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Delta EtherCAT CMM-EC03 Operation Manual

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CMM-EC02/CMM-EC03
EtherCAT
Manual
Applicable Products:
CMM-EC02, CMM-EC03 (MS300 / MH300 Option Card)
Application
Communication Card Operation
Drive Firmware Version: MS300 V1.07 / MH300 V1.02 or later
CMM-EC02 Communication Card Firmware Version: V2.01 or later
CMM-EC03 Communication Card Firmware Version: V2.04 or later
DELTA_IA-MDS_VFD-M300 Series_CMM-EC02_CMM-EC03 OM_Eng_20230824

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Summary of Contents for Delta EtherCAT CMM-EC03

  • Page 1 CMM-EC02/CMM-EC03 EtherCAT Communication Card Operation Manual Applicable Products: CMM-EC02, CMM-EC03 (MS300 / MH300 Option Card) Drive Firmware Version: MS300 V1.07 / MH300 V1.02 or later Application CMM-EC02 Communication Card Firmware Version: V2.01 or later CMM-EC03 Communication Card Firmware Version: V2.04 or later DELTA_IA-MDS_VFD-M300 Series_CMM-EC02_CMM-EC03 OM_Eng_20230824...
  • Page 2 All information contained in this user manual is the exclusive property of Delta Electronics Inc. (hereinafter referred to as "Delta ") and is protected by copyright law and all other laws. Delta retains the exclusive rights of this user manual in accordance with the copyright law and all other laws.
  • Page 3 If you have any question or concern, please contact your local Delta distributor. Our professional staff will be very glad to help you.  Please read this manual carefully and follow the instructions completely to avoid device damage or personal injury.

  • Page 4: Table Of Contents

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Table of Contents Introduction ..........................6 1.1 Network Functions and Specifications ..................6 1.2 Product Appearance ........................7 1.2.1 Panel Cut Out Dimensions ....................7 1.2.2 Components ........................7 1.3 LED Indicators ......................... 8 1.4 RJ45 PIN Definition ......................... 8 1.5 Application ..........................
  • Page 5 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Operation Example ........................30 7.1 Delta PLC-AX-8 Operation Example (Designer-AX (Codesys base)) ........30 7.2 Delta PLC – AH10EMC Operation Example (ECAT Builder) ..........39 Appendix A............................49 A.1 Description of Object Specification ..................49 A.1.1 Object Type ........................

  • Page 6: Introduction

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Introduction 1.1 Network Functions and Specifications  Ethernet Specifications Item Specifications Interface RJ45 Number of Ports 2 ports Communication Mode IEEE802.3, IEEE802.3u Cable Category 5e shielding 100 M Transmission Speed 10 / 100 Mbps Auto-Defect Communication Protocol EtherCAT (NOTE) Synchronization Mode Free Run mode (asynchronous)

  • Page 7: Product Appearance

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 1.2 Product Appearance 1.2.1 Panel Cut Out Dimensions 60.0 [2.36] 16.9 [0.67] Unit: mm [inch] 1.2.2 Components 1. Screw fixing hole 5. L/A OUT (OUT LINK indicator) 2. Positioning hole for communication card 6. L/A IN (IN LINK indicator) 3.

  • Page 8: Led Indicators

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 1.3 LED Indicators Name Indicator Status Indication Normal status Pre-operation (on / off 200 ms) Green Blink Safe mode (on 200 ms / off 1000 ms) Initial status Basic configuration error (on / off 200 ms) Status switch error Blink (on 200 ms / off 1000 ms)

  • Page 9: Installation And Wiring

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 2. Installation and Wiring This section introduces how CMM-EC02/ CMM-EC03 connects to the M300 series and how CMM-EC02/ CMM-EC03 links to the internet. Mounting Position of Communication Card  MS300 Mounting Position of Communication Card Frame A~D (option card mounting box) Frame E and F (Option card mounting box)

  • Page 10: Install And Remove Option Cards

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Install and Remove Option Cards 2.2.1 Communication Cable and Grounding Communication Cable  You have to order a communication card together with a communication cable, otherwise you won’t be able to use the communication card. Verify the communication card model name and the mounting position to mount that communication card, then select the right communication cable.

