size Name Mapping Sync Manager Sync Unit

1600hex (5632dec)

32 bytes OutputData1 (standard 16 PO) Fixed con-tent

2 0

1A00hex (6656dec)

32 bytes InputData1 (standard 16 PI) Fixed con-tent

3 0

6905413515

PO 1 PO 2 PO 3 PO 4 PO 5 PO12 PO13 PO14 PO15 PO 16

acycl. Mailbox

Communication

cycl. OutputData1

(Standard 16 PO)

...


5Project planning of the EtherCAT® master for MOVIAXIS® with XML fileProject Planning and Startup

Assignment of the preconfigured process output data for PDO OutputData1

Index.Subindex Offset in the PDO Name Data type Size in bytes

3DB8.0hex (15800.0dec) 0.0 PO1 UINT

2

3DB9.0hex (15801.0dec) 2.0 PO2 UINT

3DBA.0hex (15802.0dec) 4.0 PO3 UINT

3DBB.0hex (15803.0dec) 6.0 PO4 UINT

3DBC.0hex (15804.0dec) 8.0 PO5 UINT

3DBD.0hex (15805.0dec) 10.0 PO6 UINT

3DBE.0hex (15806.0dec) 12.0 PO7 UINT

3DBF.0hex (15807.0dec) 14.0 PO8 UINT

3DC0.0hex (15808.0dec) 16.0 PO9 UINT

3DC1.0hex (15809.0dec) 18.0 PO10 UINT

3DC2.0hex (15810.0dec) 20.0 PO11 UINT

3DC3.0hex (15811.0dec) 22.0 PO12 UINT

3DC4.0hex (15812.0dec) 24.0 PO13 UINT

3DC5.0hex (15813.0dec) 26.0 PO14 UINT

3DC6.0hex (15814.0dec) 28.0 PO15 UINT

3DC7.0hex (15815.0dec) 30.0 PO16 UINT


5 Settings on MOVIAXIS® using the single axis positioningProject Planning and Startup

Assignment of the preconfigured process input data for PDO OutputData 1

The process input data transferred with InputData1 are permanently assigned accordingto the following table. The process input data PI1 – PI16 can be linked to different pro-cess data (status words, actual values) via the PDO Editor in theMOVIAXIS® multi-axisservo inverter (see MOVIAXIS® Multi-Axis Servo Inverter project planning manual).

5.3 Settings on MOVIAXIS® using the single axis positioning5.3.1 Settings with software assistant

For simple fieldbus operation, the following preparations and settings are required.

• First, perform motor startup. The motor startup procedure is described in detail in the"MOVIAXIS® Multi-Axis Servo Inverter" operating instructions.

6906082699

Index.Subindex Offset in the PDO Name Data type Size in bytes

3E1C.0hex (15900.0dec)

0.0 PI1 UINT

2

3E1D.0hex (15901.0dec)

2.0 PI2 UINT

3E1E.0hex (15902.0dec)

4.0 PI3 UINT

3E1F.0hex (15903.0dec)

6.0 PI4 UINT

3E20.0hex (15904.0dec)

8.0 PI5 UINT

3E21.0hex (15905.0dec)

10.0 PI6 UINT

3E22.0hex (15906.0dec)

12.0 PI7 UINT

3E23.0hex (15907.0dec)

14.0 PI8 UINT

3E24.0hex (15908.0dec)

16.0 PI9 UINT

3E25.0hex (15909.0dec)

18.0 PI10 UINT

3E26.0hex (15910.0dec) 20.0 PI11 UINT

3E27.0hex (15911.0dec) 22.0 PI12 UINT

3E28.0hex (15912.0dec) 24.0 PI13 UINT

3E29.0hex (15913.0dec) 26.0 PI14 UINT

3E2A.0hex (15914.0dec) 28.0 PI15 UINT

3E2B.0hex (15915.0dec) 30.0 PI16 UINT

acycl. MailboxCommunication

cycl. InputData1

(Standard 16 PI)

PI 1 PI 2 PI 3 PI 4 PI 5 PI 12 PI 13 PI 14 PI 15 PI 16...


5Settings on MOVIAXIS® using the single axis positioningProject Planning and Startup

• All communication parameter and the PDO configuration are set using the Single-Axis Positioning Technology Editor (single-axis positioning), see "Single-Axis Posi-tioning Technology Editor" manual.

For positioning operation via the process data interface, we recommend using thegraphical software assistant Single-Axis Positioning for setting all necessary param-eters and configuring the process data, see Single-Axis Positioning Technology Ed-itor manual.

6834008971


5 Settings on MOVIAXIS® using the single axis positioningProject Planning and Startup

5.3.2 Manual settingsManual setting of the communication and PDO configurations:

• Start the PDO Editor.

• For operation with an EtherCAT® bus system, a free IN buffer (e.g. IN buffer 0) mustbe configured for EtherCAT® operation:

– Number of data words: 16 for firmware status 21

0 ... 15 for firmware status 22 and higher

EtherCAT® with MOVIAXIS® always transfers 16 data words.

"Number of data words" determines how many data words are used of the 16 thatare transferred.

– Timeout interval

Here, you can set the monitoring time for the IN buffer. If the process data com-munication exceeds the set time, error message 67 "Error PDO timeout" is is-sued.

Setting range 0 ... 20....100000 ms (0 ms corresponds to deactivated, standard is100 ms).

– Update: OnUpdating the process data.

6833792395


5Settings on MOVIAXIS® using the single axis positioningProject Planning and Startup

INFORMATIONFor safety reasons, you must also enable the MOVIAXIS® servo inverter at the termi-nals for control via the EtherCAT® bus system. To do so, connect input DI00 (Function„Output stage enable) to DC +24 V. The procedure for complete startup of theMOVIAXIS® servo inverter with EtherCAT® link is described in the "MOVIAXIS® Multi-Axis Servo Inverter" operating instructions.


6 Control of the MOVIAXIS® multi-axis servo inverterOperating Behavior on EtherCAT®

6 Operating Behavior on EtherCAT®

This chapter describes the basic behavior of the servo inverter in connection withEtherCAT® with control via process data objects (PDO) for fieldbus communication.

6.1 Control of the MOVIAXIS® multi-axis servo inverterThe MOVIAXIS® multi-axis servo drive is controlled via the permanently configuredPDOs, which are up to 16 I/O words in length. When using an EtherCAT® master, theprocess data words are directly mapped in the process image and can so be addresseddirectly by the control program.

3008266251

SEW

Drive

EtherCAT

EthernetHeader

FrameHeader

EtherCATHeader

Data ...

EtherCAT

Master

SEW

Drive

SEW

Drive

FCS

I/O

Drive 1 Drive 2 Drive 3

INFORMATIONFor more information about controlling via the process data channel, in particular re-garding the configuration of the control and status words, refer to the "MOVIAXIS®

Multi-Axis Servo Inverter" project planning manual.

INFORMATIONFor proper operation of synchronized applications, timing requirements must be metby the master depending on the synchronization mechanism.• Synchronization via Distributed Clock (DC):

The process data telegram must arrive shortly before the DC. Beckhoff recom-mends a maximum time of 10 % (in relation to the DC cycle) before the DC.

