WEG SCA06 User Manual
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WEG SCA06 User Manual

WEG SCA06 User Manual

Ethercat
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Motors | Automation | Energy | Transmission & Distribution | Coatings
EtherCAT
SCA06
User's Guide

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  • Page 1 Motors | Automation | Energy | Transmission & Distribution | Coatings EtherCAT SCA06 User’s Guide...
  • Page 2 EtherCAT User’s Guide Series: SCA06 Language: English Document Number: 10005376721 / 00 Build 664 Publication Date: 01/2018...

  • Page 3: Table Of Contents

    Contents CONTENTS ABOUT THE MANUAL ..................1 Equipment Characteristics in EtherCAT Network .
  • Page 4 Contents Device Control ................... . . 25 8.1.1 Object 6040h –...
  • Page 5 Contents Operation Using Process Data ................43 10 Faults and Alarms .

  • Page 6: About The Manual

    ABOUT THE MANUAL ABOUT THE MANUAL This manual supplies the necessary information for the operation of the SCA06 servo drive using the EtherCAT pro- tocol. This manual must be used together with the SCA06 user’s manual and programming manual. SCA06 | 6...

  • Page 7: Equipment Characteristics In Ethercat Network

    Equipment Characteristics in EtherCAT Network EQUIPMENT CHARACTERISTICS IN ETHERCAT NETWORK Following they are presented the main characteristics for the EtherCAT communication accessory for SCA06 servo drive. It allows the equipment to operate as slave for the EtherCAT communication. It has two Ethernet ports, which allows to connect several equipments in sequence or in a ring topology.

  • Page 8: Ethercat Overview

    fields like machine controls. DEVICE PROFILES The EtherCAT communication allows different protocols to be used in the application layer. For servo drive SCA06, the CANopen over EtherCAT (CoE) device profile is available, where the CANopen protocol is applied to EtherCAT.

  • Page 9: Interfaces Description

    Interfaces Description INTERFACES DESCRIPTION SCA06 servo drive uses ECO4 accessory to provide an EtherCAT interface operating as EtherCAT slave in the product. ETHERCAT INTERFACE ACCESSORY Supplied items: – Installation guide. – EtherCAT interface module. It has an integrated switch to daisy chain connection.

  • Page 10: Indication Leds

    INIT (or not powered) Alternating on/off PRE-OPERATIONAL. Green 1 blink and 1 interval SAFE-OPERATIONAL. Solid OPERATIONAL. No error (or not powered) Alternating on/off Interface initialization error. 1 blink and 1 interval Communication error, slave left the operational state. SCA06 | 10...

  • Page 11: Network Installation

    Shielded cable. Maximum length between devices: 100m. NETWORK TOPOLOGY To connect SCA06 servo drive in an EtherCAT network, it is necessary to observe the Ethernet connector on the device used for connection. The network always start by the EtherCAT master.
  • Page 12 Use clamps on the main grounding point, allowing better contact surface between the cable shield and ground. Avoid the cable connection on multiple grounding points, especially where there are grounds with different po- tentials. Pass signal cables and communication cable in dedicated pathways. Prevent the passage of these cables next to power cables. SCA06 | 12...

  • Page 13: Parameterization

    Properties: Description: This parameter defines the operating mode for SCA06 servo drive, allowing to program which mode is desired for the motor control, and what is the control source for the device. For the equipment to be controlled over EtherCAT network, you must select the option for operation via EtherCAT network in this parameter.

  • Page 14: P0662 - Communication Error Behavior

    Default: - 1 = Access error 2 = Watchdog error 3 = Offline 4 = Online Properties: ro, ecat Description: Indicates the status of EtherCAT Interface, related to the data exchange between network master and SCA06 servo drive. SCA06 | 14...

  • Page 15: P0852 - Ethercat Link Status

    Port 2: Loop active 1: Data loop active at port 2, to return response to the master. Bit 11 0: No communication at port 2. Port 2: Communication 1: Communication established at port 2. Established Bit 12...15 Reserved. SCA06 | 15...

  • Page 16: P0853 - Ethercat Slave Status

    TxPDO and is updated only when the master initiates the cyclic data communication with the equipment. P0857 – CONFIGURED RXPDO Range: 0 to 65535 Default: - Properties: ro, ecat Description: SCA06 | 16...