  • Page 11: Grounding

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Grounding  ou must ground the communication card when wiring CMM-EC02/ CMM-EC03. The  ground terminal is included in the communication card package, as shown in Fig.2-7.  Fig 2-7 Recommended wire size for grounding: ...
  • Page 12 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 MS300 Frame A-C MS300 Frame D-F Fig 2-10 Fig 2-9 Torque (±10%) Torque (±10%) Frame A: 9 kg-cm [7.8 Ib-in.] [0.88 Nm] Frame D: 20 kg-cm [17.4 Ib-in.] [1.96 Nm] Frame B: 15 kg-cm [13.0 Ib-in.] [1.47 Nm] Frame E: 25 kg-cm [21.7 Ib-in.] [2.45 Nm] Frame C: 20 kg-cm [17.4 Ib-in.] [1.96 Nm] Frame F: 20 kg-cm [17.4 Ib-in.] [1.96 Nm]...

  • Page 13: Ms300 Installation

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 2.2.2 MS300 Installation MS300 Mounting Position 1 (See Section 2.1 for Details on Mounting Position) Frame A-F Installation method: Back-mount the communication card by connecting flat cables to the control board. Turn off the power of the motor drive, and then remove the front cover, as shown in Fig.2-13. ...
  • Page 14 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Step1: Remove the front cover Step 2: Assemble the supported frame Fig 2-16 Fig 2-15 Step 3: Assemble the Step 4: Tighten the Step 5: Assembly communication card screws completed Fig 2-17 Fig 2-18 Fig 2-19 2.2.4 MH300 Mounting Position 2 (See Section 2.1 for Details on Mounting Position) - Frame A–D Installation method: Front-mount the communication card by connecting flat cables to the...
  • Page 15 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 clips engage the slots, as shown in the Fig.2-33. Assembly is completed, as shown in Fig.2-34.  Step1: Remove the Step 2: Assemble the Step 3: Tighten the front cover communication card screws Fig 2-21 Fig 2-22 Fig 2-20 Step 4: Attach the upper cover...
  • Page 16 EtherCAT Communication Card: CMM-EC02/ CMM-EC03  Step1: Remove the Step 2: Assemble the connection Step 3: Assemble the front cover cable communication card Fig 2-26 Fig 2-27 Fig 2-28 Step 4: Tighten the Step 5: Assemble the Step 6: Assembly screws connection cable completed...

  • Page 17: Network Connection

    2 (60xx). ESI (EtherCAT Slave Information) To make PLC or the host controller identify MH300 / MS300, you must load the product description file (ESI file). Download the description files from Delta’s download center. http://www.deltaww.com/iadownload_acmotordrive. The file name for M300 series: ...

  • Page 18: Introduction To Ethercat

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 3. Introduction to EtherCAT Protocol EtherCAT (Ethernet for Control Automation Technology) was created by a German company Beckhoff based on the Ethernet communication protocol which is applicable on the industrial automation and industrial open, real-time, on-site fieldbus technology. The EtherCAT Technology Group (ETG) currently supports and promotes future development of this technology The Ethernet structure of a motor drive is shown in the image below.

  • Page 19: Ethercat State Machine

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 EtherCAT State Machine State Description: State Description The drive successfully finishes initializing after power-on, and no error occurs. Init There are no communications for the application layer. Pre-Operational Can use mailbox communication for the current status. Can read PDO input data (TxPDO) Safe-Operational Cannot receive PDO output data (RxPDO)

  • Page 20: Dynamic Recognition

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 3.3 Dynamic Recognition CMM-EC03 EtherCAT card can recognize the corresponding VFD model and dynamically modify the EEPROM product code.(MS300: 0x10400200, MH300: 0x104001F0). CMM-EC02 EtherCAT card does not have the function to recognize the VFD model dynamically. The user needs to use a PC tool to burn ESI file manually to modify the corresponding product code.

  • Page 21: System Setup

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 4. System Setup Asynchronous The motor drive currently supports only Free Run mode (Asynchronous) Free Run Mode (Asynchronous) The master and slave stations run asynchronously. Each station has an individual clock that calculates the time. In other words, the clocks of the master and slave are not synchronized. The command and feedback transmissions between the master and slave are based on a sequential order instead of a precise time synchronization.

  • Page 22: Pdo Mapping Configuration

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 PDO mapping configuration 4.2.1 Default PDO mapping configuration The following table shows the default PDO mapping configuration of the EtherCAT motor drive for data exchange. This is also defined in the XML file of the EtherCAT slave. You can modify the PDO mapping configuration according to the requirements.