• Synchronization via synchronized process data:The MOVIAXIS® servo system can handle a maximum jitter of the EtherCAT® pro-cess data telegram (setpoints of the master, etc.) of ± 40 µs. If this jitter limit is ex-ceeded, a synchronous processing is no longer guaranteed. Please check the syn-chronization quality of your EtherCAT® master if problems occur.


6Control of the MOVIAXIS® multi-axis servo inverterOperating Behavior on EtherCAT®

6.1.1 Control example in TwinCAT with MOVIAXIS®

Once the file SEW_XFE24A.xml has been copied to the TwinCAT subdirectory "\IO\Eth-erCAT", you can use the function "Append box" in the "offline" mode to insert aMOVIAXIS® in the EtherCAT® structure (see following figure).

In "online" mode (i.e. when connected with the EtherCAT® line), you can use the symbol"Find devices" to search the EtherCAT® line for connected MOVIAXIS® units (see fol-lowing figure).

For simple fieldbus functionality, NC axes do not necessarily have to be created for eachdevice that is found.

6813851275

6813854987



Now, you can link up to 16 process data words to the PLC program or write data intothem for manual testing as shown in the following figure.

First, mark the process output data PO1. In the window that appears, choose the tabpage "Online". Click on the "Write" button. The "Set Value Dialog" window opens. Enteryour data in the field "Dec" or "Hex". Handle the PO2 process output data in the sameway.

6813902347


6Control of the MOVIAXIS® multi-axis servo inverterOperating Behavior on EtherCAT®

6.1.2 EtherCAT® Timeout-Überwachung (MOVIAXIS®)

Mit dem Parameter "Kommunikation\Grundeinstellungen\Kommunikations-Option"kann die Überwachungszeit für die EtherCAT®-Optionskarte XFE24A eingestelltwerden. Beim Überschreiten dieser Überwachungszeit während der Prozessdaten-Kommunikation wird eine Fehlermeldung erzeugt, siehe Fehlerreaktion Kapitel 6.1.3.

Parametereinstellung Timeout: 0 ... 100 ... 650000 ms.

HINWEISBis zu einem Firmware-Status 21.5 wird die Einstellung von 1000 ms empfohlen.

6862354571



6.1.3 Reaktion Feldbus-Timeout

Mit der Reaktion "Feldbus-Timeout" wird die Fehlerreaktion parametriert, die über die"Feldbus-Timeout-Überwachung" ausgelöst wird. Die hier parametrierte Einstellungsollte zur Projektierung des Mastersystems passen.

Die Standardeinstellung der Reaktion "Feldbus-Timeout" ist: Notstopp/wartend.

Wertebereich:

• 0 = Keine Reaktion

• 1 = Nur Anzeigen

• 2 = Endstufensperre / verriegelt

• 3 = Stopp an Notstoppgrenze / verriegelt

• 5 = Endstufensperre / wartend

• 6 = Stopp an Notstoppgrenze / wartend

• 8 = Stopp an Applikationsgrenze / wartend

• 9 = Stopp an Applikationsgrenze / verriegelt

• 10 = Stopp an Systemgrenze / wartend

• 11 = Stopp an Systemgrenze / verriegelt

Die Reaktion Feldbus-Timeout stellt die Fehlerreaktion bei Ausfall eines erwartetenProzessdatums im IN-Puffer ein. Bevor die Fehlermeldung kommt, wurde das Prozess-datum aber schon einmal empfangen und ist dann ausgeblieben. Nach einem Resetsteht die Achse im Zustand C3 "warten auf Prozessdaten" (keine Fehler, sondern einZustand).

6871919883


6Parameterization via EtherCAT®Operating Behavior on EtherCAT®

6.2 Parameterization via EtherCAT®

The SDO services READ and WRITE, which are common in CoE (CAN application pro-tocol over EtherCAT®), provide access to the drive parameter in EtherCAT®.

6.2.1 SDO services READ and WRITEThe user interface is displayed differently depending on the EtherCAT® master or con-figuration environment. In each case, however, the following data is required for execut-ing the SDO command.

For the SDO services READ and WRITE, other flags and parameters might be neces-sary:

• For activating the function

• For in-progress message or error message

• For timeout monitoring

• For reporting errors during the execution

INFORMATIONMOVITOOLS® MotionStudio can access all unit functions via VoE services (Vendor-specific over EtherCAT®).

SDO-READ Description

Slave address (16 bit) EtherCAT® address of the servo inverter from which data is to be read.

Index (16 bit)Subindex (8 bit)

Address in the object dictionary from which the data is to be read.

DataData length

Structure for storing the received data and its length.

SDO-WRITE Description

Slave address (16 bit) EtherCAT® address of the servo inverter to which data is to be written.

Index (16 bit)Subindex (8 bit)

Address in the object dictionary to which the data is to be written.

DataData length

Structure in which the data to be written is stored.


6 Parameterization via EtherCAT®Operating Behavior on EtherCAT®

6.2.2 Reading a parameter in TwinCAT via EtherCAT®

The function SDO-READ is available for reading parameters. The index of the parame-ter to be read is necessary. The parameter index is displayed in the parameter tree viatool tip.

For implementation in TwinCAT, the function module FB_EcCoESdoRead is required.This function module is available in the TcEtherCAT.lib library. This function module canbe integrated in two steps.

1. Creating an instance of the function module FB_EcCoESdoRead.

2. The inputs of the function module are assigned as follows:

– sNetID: Net ID of the EtherCAT® master

– nSlaveAddr: EtherCAT® address of the SEW unit from which data is to be read.

– nIndex: Index of the parameter to be read.

– nSubIndex: Subindex of the parameter to be read.

– pDstBuf: Pointer to the data range in which the read parameter is to be stored.

– cbBufLen: Maximum memory size for parameters to be read in byte.

– bExecute: A positive edge starts the read process.

– tTimeout: Timeout interval of the function module.

The output flags bBusy and bError indicate the status of the service. nErrId shows theerror number when the bError flag is set if an error occurs.

The function module is integrated in TwinCAT as follows:

In the above example, the DC link voltage was read off (index 8325, subindex 0). Forexample, the figure 639000 is received, which - according to the fieldbus unit profile -corresponds to a voltage of 639 V.

3018638731


6Parameterization via EtherCAT®Operating Behavior on EtherCAT®

6.2.3 Writing a parameter in TwinCAT via EtherCAT®

The function SDO-WRITE is available for writing parameters. The index of the parame-ter to be written is necessary. You can display the parameter index in the SHELL pro-gram or in the parameter tree using the key combination [CTRL + F1].

For implementation in TwinCAT, the function module FB_EcCoESdoWrite is required.This function module is available in the TcEtherCAT.lib library. You can integrate thisfunction module in two steps.

1. Creating an instance of the function module FB_EcCoESdoWrite

2. The inputs of the function module are assigned as follows:

– sNetID: Net ID of the EtherCAT® master

– nSlaveAddr: EtherCAT® address of the SEW unit from which data is to be written.

– nIndex: Index of the parameter to be written.

– nSubIndex: Subindex of the parameter to be written.

– pDstBuf: Pointer to the data range in which the data to be written is located.

– cbBufLen: Amount of data to be sent, in bytes.

– bExecute: A positive edge starts the write process.

– tTimeout: Timeout interval of the function module.

The output flags bBusy and bError indicate the status of the service. nErrId shows theerror number when the bError flag is set if an error occurs.