  • Page 17: P0858 - Number Of Bytes Configured At Rxpdo

    Once in the operational state, the master must send telegrams to update the operating data at regular intervals. This parameter indicates the time between the last two data updates, allowing user to monitor the period for execution of this function. SCA06 | 17...

  • Page 18: Network Operation

    Network Operation NETWORK OPERATION Following it shows operating characteristics of the SCA06 servo drive using EtherCAT interface. ETHERCAT COMMUNICATION ARCHITECTURE The following figure presents the SCA06 servo drive architecture for network data exchange. Figure 6.1: EtherCAT communication architecture The application layer protocol used by the EtherCAT is based on CANopen DS301 protocol, called CANopen over EtherCAT (CoE).

  • Page 19: Sync Managers

    Sync Manager 2: control access to RxPDO data. Object 1C12h is used to indicate which RxPDO this Sync Manager is associated with. Sync Manager 3: control access to TxPDO data. Object 1C13h is used to indicate which TxPDO this Sync Manager is associated with. SCA06 | 19...

  • Page 20: Synchronization Modes

    DC-Synchronous: data update is synchronous, using distributed clock mechanism. ✓ NOTE! The minimum cycle allowed for SCA06 servo drive data updating over the network is 1ms. PROCESS DATA - PDO The process data (cyclic data), used to control and monitor the equipment during operation, are transmitted and received by the slave using PDOs.

  • Page 21: Pdo Assignment

    Different data sets can be transmitted via mailbox. SCA06 servo drive enables the data exchange using an SDO server that responds to requests from the EtherCAT master as specified by the EtherCAT protocol.

  • Page 22: Ethercat Slave Information

    Information such as the list of objects for communication, configuration and FMMUs Sync Managers, standard map- ping for PDOs, are present in this file. ✓ NOTE! It is important to note if the XML configuration file is compatible with the firmware version of SCA06 servo drive. SCA06 | 22...

  • Page 23: Object Dictionary

    For indexes from 2000h to 5FFFh, each manufacture is free to define which objects will be present, and also the type and function of each one. In the case of the SCA06, the whole list of parameters was made available in this object range.

  • Page 24: Object 3000H - Digital Inputs

    Object 3001h – Digital outputs This object allows writing the digital output values to servo drive SCA06. The sub-index is used to identify the desired set of outputs (standard product or expansions), and each bit of the sub-index represents one digital output.

  • Page 25: Cia 402 Drive Profile

    The objects that are common for drives, defined by the CANopen specification in the CiA DSP 402 document, are described in this section The following table presents the list of the available objects for the servo drive SCA06, divided according to the different operation modes of the device.
  • Page 26 Transition 4: the Enable operation command has been received. The drive is enabled. ✓ Transition 5: the Disable operation command has been received. The drive is disabled. ✓ Transition 6: the Shutdown command has been received. The state transition is performed, but no action is taken by the drive. SCA06 | 26...

  • Page 27: Object 6040H - Controlword

    ✓ NOTE! For the commands sent by the control word to be executed by the SCA06 servo drive, it is necessary to programm it for the “CANopen” mode of operation. This programming is done on parameter P0202. SCA06 | 27...

  • Page 28: Object 6041H - Statusword

    Bit 4 – Voltage enabled: indicates that the drive power section is powered. Bit 7 – Warning: indicates that has an active warning. Not used by SCA06. Bit 9 – Remote: indicates when the drive is in the remote mode and accepts commands via EtherCAT network.

  • Page 29: Object 6061H - Modes Of Operation Display

    1 in bit indicates that the mode of operation is supported. 31 - 16 15-10 Mode THE SCA06 servo drive features three modes of operation: pp: Profile Position mode. pv: Profile Velocity mode. tq: Torque mode. csv: Cyclic sync velocity mode.

  • Page 30: Object 6091H - Gear Ratio

    Internal unit - 65536 increments by revolution The sub-index 2 (Shaft revolutions) only accepts value equal to 1. POSITION CONTROL FUNCTION This object group is used to describe the operation of the position controller in closed loop. SCA06 | 30...