  • Page 23: Set Pdo Mapping

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 4.2.2 Set PDO mapping The settings are as follows: 1. Disable the PDO configuration: set OD 1C12 sub 0 to 0 (RxPDO) and OD 1C13 sub 0 to 0 (TxPDO). 2. Disable the PDO mapping setting: set OD 1600 sub 0 to 0 (RxPDO) and OD 1A01 sub 0 to 0 (TxPDO).

  • Page 24: Cia402 Equipment Regulation

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 5. CiA402 equipment regulation This section describes the modes of operation specified by CiA402 when the motor drive is in the EtherCAT mode. The contents include basic operation and setting of related objects. The host controller controls the motor drive through the control word (OD 6040h) and read the current status of the motor drive through the status word (OD 6041h).
  • Page 25 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 The three big blocks are composed of 9 status Status Description Start Power-on Not Ready to Switch On The motor drive is initializing. Switch On Disable The motor drive finishes initializing. The motor drive is waiting to be switch on Ready to Switch On (energized).

  • Page 26: Ethercat Operation Mode

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 EtherCAT Operation Mode 5.2.1 Velocity Mode The host controller sends velocity command and acceleration / deceleration data to a motor drive. Then the motor drive controls the velocity. vl target velocity (6071 vl velocity actual vl ramp function time (604F Velocity Ramp...
  • Page 27 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Read Motor Drive Data 1. OD 606Ch: to observe motor rotation speed OD 6041h: Motor drive’s state word, bit 10 target reached (0: Not running to target speed; 1: Run to the target speed) Index Related to the Motor Drive Index Definition Form...

  • Page 28: Communication Warning / Fault Table

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 6. Communication Warning / Fault Table Motor drive warning / fault table Warning / Warning / Fault ID No. Description Corrective Action Fault / Code Name Timer out warning on the -Verify if communication EtherCAT Communication between system is wiring correctly.

  • Page 29: Sdo Abort Code

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 SDO Abort Code SDO Abort Code Description 0x05030000 Deflection fault while doing segment transmission 0x05040000 SDO time out. 0x05040001 Client / servo command are invalid or don’t exist. 0x05040005 Register overflow when running SDO. 0x06010000 Not supported access 0x06010001 Try to read a write-only object...

  • Page 30: Operation Example

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 7. Operation Example Delta PLC-AX-8 Operation Example (Designer-AX (Codesys base)) AX-8 GLAN1 IP: 192.168.0.10 Computer Network card IP: 192.168.0.123 Equipment Motor drive: M300 Communication card: CMM-EC02/ CMM-EC03 Software DIADesigner-AX V1.1.0 and above 1. Connect CMM-EC02/ CMM-EC03 to AX-8 EtherCAT port. Then Connect the AX-8 to the Computer via Ethernet port (GLAN1) 2.
  • Page 31 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 3. Select Standard project in the New Project window. 4. In the Standard Project window, choose the device AX-8xxEP0 Windows Series, Version and PLC_PRG in. Then click OK to create a new project. CMM-EC02/ CMM-EC03 Operation Manual 31...
  • Page 32 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 5. After you create a new project, go to ToolsDevice Repository to open a Device Repository window. 6. After you open a Device Repository window, click Install. CMM-EC02/ CMM-EC03 Operation Manual...
  • Page 33 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 7. Import an ESI filer of MS300 8. Double click on Device (AX-8xxEP0 Series), then click Scan Network. CMM-EC02/ CMM-EC03 Operation Manual 33...
  • Page 34 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 9. If you connect the computer and the AX-8 correctly, you can see the AX-8’s serial number. Click OK, you can see AX-8 hardware information. CMM-EC02/ CMM-EC03 Operation Manual...
  • Page 35 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 10. In the Devices window, select EtherCAT_Master (AX-8xxEP0 Series EtherCAT Master), then go to EtherCAT I/O Mapping tab to make sure that Bus Cycle Options is set as EtherCAT_Task. 11. In the Devices window, right click on the EtherCAT_Master (AX-8xxEP0 Series EtherCAT Master), then select Scan for Devices.
  • Page 36 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 12. The pop-up window shows the description of M300 model. Now select the M300 model description and click Copy All Devices to project. 13. If the pop-up window is blank, verify if the wiring between CMM-EC02/ CMM-EC03 and AX-8 is correct.
  • Page 37 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 14. In the Devices window, double click on M300_CMC_EC01_Card (Delta M300 EtherCAT (CoE)) to open a tab. In the tab, check the Enable expert settings, then on the left side of the tab, click Expert Process Data to start PDO reflection.
  • Page 38 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 16. A PDO Object mapping window pops up. Select a PDO object to map. 17. After you finish the steps mentioned above, you’ve created a framework and you can start programming PLC. CMM-EC02/ CMM-EC03 Operation Manual...