6 Parameterization via EtherCAT®Operating Behavior on EtherCAT®

The function module is integrated in TwinCAT as follows:

SEW parameter always have a data length of 4 bytes (1DWord). For scaling and a moredetailed description, refer to the "MOVIAXIS® Project Planning Manual".

In the above example, the internal setpoint n11 (index 8489, subindex 0) was set to aspeed of 100 rpm.

3018642187


6Parameterization return codesOperating Behavior on EtherCAT®

6.3 Parameterization return codes6.3.1 Elements

In the event of an incorrect parameterization, the servo inverter sends back various re-turn codes to the parameterized master. These codes provide detailed informationabout the cause for the error. Generally, these return codes are structured according tothe following elements.

• Error class

• Error code

• Additional code

6.3.2 Error classThe error class element (1 byte) provides a more exact classification of the error type.

6.3.3 Error codeThe error code element (1 Byte) allows for a more detailed identification of the errorcause within the error class. For Error class 8 = Other error, only Error code = 0 (Othererror code) is defined. In this case, detailed identification is made using the additionalcode.

6.3.4 Additional codeThe additional code (2 bytes) includes the detailed error description.

Class (hex) Designation Meaning

1 vfd state Status error of the virtual field device

2 application reference Error in application program

3 definition Definition error

4 resource Resource error

5 service Error during execution of service

6 access Access error

7 ov Error in the object list

8 other Other error


6 Parameterization return codesOperating Behavior on EtherCAT®

6.3.5 List of implemented error codes for SDO services

Error code Error class

Error code

Additional code

Designation Description:

0x00000000 0 0 0 NO_ERROR No error.

0x05030000 5 3 0 TOGGLE_BIT_NOT_CHANGED Error in the toggle bit during seg-mented transfer.

0x05040000 5 4 0 SDO_PROTOCOL_TIMEOUT Timeout during execution of service.

0x05040001 5 4 1 COMMAND_SPECIFIER_UNKNOWN Unknown SDO service.

0x05040005 5 4 5 OUT_OF_MEMORY Memory overflow during execution of SDO service.

0x06010000 6 1 0 UNSUPPORTED_ACCESS Unauthorized access to an index.

0x06010001 6 1 1 WRITE_ONLY_ENTRY Index may only be written to, but not be read.

0x06010002 6 1 2 READ_ONLY_ENTRY Index may only be read, but not be written to; parameter lock active.

0x06020000 6 2 0 OBJECT_NOT_EXISTING Object does not exist, incorrect index.Option card for this index does not exist.

0x06040041 6 4 41 OBJECT_CANT_BE_PDOMAPPED Index cannot be mapped in a PDO.

0x06040042 6 4 42 MAPPED_OBJECTS_EXCEED_PDO Number of mapped objects is too large for PDO.

0x06040043 6 4 43 PARAM_IS_INCOMPATIBLE Data format is not compatible with index.

0x06040047 6 4 47 INTERNAL_DEVICE_INCOMPATIBILITY Internal unit error.

0x06060000 6 6 0 HARDWARE ERROR Internal unit error.

0x06070010 6 7 10 PARAM_LENGTH_ERROR Data format for index is the wrong size.

0x06070012 6 7 12 PARAM_LENGTH_TOO_LONG Data format for index is too large.

0x06070013 6 7 13 PARAM_LENGTH_TOO_SHORT Data format for index is too small.

0x06090011 6 9 11 SUBINDEX_NOT_EXISTING Subindex not implemented.

0x06090030 6 9 30 VALUE_EXCEEDED Value invalid.

0x06090031 6 9 31 VALUE_TOO_GREAT Value too high.

0x06090032 6 9 32 VALUE_TOO_SMALL Value too low

0x06090036 6 9 36 MAX_VALUE_IS_LESS_THAN_MIN_VALUE Maximum limit for the value is smaller than the minimum limit

0x08000000 8 0 0 GENERAL_ERROR General error

0x08000020 8 0 20 DATA_CANNOT_BE_READ_OR_STORED Data access error

0x08000021 8 0 21 DATA_CANNOT_BE_READ_OR_STORED_BECAUSE_OF_LOCAL_CONTROL

Data access error due to local con-trol.

0x08000022 8 0 22 DATA_CANNOT_BE_READ_OR_STORED_IN_THIS_STATE

Data access error due to unit status.

0x08000023 8 0 23 NO_OBJECT_DICTIONARY_IS_PRESENT No object dictionary is present.


7About MOVITOOLS® MotionStudioOperating MOVITOOLS® MotionStudio via EtherCAT®

7 Operating MOVITOOLS® MotionStudio via EtherCAT®

The use of the engineering software MOVITOOLS® MotionStudio is described in detailin the "MOVITRAC® B Communication and Fieldbus Unit Profile" manual and in theMOVITRAC® B system manual. This chapter only describes the peculiarities of the com-munication via EtherCAT® in detail.

7.1 About MOVITOOLS® MotionStudio7.1.1 Tasks

The software package enables you to perform the following tasks:

• Establishing communication with units

• Executing functions with the units

7.1.2 Functional principleOverview The following figure illustrates the functional principle of the MOVITOOLS® Motion-

Studio software package.

Note that the illustration shows only the logical communication correlation and not thehardware connections.

1194152459

[1] Communication channel for fieldbus or Industrial Ethernet [2] MOVITOOLS® MotionStudio software package with integrated SEW Communication Server[3] Communication between fieldbus nodes or Industrial Ethernet[4] Communication channel via interface adapter to SBus (CAN) or serial

Machine controlMachine level

System controlSystem level

Units

Drives

Firmware Firmware Firmware

PLC

Unit controlField level

Parameter setting

Startup

Visualization & diag.

Programming

Functions Tools SEW-Communication-ServerSBusSerial

EthernetProfibusS7-MPI

[2]

[1]

[4]

[3]


7 About MOVITOOLS® MotionStudioOperating MOVITOOLS® MotionStudio via EtherCAT®

Engineering via interface adapters

If your unit supports the "SBus" or "Serial" communication options, you can use a suit-able interface adapter for engineering.

The interface adapter is additional hardware that you can obtain from SEW-EURODRIVE. You can use it to connect your engineering PC with the respectivecommunication option of the unit.

The type of interface adapter you require depends on the communication options of therespective unit.

Establishing com-munication with other units

The SEW Communication Server is integrated into the MOVITOOLS® MotionStudiosoftware package for establishing communication with the units.

The SEW Communication Server allows you to create communication channels.Once the channels are established, the units communicate via these communicationchannels using their communication options. You can operate up to four communicationchannels at the same time.

MOVITOOLS® MotionStudio supports the following types of communication channels:

• Serial (RS485) via interface adapters

• System bus (SBus) via interface adapters

• Ethernet

• EtherCAT®

• Fieldbus (PROFIBUS DP/DP-V1)

• Tool Calling Interface

The available channels can vary depending on the unit and its communication options.

Executing func-tions of the units

The software package offers uniformity in executing the following functions:

• Parameterization (e. g. in the parameter tree of the unit)

• Startup

• Visualization and diagnostics

• Programming

The following basic components are included in the MOVITOOLS® MotionStudiosoftware package, allowing you to use the units to execute functions:

• MotionStudio

• MOVITOOLS®

MOVITOOLS® MotionStudio provides the right tools for every unit type.