  • Page 31: Object 6063H - Position Internal Actual Value

    Minutes Seconds Internal unit PROFILE POSITION MODE This mode of operation allows the control of the SCA06 servo drive by adjusting of the position set-point, which can be executed following two methods: single set-point. set of set-points. No matter which method is used, the adjustment of a set-point is performed as follows: first you must write on the Target Position object (607Ah) the desired set-point.
  • Page 32 The single set-point method is used when you want to execute a new set-point immediately. Figure 8.3 illustrates the method. Figure 8.3: Single set-point method (Source: IEC 61800-7-201) Set of set-point The set of set-point method is used when you want to execute a new set-point only after the completion of the SCA06 | 32...
  • Page 33 Figure 8.4 illustrates the method. Figure 8.4: Set of set-point method (Source: IEC 61800-7-201) The SCA06 servo drive can store two set-points, the one which is in execution and the one that will be executed, as illustrated in figure 8.5.

  • Page 34: Control And Status Bits

    Object 607Ah – Target Position It allows programming the position reference for the SCA06 servo drive in positioning mode. The 16 most relevant bits inform the number of revolutions and the 16 bits least relevant ones inform the fraction of revolution. The scale used in this object is 65536 for number of revolutions and 65536 increments for one revolution of the shaft.

  • Page 35: Object 6081H - Profile Velocity

    Motion Profile Type INT16 Table 8.11: Values for the Motion Profile Type Value Profile 0000h Linear ramp FFFFh No ramp PROFILE VELOCITY MODE This mode of operation allows controlling the drive in a simple way, providing functions, such as: SCA06 | 35...

  • Page 36: Control And Status Bits

    Object 6069h – Velocity Sensor Actual Value It allows the reading of the sensor used to measure the motor speed. The SCA06 servo drive uses a resolver as position (the angular speed is obtained by deriving this value in time), so the sensor provides a value proportional to the angular position.

  • Page 37: Object 606Ch - Velocity Actual Value

    Velocity Demand Value INT32 8.5.4 Object 606Ch – Velocity Actual Value It indicates the motor speed. The value provided by this object is given in the internal scale of the SCA06, where 0x7FFF FFFF → 10.000 rpm. Sub- Index Name...

  • Page 38: Object 6071H - Target Torque

    INT16 8.6.4 Object 6087h – Torque Slope It allows programming the rate of torque variation in time (torque ramp) for the SCA06 servo drive. The scale used is of parts per thousand of the rated motor torque per second. Sub-...

  • Page 39: Cyclic Sinchronous Position Mode

    8.7.3 Object 60C2h – Interpolation time period This object shall indicate the configured interpolation cycle time. Sub- Index Name Type Access index Mapping Highest sub-index supported 60C2h Interpolation time period value UINT8 Interpolation time index -128 a SCA06 | 39...

  • Page 40: Mode Configuration

    Reserved Target velocity ignored Target velocity shall be used as input to velocity control loop Reserved Reserved 8.8.2 Object 60B1h – Velocity Offset In cyclic synchronous velocity mode, it contains the command offset of the drive device. SCA06 | 40...

  • Page 41: Object 60C2H - Interpolation Time Period

    The objects below will be configured for the drive works in Cyclic Synchronization Velocity Mode: 0x6040 - Controlword 0x6060 – Modes of Operation 0x60C2 – Interpolation Time Type 0x60B1 – Velocity Offset 0x6086 – Motion Profile Type 0x60FF – Target Velocity; SCA06 | 41...

  • Page 42: Startup Guide

    2. Select SCA06 servo drive on the list of available products in the network configuration tool. This can be done manually or automatically, if allowed by the tool. 3. Program the transmit and receive PDOs, as well as the data transmitted and received by these PDOs: There are 4 TxPDOs and 4 RxPDOs, but only one can be enabled at a time.

  • Page 43: Communication Status

    6063h: Position actual value 607Ah: Target position 60FFh: Target velocity 6071h: Target Torque It is important to know these objects and understand the operation of each mode of operation to program the master as desired for the application. SCA06 | 43...

  • Page 44: Faults And Alarms

    FAULTS AND ALARMS F0045/A0145 - ETHERCAT INTERFACE ACCESS ERROR Description: It indicates data exchange failure between SCA06 servo drive and the EtherCAT accessory. Actuation: During initialization and operation, regular data check is performed between device and EtherCAT accessory to assure this connection is correct.
  • Page 45 WEG Drives & Controls - Automação LTDA. Jaraguá do Sul – SC – Brazil Phone 55 (47) 3276-4000 – Fax 55 (47) 3276-4020 São Paulo – SP – Brazil Phone 55 (11) 5053-2300 – Fax 55 (11) 5052-4212 automacao@weg.net www.weg.net...

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