  • Page 39: Delta Plc - Ah10Emc Operation Example (Ecat Builder)

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Delta PLC – AH10EMC Operation Example (ECAT Builder) AH10EMC IP: 192.168.1.1 Computer Network card IP: 192.168.1.123 Equipment Motor drive: MS300 / MH300 Communication card: CMM-EC02/ CMM-EC03 COMMGR V1.11 and above Software ISPSoft V3.10 and above ECAT Builder V1.07 and above...
  • Page 40 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 3. Run ISPSoft software. Click on icon to create a new project. 4. Select AH MOTION as Controller Type. Then select AH10EMC as PLC Type. 5. Click Tools, select Communication Settings. CMM-EC02/ CMM-EC03 Operation Manual...
  • Page 41 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 6. Select a name for the Driver (the driver name which you created in step 2 of COMMGR). Then select an IP Address 192.168.1.1. 7. In the Project area, click on Program then click New to create a blank program. CMM-EC02/ CMM-EC03 Operation Manual 41...
  • Page 42 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 8. Click the Download to PLC button, as soon as the PLC starts to run, the connection between the PLC and the computer has been established. 9. In the Project area, double click HWCONFIG. Click Upload button to upload PLC parameters and related settings to HWCONFIG.
  • Page 43 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 10. Right click on the CPU module image as shown below, select Communication Software then click EtherCAT to do ECAT master / slave station settings in ECAT Builder software. 11. Click on the Network Scan button, then click Scan on the pop-up window. Then select MS300 / MH300 (CMM-EC02/ CMM-EC03) in the Equipment Name to export to the network.
  • Page 44 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 CMM-EC02/ CMM-EC03 Operation Manual...
  • Page 45 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 12. Import MS300 / MH300 into Network Diagram, then select MS300 / MH300 equipment to do to PDO mapping. Click Edit to add or delete objects. CMM-EC02/ CMM-EC03 Operation Manual 45...
  • Page 46 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 CMM-EC02/ CMM-EC03 Operation Manual...
  • Page 47 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 13. After you finish editing, click the Download button to download all the settings to the AH10EMC. Close ECAT Builder and HWCONFIFG, then start programming PLC in the ISPSoft CMM-EC02/ CMM-EC03 Operation Manual 47...
  • Page 48 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Import the ESI file  Click DDF Management Tool button, then follow step by step to import the ESI file. You can download ESI file in Delta’s download center (See section 2.5). CMM-EC02/ CMM-EC03 Operation Manual...

  • Page 49: Description Of Object Specification

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Appendix A. A.1 Description of Object Specification A.1.1 Object Type Object Type Description Variable A single value such as a UNSIGNED8, a Boolean, a float and an INTEGER16 An object with multiple data fields composed of multiple variables of the same data Array type such as UNSIGNED16.

  • Page 50: Object Dictionary

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 A.2 Object Dictionary A.2.1 OD 1000h Communication Group Index Object Type Name Data Type Attribute 1000h Variable Device type UNSIGNED32 1001h Variable Error register UNSIGNED8 1008h Variable Device name STRING 100Ah Variable Software version STRING 1018h Record Identity...