7First stepsOperating MOVITOOLS® MotionStudio via EtherCAT®

7.2 First steps7.2.1 Starting the software and creating a project

Proceed as follows to start MOVITOOLS® MotionStudio and create a project:

1. Start the MOVITOOLS® MotionStudio from the Windows start menu via:

[Start] / [Programs] / [SEW] / [MOVITOOLS MotionStudio] / [MOVITOOLS Motion-Studio]

2. Create a project with a name and directory.

7.2.2 Establishing communication and scanning the networkProceed as follows to establish a communication with MOVITOOLS® MotionStudio andscan your network:

1. Set up a communication channel to communicate with your units.

For detailed information on how to configure a communication channel, refer to thesection "Communication via ...".

2. Scan your network (unit scan). Press the [Start network scan] button [1] in the tool-bar.

9007200387461515

[1]


7 First stepsOperating MOVITOOLS® MotionStudio via EtherCAT®

7.2.3 Configuring units

Proceed as follows to configure a unit:

1. Select the unit (usually the power section [1]) in the network view.

2. Right-click to open the context menu and display the tools for configuring the unit.

The example shows the context menu with the tools for a MOVIFIT® unit. The com-munication mode is set to "online" and the unit is scanned in the network view.

3. Select a tool (e.g. "Parameter tree") to configure the unit.

2446350859

2446355211

[1]


7Connection ModeOperating MOVITOOLS® MotionStudio via EtherCAT®

7.3 Connection Mode7.3.1 Overview

MOVITOOLS® MotionStudio differentiates between "online" and "offline" communica-tion mode. You can select the communication mode yourself. Depending on theselected communication mode, you can choose offline or online tools specific to yourunit.

The following figure illustrates the two types of tools:

9007200497934219[1] Hard drive of the engineering PC[2] RAM of the engineering PC[3] Engineering PC[4] Unit

Tools Description

Offline tools

Changes made using offline tools affect "ONLY" the RAM [2].• Save your project so that the changes can be stored on the hard disk [1] of your

engineering PC [3].• Perform the "Download (PC -> unit)" function if you want to transfer the changes to your

unit [4] as well.

Online tools

Changes made using online tools affect "ONLY" the unit [4]. • Perform the "Upload (unit -> PC)" function if you want to transfer the changes to your

RAM [2]. • Save your project so that the changes can be stored on the hard disk [1] of your

engineering PC [3].

[4]

[1]

HDD RAM

[3][2]

RAM

Offline-Tool

Online-Tool


7 Connection ModeOperating MOVITOOLS® MotionStudio via EtherCAT®

7.3.2 Selecting the communication mode (online or offline)Proceed as follows to select the communication mode:

1. Select the communication mode:

• "Switch to online mode" [1] for functions (online tools) that should directlyinfluence the unit.

• "Switch to offline mode" [2] for functions (offline tools) that should influence yourproject.

2. Select the unit node.

3. Right-click to open the context menu and display the tools for configuring the unit.

INFORMATION• The "online" communication mode is NOT a response message which informs you

that you are currently connected to the unit or that your unit is ready for communi-cation. Should you require this feedback, observe section "Setting the cyclicalaccessibility test" in the online help (or the manual) ofMOVITOOLS® MotionStudio.

• Project management commands (such as download and upload), the online unitstatus, and the unit scan work independent of the set communication mode.

• MOVITOOLS® MotionStudio starts up in the communication mode that you setbefore you closed down.

9007200389198219

[1] "Switch to online mode" symbol[2] "Switch to offline mode" symbol

[1] [2]


7Communication via EtherCAT®Operating MOVITOOLS® MotionStudio via EtherCAT®

7.4 Communication via EtherCAT®

7.4.1 OverviewEtherCAT® provides the user with acyclic parameter services in addition to cyclic pro-cess data. This acyclic data exchange takes place via the mailbox gateway of theEtherCAT® master.

The parameter services of MOVITOOLS® MotionStudio are integrated into theEtherCAT® telegrams via the mailbox gateway in the EtherCAT® master. The feedbackof the drives is transferred by the EtherCAT® slave in the same way to the mailbox gate-way and further to MOVITOOLS® MotionStudio.

The following cases must be distinguished for the installation of the mailbox gatewayand MOVITOOLS® MotionStudio:

• Case 1: Installation on the same unit (page 42)

– The EtherCAT® master and MOVITOOLS® MotionStudio run on the same unit.No additional hardware required.

• Case 2: Installation on different units (without SEW controller) (page 43)

– The EtherCAT® master and MOVITOOLS® MotionStudio run on different units.This is the case if no suitable (Windows-based) operating system is available orMOVITOOLS® MotionStudio is to be run on a separate PC. The EtherCAT® mas-ter needs a second Ethernet interface that is connected to the engineering PC onwhich MOVITOOLS® MotionStudio is running.

• Case 3: Installation on different units (with SEW controller as EtherCAT® master)

– The network topology is identical to case 2. If you use an SEW controller, youmerely have to set the engineering access in MOVITOOLS® MotionStudio ac-cordingly. The routing via the mailbox gateway and the EtherCAT® communica-tion with downstream drives is performed automatically.

You can use PROFIBUS or Ethernet (SMLP not EtherCAT®) as engineering ac-cess to the SEW controller. For detailed information, refer to the documentationof the SEW controllers.

INFORMATIONUnassigned EtherCAT® interfaces of an EtherCAT® slave must not be used for engi-neering purposes.• Use only the EtherCAT® master interface intended for engineering for this purpose.


7 Communication via EtherCAT®Operating MOVITOOLS® MotionStudio via EtherCAT®

Case 1: Installation in the same unit

The illustration shows case 1: case: The EtherCAT® master and MOVITOOLS® Motion-Studio are installed in the same unit.

3266486283

[1] Monitor[2] PC with EtherCAT® master with integrated mailbox gateway (MBX) and MOVITOOLS® MotionStudio[3] Internal IP routing[4] EtherCAT® interface[5] Units (examples) with EtherCAT® interfaces

[1]

EURODRIVEEURODRIVE

EURODRIVE

[5]

EtherCAT

MBX

[2]

MBX

EtherCAT

[3]

[4]



Case 2: Installation in different units

The illustration shows case 2: case: The EtherCAT® master and MOVITOOLS® Motion-Studio are installed in different units.

3266490251

[1] PC with Ethernet interface and MOVITOOLS® MotionStudio[2] Ethernet network[3] Engineering interface of the EtherCAT® master[4] Internal IP routing[5] EtherCAT® master (e.g. TwinCAT system) with integrated mailbox gateway (MBX)[6] EtherCAT® interface[7] Units (examples) with EtherCAT® interfaces

[1]

[2] [3] [6]

EtherCAT

[4]

EURODRIVEEURODRIVE

EURODRIVE

[7]

EtherCAT

[5]

MBX



7.4.2 Configuration of the mailbox gateway in the EtherCAT® master

• Activate VoE/EoE support on the EtherCAT® controller.

• Activate the connection with the TCP/IP stack and IP routing.

• Specify the IP address of the EtherCAT® mailbox gateway. The IP address is usuallyassigned by the engineering tool (e.g. TwinCAT) and should not be changed.

In the TwinCAT program of the company Beckhoff, the above settings look as follows:

3267403275



7.4.3 Configuring the network at the engineering PC

If MOVITOOLS® MotionStudio and the EtherCAT® master are running on the same PC,you do not have to make any additional network settings.

If the EtherCAT® master is connected to an Ethernet network via an engineering inter-face, PCs in the same subnet can access SEW drives on EtherCAT® withMOVITOOLS® MotionStudio (see following figure). To do so, the telegrams from the en-gineering PC are routed via the Ethernet interface of the EtherCAT® master to the mail-box gateway (so-called routing).

Two variants are available for routing:

1. Variant: Defining a static route.

In this variant, an entry is added to the routing table of the engineering PC that routesthe engineering data via the EtherCAT® master to the mailbox gateway.

The command for creating a static route in the DOS box is:

route –p add [Target] MASK [Netmask] [Gateway]

2. Variant: Access to the mailbox gateway by determining the standard gateway on theengineering PC. In this variant, the IP address of the EtherCAT® master is specifiedas standard gateway.

• On the engineering PC, open the dialog window for setting the network proper-ties.

• Make the following entries depending on the network:

9007202522149259

[1] [Target]: corresponds to the IP address of the EtherCAT® mailbox gateway in the EtherCAT® master[2] [Netmask]: is usually set to 255.255.255.255 (host routing)[3] [Gateway]: corresponds to the IP address of the EtherCAT® master (engineering interface) in the

Ethernet network

3267406603

IP address: IP address of the engineering PCSubnet mask: Subnet mask of the engineering PCStandard gateway: IP address of the EtherCAT® master (engineering interface) in the Ethernet

network

[1]

[2]

[3]

Use the following IP address

IP address

Subnet mask

Standard gateway

10 . 3 . 64 . 60

255 . 255 . 252 . 0

10 . 3 . 64 . 170



7.4.4 Checking the network settingsIrrespective of whether MOVITOOLS® MotionStudio and the EtherCAT® master arerunning on the same PC or the EtherCAT® mailbox gateway is accessed via routing, youshould check the network settings.

You can use the ping command to check whether the communication path to theEtherCAT® mailbox gateway is established correctly. To do so, proceed as follows:

• Open a command-line interface window on your engineering PC to enter a DOScommand.

• Enter "ping" and the IP address of the EtherCAT® mailbox gateway. The completecommand line for the described network setting (example) is:

Ping 169.254.61.254

• If there is no response to the ping command, repeat the steps described in the twoprevious sections:

– Configuration of the mailbox gateway in the EtherCAT® master (page 44)

– Configuring the network at the engineering PC (page 45)

INFORMATIONSettings of the EtherCAT® master are not adopted• If the settings of the EtherCAT® master are not accepted, perform a reboot.



7.4.5 Communication settings in MOVITOOLS® MotionStudioConfiguring the communication channel with EtherCAT®

Proceed as follows to configure a communication channel for EtherCAT®:

1. Click on "Configure communication plugs" [1] in the toolbar.

This will open the "Configure communication plugs" window.

2. From the dropdown menu [1], select "Ethernet" as the communication type.

In the example, "ETHERNET" is activated as the communication type for the firstcommunication channel [2].

3. Click [Edit] [3] in the right section of the window.

This will display the settings for the "Ethernet" communication type.

4. Set the communication parameters. Follow the instructions described in the section"Setting communication parameters for EtherCAT®".

Setting communi-cation parameters for EtherCAT®

Proceed as follows to set the EtherCAT® communication parameters:

1. Set up the EtherCAT® protocol. Select the "EtherCAT settings" tab.

2. Tick the "Activate EtherCAT" checkbox.

3. Change the set communication parameters if necessary. Refer to the detailed de-scription of the communication parameters for EtherCAT®.

9007200388082827

[1] "Configure communication plugs" symbol

18014399653863307

[1] "Type of communication" dropdown menu[2] "Activate" checkbox[3] [Edit] button

[1]

[1]

[2]

[3]



4. To add an IP address, click on the symbol [Add IP address] [2].

5. Enter the IP address of the mailbox gateway (in the EtherCAT® master) in the "IPaddress" input field [3] and click the [OK] button.

18014399831358731

[1] "Activate access without master" check boxNote: Activate this check box only if no other master is available.

If no EtherCAT® master is available, you can activate a parameterization master in MOVITOOLS® MotionStudio.

[2] [Add IP address] button[3] "IP address" edit box

[2]

[3]

[1]


7Executing functions with the unitsOperating MOVITOOLS® MotionStudio via EtherCAT®

Communication parameters for EtherCAT®

The following table describes the communication parameters for EtherCAT®:

7.5 Executing functions with the units7.5.1 Parameterizing units

Units are parameterized in the parameter tree. The parameter tree shows all unit param-eters grouped in folders.

You can manage unit parameters using the context menu or the toolbar. The followingsteps illustrate how to read or edit unit parameters.

7.5.2 Reading or changing unit parametersProceed as follows to read or change device parameters:

1. Switch to the required view (project view or network view).

2. Select the connection mode:

• Click the "Switch to online mode" button [1] if you want to read or changeparameters directly in the unit.

• Click the "Switch to offline mode" button [2] if you want to read or changeparameters in the project.

3. Select the unit you want to parameterize.

4. Open the context menu and select the command [Startup] / [Parameter tree].

Now the "Parameter tree" view opens in the right part of the monitor.

Communication parameters Description Information

Timeout Waiting time in [ms] that the client waits for a response from the server after it has made a request.

• Default setting: 200 ms• Increase the value as

required if a delay in commu-nication is causing malfunc-tions.

Scan range of: Start address for the EtherCAT® scan range

By entering values here, you can limit the EtherCAT® scan range and thereby shorten the length of time it takes to scan the unit.Scan range end: Stop address for the EtherCAT®

scan range

IP address EtherCAT® master IP address of the mailbox gate-way in the EtherCAT® master

-

9007200389198219[1] "Switch to online mode" icon[2] "Switch to offline mode" icon

[1] [2]


7 Executing functions with the unitsOperating MOVITOOLS® MotionStudio via EtherCAT®

5. Expand the "Parameter tree" to the node you require.

6. Double-click to display a particular group of unit parameters.

7. Press the enter key to finalize any changes you make to numerical values in the inputfields.

7.5.3 Starting up units (online)Proceed as follows to start up the units (online):

1. Switch to the network view.

2. Click on "Switch to online mode" [1] in the toolbar.

3. Select the unit you want to startup.

4. Open the context menu and select the command [Startup] / [Startup].

The Startup wizard opens.

5. Follow the instructions of the startup wizard and then load the startup data onto yourunit.

947217163

INFORMATION• For detailed information about unit parameters, refer to parameter list for the

unit.

9007200438771211[1] "Switch to online mode" icon

[1]


8EtherCAT® introductionMotion Control via EtherCAT®

8 Motion Control via EtherCAT®

This chapter contains information about the EtherCAT® functions that enable clock syn-chronous operation of MOVIAXIS® connected to an EtherCAT® master, which is neces-sary for motion control applications.

8.1 EtherCAT® introductionhis section describes the functions and terms used for clock synchronous operation ofSEW servo inverters on EtherCAT®. Comprehensive, detailed technical informationabout EtherCAT® is available from the EtherCAT® user organization, e.g. at www.Eth-erCAT.org, and from the manufacturers of EtherCAT® master systems.