  • Page 51: Detailed Information About Objects

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 A.3 Detailed Information about Objects A.3.1 OD 1000h Communication Group Object 1000h：Device type Index 1000h Name Device type Object Type Variable Data Type UNSIGNED32 Read-Write Permission PDO Mapping Setting Setting Range UNSIGNED32 Object 1001h：Error register Index 1001h Name...
  • Page 52 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Object 1018h：Identity Index 1018h Name Identity Object Type RECORD Read-Write Permission PDO MAPPING SETTING Sub-Index Name SubIndex 000 Data Type UNSIGNED8 Read-Write Permission PDO MAPPING SETTING Setting Range UNSIGNED8 Sub-Index Name Vendor ID Data Type UNSIGNED32 Read-Write Permission PDO MAPPING...
  • Page 53 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Object 1600h~1603h：Receive PDO Mapping Parameter Index 1600h / 1601h / 1602h / 1603h Name Receive PDO mapping Object Type RECORD Data Type PDO mapping Read-Write Permission PDO MAPPING SETTING The total length of a PDO set cannot be longer Note than 64-bit.
  • Page 54 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Sub-Index Name Mapping entry (n) Data Type UNSIGNED32 Read-Write Permission PDO MAPPING SETTING Setting Range UNSIGNED32 Factory Setting Object 1C12h：RxPDO assign Index 1C12h Name RxPDO assign Object Type ARRAY Data Type UNSIGNED16 Read-Write Permission PDO MAPPING SETTING Sub-Index Name...
  • Page 55 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Sub-Index Name Index of assigned TxPDO Data Type UNSIGNED16 Read-Write Permission PDO MAPPING SETTING Setting Range 0x1A00 / 0x1A01 / 0x1A02 / 0x1A03 Factory Setting 0x1A00 CMM-EC02/ CMM-EC03 Operation Manual 55...

  • Page 56: Od 3000H Motor Drive's Parameter Group

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 A.3.2 OD 3000h Motor Drive’s Parameter Group Index 3XXXh Name Driver parameter Object Type Variable Data Type UNSIGNED16 Read-Write Permission PDO MAPPING SETTING Setting Range UNSIGNED16 Factory Setting You can read/write motor drive’s parameters via this object group. The motor drive’s parameter can only be changed by SDO.

  • Page 57: Od 6000H Communication Object Group

    EtherCAT Communication Card: CMM-EC02/ CMM-EC03 A.3.3 OD 6000h Communication Object Group Object 6007h：Abort connection option code Index 6007h Name Abort connection option code Object Type Variable Data Type INTEGER16 Read-Write Permission PDO MAPPING SETTING 0: No function Setting Range 2: Switch on Disable 3: Quick Stop Factory Setting When object 6007h = 0, CANopen ignores a disconnection fault, no warning and do nothing.
  • Page 58 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Description of different bits Function Description Bit 0 Switch on Bit 1 Enable voltage Bit 2 Quick stop Bit 3 Enable operation Bit 4~Bit 6 Operation mode specific Refer to the Specific Model Definition table blow Bit 7 Fault reset Bit 8...
  • Page 59 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Status Switching Definition table Status Event Action Switching Auto run after powering on Activate the device and initialize. 0、1 Shutdown command Switch on command Motor drive prepares for servo on Motor drive has servo on and is in Enable operation command operation.
  • Page 60 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Description of different bits Function Description Bit 0 Ready to switch on Bit 1 Switched on Bit 2 Operation enabled Bit 0 to Bit6 display current status of the motor drive. Bit 3 Fault See table below for details. Bit 4 Voltage enabled Bit 5...
  • Page 61 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Object 6042h：vl target velocity Index 6042h Name vl target velocity Object Type Variable Data Type INTEGER16 Read-Write Permission MAPPING SETTING Setting Range INTEGER16 Factory setting Unit This object is a velocity command value under the velocity mode. Object 6043h：vl velocity demand Index 6043h...
  • Page 62 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Object 6050h：vl slow down time Index 6050h Name vl slow down time Object Type Variable Data Type UNSIGNED32 Read-Write Permission PDO MAPPING SETTING Setting Range UNSIGNED32 Factory setting 10000 Unit This object is the time spent when the motor drive decelerates from 6042h to 0 RPM under the Velocity Mode.
  • Page 63 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Object 605Ch：Disable operation option code Index 605Ch Name Disable operation option code Object Type Variable Data Type INTEGER16 Read-Write Permission PDO MAPPING SETTING 0: Disable motor drive Setting Range 1: Decelerate to stop; disable motor drive Factory Setting This object is a choice behavior of the motor drive when the status switches from Operation Enable to Switched On.
  • Page 64 EtherCAT Communication Card: CMM-EC02/ CMM-EC03 Object 6061h：Modes of operation display Index 6061h Name Modes of operation display Object Type Variable Data Type INTEGER8 Read-Write Permission MAPPING SETTING Setting Range INTEGER8 Factory Setting This object shows the current operation mode. Object 6502h：Supported drive modes Index 6502h Name...

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