Based on the cascade control common in drive technology, the principal mechanismsfor motion control applications are described here.

A position setpoint (xref) is the starting point. Using the position actual value (xact), theposition controller [1] calculates a speed setpoint (vref). The speed controller [2] usesspeed setpoint and actual value to calculate the torque setpoint (tref), which generatesa torque in the motor supplied by the servo inverter output stage [3]. Depending on thecounter-torque caused by the driven machine [4], the motor runs with a certain speed(measured by encoder [5]). Depending on the motor speed, a position change occurs,which is detected by a position encoder [5] on the motor. Depending on the application,the control loops for torque, speed or position can now be closed in the servo inverter orin the higher-level controller. MOVIDRIVE® B can handle all control systems, includingposition control. In this case, positioning travel can only be performed when a setpointposition is transferred to the servo inverter (e.g. "Bus Positioning" application module).The current position and, once the positioning command has been executed, a "readymessage" is sent to the controller.

In motion control applications, positioning travel with target position and travel parame-ters such as speed and ramp time is administered in the motion controller that is usually

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[1] [2] [3] [4]

tref

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vactxact

xref

[5]

[5] [6]

xref Position setpoint [1] Position controllerxact Position actual value [2] Speed controllervref Speed setpoint [3] Output stage of the servo invertervact Actual speed value [4] Driven machine (load)tref Torque setpoint [5] Encoder (V = speed; X = position)

[6] Optional encoder

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8 EtherCAT® introductionMotion Control via EtherCAT®

the higher-level controller. The calculated track curve is then used to transfer a setpointspeed (→ chapter "Velocity mode") or a setpoint position (→ chapter "Position mode")to the inverter in very quick cycles. The servo inverter then sets this setpoint speed orposition and reports the current position back. The motion controller knows by itselfwhen the positioning command has been executed.

Since the higher-level controller transmits the setpoints cyclically, the acceleration anddeceleration ramps are also calculated in this controller. No ramp function integratedinto the drive is used here.

8.1.1 Clock synchronismFor each control cycle, the controller reads in the position actual value and calculatesthe current speed (dx/dt) and probably other information such as acceleration, jerk, etc,from the position difference (dx) and the time difference (dt) of the previous control in-terval.

The time slices of the controller, the bus transmission and the internal processing cycleof the servo inverter and of external encoders, if applicable, must be synchronized toone another.

Example This example is to demonstrate how aliasing effects can occur if controller, bus, servoinverter or encoder are not clock-synchronous (→ following figure).

• Control time slice of the controller: 5 ms

• Bus clock pulse: 5 ms, synchronous to the controller

• Processing time in the servo inverter: 5 ms, not synchronous

Since in this example, the servo inverter or encoder and the controller are not synchro-nized, the time slices will slowly drift apart because their quartz oscillators are not ideal.This can lead to jumps in the transmitted position value.

Whereas the speed (v = dx/dtS ≈ dx/dtG) in control intervals 1 to 3 is only slightly inac-curate, there is considerable error in the speed calculation in the fifth control interval (v =2dx/dtS). This incorrect speed calculated in one sample interval results in violent re-sponses of the control algorithms in the controller and can even trigger error messages.

The problem described above caused by discreet sampling in different systems will usu-ally only be a problem in motion control applications when the cycle time of the controlleris short or similar to the internal processing cycles of the servo inverter and external en-coders.

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1 2 3 4 5

dtS

dtG

dx dx dx dx dx

[A]

[B]

[C]

[A] Control interval dtS [C] Time slice of servo inverter or encoder dtG[B] Bus cycle dx Position difference (covered distance)

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As a rule, EtherCAT® is designed for bus and control cycles to be synchronous.

8.1.2 Speed setpoint interface (velocity mode)

In Velocity mode, the controller transmits a speed (or velocity) setpoint to the servo in-verter. The position actual value is read by the servo inverter or a separate encoder.

In Velocity mode, the servo inverter is a simple speed control element. The time slicesof the controller, the bus transmission and the internal processing cycle of the servo in-verter and of external encoders, if applicable, must be synchronized to one another.

Referencing of the position, monitoring of permitted travel ranges or limit switches, load-dependent ramp specification and lag error monitoring are realized in the higher-levelcontroller and are not tasks of MOVIAXIS®.

To prevent unwanted, high acceleration values for larger control intervals (>1 ms), thespeed setpoint is not directly adopted by MOVIAXIS®, but interpolated linearly. Thismeans for a setpoint cycle of 5 ms that the controller sets the required speed change inthe MOVIAXIS® not every 5 ms as one large step, but rather as 5 small steps of 1 ms.

INFORMATIONThe Distributed Clock mechanism also enables synchronization of the internal pro-cessing time slice of the servo inverter.

In MOVIAXIS®, the synchronization of time slices and the data transfer is controlledvia the dual-port RAM of the XFE24A option.

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Xref vref

trefXact vact

[3][2][1] [4]

[5]

[C][A]

[5] [6]

[B]

xref Position setpoint [1] Position controller [A] Controlxact Position actual value [2] Speed controller [B] Fieldbus interfacevref Speed setpoint [3] Output stage of the servo inverter [C] Servo invertervact Actual speed value [4] Driven machinetref Torque setpoint [5] Encoder (V = speed; X = position)


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8.1.3 Settings for Velocity mode (speed interface)IN process data

Links IN buffer 0 Then establish links from the IN buffer 0 to the control word 0 and to the process dataaccording the above example using drag & drop.

6888393739

6888395403Control word 0 settings

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Control word 0 set-tings

Perform the sample settings in control word 0 according to the figure "Control word 0settings".

IN process data settings

Set the IN process data according to the following figure.

Configuration of the FCB06 (inter-polated speed)

Set the cycle time of your EtherCAT® controller in the controller setpoint cycle parame-ter, e.g. 1 ms. In addition to that, the source for the speed setpoint must be set, here:process data buffer channel 1 (see the following figure).

INFORMATIONFor calling up the FCB06 interpolated speed control, it must be configured in a controlword (here: control word 0).

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If you require a synchronized process data communication with the EtherCAT® control-ler, you have to select "Communication option" in the "Synchronization source" selectionlist (see the following figure).

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OUT-Prozessdaten

Die Einheit und Auflösung der Drehzahl oder Geschwindigkeit und Position, bzw. Wegder Achse hängt von den Einstellungen der Anwendereinheiten ab, die bei der Inbetrieb-nahme festgelegt worden sind. Sofern keine abweichenden Anwendereinheiten defini-ert wurden, sind diese wie folgt:

Die Einstellung von Statuswort 0, Steuerwort 1 und Out-Prozessdaten entsprechen derWerkseinstellung.

Verknüpfungen OUT-Puffer 0

Stellen Sie anschließend mit Hilfe von drag&drop die Verknüpfungen von Statuswort 0und OUT-Prozessdaten zum Out-Puffer 0 her.

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• Weg: 1 [Umdrehung]

• Geschwindigkeit 1 [1/min]

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8.1.4 Position setpoint interface (position mode)

In Position mode, the controller transmits a position setpoint cyclically to the servo in-verter. The position actual value is read back by the servo inverter or a separate en-coder.

In Position mode, the servo inverter follows the constantly changing position setpointand generates the required speed setpoint for the speed controller [2] from the positionactual value (from [5] or [6]). The time slices of the controller, the bus transmission andthe internal processing cycles of the servo inverter and of external encoders, if applica-ble, must be synchronized to one another.

After the position in the controller has been referenced to the position in the servo in-verter, the monitoring of permitted travel ranges or limit switches can be performed inthe servo inverter. Whether the settings of a load-dependent ramp specification and lagerror monitoring in the servo inverter make sense must then be checked in detail.

To prevent unwanted, high acceleration values for larger control intervals (>1 ms), thespeed setpoint is not directly adopted by MOVIAXIS®, but interpolated linearly. Thismeans for a setpoint cycle of 5ms that the controller sets the required position changein the MOVIAXIS® not every 5ms as one large step, but rather as 5 small steps of 0.5ms.

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V

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Xref vref

trefXact

vact

[C][A]

[3][2][1] [4]

[5]

[5] [6]

[B]

xref Position setpoint [1] Position controller [A] Controlxact Position actual value [2] Speed controller [B] Fieldbus interfacevref Speed setpoint [3] Output stage of the servo inverter [C] Servo invertervact Actual speed value [4] Driven machinetref Torque setpoint [5] Encoder (V = speed; X = position)


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8.1.5 Position mode settingsIN-Prozessdaten

6894362379

6894364043Einstellungen Steuerwort 0

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Links IN buffer 0 Establish a connection from status word 0 and IN process data to the IN buffer 0 usingdrag & drop.

The assignment of control word 0 differs from the process data link for Velocity mode.

Control word 0 set-tings

Perform the sample settings in control word 0 according to the figure "Control word 0settings".

IN process data settings

Set the IN process data according to the following figure.

Configuration of the FCB10 (inter-polated position)

Set the cycle time of your EtherCAT® controller in the controller setpoint cycle parame-ter, e.g. 1 ms.

The position setpoints of the controller are smoothed with these configurable meanvalue filters for a "steady", continuous speed curve.

INFORMATIONFor calling up the FCB06 interpolated speed control, it must be configured in a controlword (here: control word 0).

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In addition to that, the source for the position setpoint must be set, here: process databuffer channel 0.

If you require a synchronized process data communication with the EtherCAT® control-ler, you have to select "Communication option" in the "Synchronization source" selectionlist (see the following figure).

OUT process data The configuration of the OUT process data is identical to the configuration of the Velocitymode, more information is available there.

The unit and resolution of the speed or velocity and position, or travel of the axis, de-pends on the settings of the user travel units, which were made during startup. If noother user travel units were defined, they are as follows:

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• Travel distance: 1 [revolution]

• Speed 1 [rpm]

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8 EtherCAT® master settingsMotion Control via EtherCAT®

8.2 EtherCAT® master settingsFor time slice synchronization, you must activate the functionDistributed Clock. The buscycle of MOVIAXIS® must correspond exactly to that of the external controller, whichwas set during startup. Please also check the watchdog for timeout monitoring only forsync manager 0x1000 (output data). The watchdog for timeout monitoring is set to a de-fault value.

8.2.1 Velocity mode settings• The speed setpoint is transferred via the input word configured in the PDO Editor.

• The position is transferred via the output word configured in the PDO Editor. The res-olution is set during startup.

8.2.2 Position mode settings• The position setpoint is transferred via the input word configured in the PDO Editor.

• The position is transferred via the output word configured in the PDO Editor. The res-olution is set during startup.

8.3 Example TwinCAT8.3.1 Parameterizing clock synchronous operation

Make the settings shown in the following figures.

For clock synchronous operation, select the "DC for synchronization" option on the DC(Distributed Clock) tab page. Make sure that the cycle time in the "Cycle time" fieldmatches exactly the synchronization time set in parameter 9963.1.

Please check the settings of the watchdog.

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8Example TwinCATMotion Control via EtherCAT®

Possible times for Distributed Clock: 500 µs, 1 – 10 ms.

Activate timeout monitoring for Sync Manager 0x1000. To do so, tick the "WatchdogTrigger" option in the "Edit Sync Manager" window (see the following figure) and enterthe watchdog time in the "Value" field.

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8 Example TwinCATMotion Control via EtherCAT®

8.3.2 NC axis parameterizationThen, the NC axis has been parameterized (see the following figure).

On the "Settings" tab page, select the "Standard" option in the "Axis Type" field and thesystem unit (e.g. °) in the "Unit" field.

Set the maximum speed and the lag error monitoring on the "Global" tab page.

Set the ramp times on the "Dynamics" tab page.

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INFORMATIONThe settings must match the mechanical structure and the corresponding settings inthe servo inverter.

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8Example TwinCATMotion Control via EtherCAT®

8.3.3 Encoder parameterization

The "CANopen DS402" is specified as encoder (under "Axis x_Enc") and configured asfollows (see following figure).

The scaling factor results from the following formula:

8.3.4 Velocity modeIn Velocity mode, "Drive connected to KLXXX..." is selected (under "Axis x_Drive").Enter the following values in the "Analog" tab page (see following figure):

The speed setpoint ("Reference velocity") = (maximum motor speed) × 6 is entered withthe conversion factor "at Output Ratio [0.0 ... 1.0 = 1]" = (maximum motor speed)/215,depending on the scaling factor in MOVIAXIS®.

MOVIAXIS® user travel units and scaling factors that deviate from the factory settingmust be adjusted accordingly using the conversions and factors stated above.

Finally, the drive's setpoint speed and actual position are linked with the NC axis and thecontrol word and status word 1 are controlled with the PLC task in accordance with thedescription in the MOVIAXIS® project planning manual (see following figure).

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°××

PositionNumerator

Inc PositionDeno atormin

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8 Example TwinCATMotion Control via EtherCAT®

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9Diagnostic proceduresError Diagnostics

9 Error Diagnostics9.1 Diagnostic procedures

The diagnostics procedures described in the following section demonstrate the faultanalysis methods for the following problems:

• Servo inverter does not work on EtherCAT®.

• The inverter cannot be controlled using the EtherCAT® master.

For more specific information about configuration of the servo inverter for different field-bus applications, refer to the "MOVIAXIS® Multi-Axis Servo Inverter" project planningmanual.

Step 1: Checking for correct connection of the servo inverter to the EtherCAT®

Step 2: Response of the RUN LED?

Is the bus connector connected to the master / servo inverter? NO → [A]YES↓

How does the Link/activity LED on the XFE24A react? OFF → [A]ON↓

Is the connection of the servo inverter to the EtherCAT® physically cor-rect? Make sure EtherCAT® is connected correctly at X30 IN (incoming EtherCAT® connection) / X31 OUT (outgoing EtherCAT® connection).

NO → [A]

YES↓

Continue with 2: Response of the RUN LED?

[A] Check the bus cabling.

OFF Has the master switched the slave to INIT state?YES →

NO →

[A]

[B]

Flashing orange Bus has not been started yet in the master. → [C]

Flashing green Slave is in PRE-OPERATIONAL state. → [C]

Lights up green once

Slave is in SAFE-OPERATIONAL state. → [C]

Lights up green Slave is in OPERATIONAL state. → [C]

[A] Startup the bus in the master.

[B] XFE24A option is faulty.

[C] Continue with 3: Response of the ERR LED?


9 Diagnostic proceduresError Diagnostics

Step 3: Response of the ERR LED?

OFF Case 1: RUN LED lights up green (slave is in OPERATIONAL state).↓

EtherCAT® communication of the XFE24A option is in the operating state.

Case 2:• RUN LED flashes green (slave is in PRE-OPERATIONAL state).• RUN LED lights up green once (slave is in SAFE-OPERATIONAL state).

↓

Startup the bus in the master and activate the state OPERATIONAL in the slave.

↓

Start process data communication.

Flickering Prerequisite: • RUN LED flashes green (slave is in PRE-OPERATIONAL state)• RUN LED lights up green once (slave is in SAFE-OPERATIONAL state).

↓

A boot error was detected. Boot the XFE24A option.

↓

If the ERR LED continues to flicker, the XFE24A option is faulty.

Flashes red twice

Case 1: RUN LED lights up green (slave is in OPERATIONAL state).

↓

Fieldbus timeout, activate process output data.

Case 2:• RUN LED flashes green (slave is in PRE-OPERATIONAL state)• RUN LED lights up green once (slave is in SAFE-OPERATIONAL state).

↓

Watchdog timeout → Start bus in the master and switch slave to OPERATIONAL state.

↓

Start process data communication.

Lights up red once

Prerequisite:• RUN LED flashes green (slave is in PRE-OPERATIONAL state)• RUN LED lights up green once (slave is in SAFE-OPERATIONAL state).

↓

An unprompted state change has occurred. Repair the configuration error and start the bus in the master again.

↓

Switch the slave to OPERATIONAL state.

↓

Start the process data communication.


9List of errorsError Diagnostics

9.2 List of errors

9.3 DisposalObserve the applicable national regulations.Dispose of the following materials separately in accordance with the country-specificregulations in force, as:

• Electronics scrap

• Plastics

• Sheet metal

Flashing Prerequisite:• RUN LED flashes green (slave is in PRE-OPERATIONAL state)• RUN LED lights up green once (slave is in SAFE-OPERATIONAL state).

↓

Invalid configuration. Repair the configuration error and start the bus in the mas-ter again.

↓

Switch the slave to OPERATIONAL state.

↓

Start the process data communication.

INFORMATIONFor operating the XFE24A option in MOVIAXIS®, you will find the corresponding errorcodes in the MOVIAXIS® operating instructions.


10 XFE24A option for MOVIAXIS®Technical Data

10 Technical Data10.1 XFE24A option for MOVIAXIS®

XFE24A option (MOVIAXIS®)

Part number 1821 249 2

Power consumption P = 3 W

Standards IEC 61158, IEC 61784-2

Baud rate 100 MBaud full duplex

Connection technology 2 × RJ45 (8x8 modular jack)

Bus termination Not integrated, as bus termination is activated automatically.

OSI layer Ethernet II

Station address Setting via EtherCAT® master

XML file name SEW_XFE24A.xml

Vendor ID 0x59 (CANopen Vendor ID)

EtherCAT® services • CoE (CANopen over EtherCAT®)• VoE (Simple MOVILINK® Protocol over EtherCAT®)

Firmware status of MOVIAXIS® Firmware status 23 or higher

Tools for startup MOVITOOLS® MotionStudio engineering software version 5.40 or later.

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Index

Index

AAdditional documentation.......................................10

BBus cables

Routing...............................................................13Shielding ............................................................13

Bus termination ................................................14, 70

CCommunication

Communication with EtherCAT®........................47Communication channel

Functional principle ............................................35Communication types

Functional principle ............................................35Connection technology ..........................................70Copyright..................................................................7

DData exchange viaEtherCAT® ...............................10Designated use ......................................................35Diagnostic procedures for troubleshooting.............67Disposal .................................................................69

EEinstellungen für den Position-Mode

IN-Prozessdaten ................................................59Einstellungen für den Velocity-Mode

OUT-Prozessdaten ............................................57Verknüpfungen OUT-Puffer 0 ............................57

Embedded safety notes ...........................................6Error diagnostics ....................................................67Establishing communication with other units .........36EtherCAT®

Communication with EtherCAT® .......................47Exclusion of liability ..................................................7Executing functions of the units .............................36Executing functions with the units ..........................49

FFunctions

Functional principle ............................................35

IIntroduction ............................................................10

Content of this manual.......................................10

LLED ERR (red).......................................................15LED Link/Activity (green) .......................................16LED RUN (green) ..................................................15

MManual settings......................................................22Motion control via EtherCAT

Position mode ....................................................58MOVITRAC® B and EtherCAT®............................10

NNetwork

Communication with EtherCAT® .......................47Functional principle............................................35

NotesAssembly / installation .......................................12Designation in the documentation .......................6

OOperating behavior on EtherCAT® ........................24

PParameterization return codes...............................33Parameterization via EtherCAT® ...........................29

Reading a parameter in TwinCAT .....................30SDO services READ and WRITE ......................29Writing a parameter in TwinCAT........................31

ParametersFor EtherCAT® ..................................................49Parameterizing units in the parameter tree........49Reading/changing device parameters ...............49

Part number ...........................................................70PDO Editor.............................................................11Pin assignment

XFE24A EtherCAT® connection ........................13Position mode ........................................................58Process data objects Rx (receive) and Tx (transmit),

configuration ......................................................17Product names and trademarks...............................7Project planning and Startup .................................17


Index

Project planning of the EtherCat® master for MOVIAXIS®.......................................................17

RRights to claim under warranty.................................7

SSafety notes

Designation in the documentation........................6Disposal .............................................................69Preliminary information ........................................8Structure of the embedded safety notes ..............6Structure of the section safety notes....................6

Section safety notes.................................................6Setting the station address ....................................14Settings for position mode

Control word 0 settings ......................................60IN process data settings ....................................60Links IN buffer 0.................................................60OUT process data..............................................61

Settings for the position modeConfiguration of the FCB10 (interpolated position)60

Settings for the velocity modeConfiguration of the FCB06 (interpolated speed) ..55

Settings for Velocity modeIN process data..................................................54IN process data settings ....................................55

Settings for velocity modelinks IN buffer 0 ..................................................54

Signal words in safety notes ....................................6Single-axis positioning

Settings with software assistant.........................20Startup

Starting up the unit.............................................50Station address......................................................70Status

LED Link/Activity (green) ...................................16Status LED

ERR (red)...........................................................15Status LED RUN (green) .......................................15Status LEDs...........................................................14

Definition of the display statuses .......................16System overview

Functional principle............................................35

TTCP/IP

Communication with EtherCAT® .......................47Technical data of FSE24B .....................................70Tools

Functional principle............................................35TwinCAT

Communication with EtherCAT® .......................47

XXML file..................................................................70

Project planning of the EtherCat® master for MOVIAXIS®.......................................................17Validity ...............................................................17

SEW-EURODRIVE—Driving the world

SEW-EURODRIVEDriving the world

www.sew-eurodrive.com

SEW-EURODRIVE GmbH & Co KGP.O. Box 3023D-76642 Bruchsal/GermanyPhone +49 7251 75-0Fax +49 7251 [email protected]

Fieldbus Interface XFE24A EtherCAT® MOVIAXIS® / Manuals – … · 2014. 8. 2. · 6 Manual –...

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Transcript of Fieldbus Interface XFE24A EtherCAT® MOVIAXIS® / Manuals – … · 2014. 8. 2. · 6 Manual –...