Startup Guide; Installing The Ethercat Module; Configuring The Drive; Configuring The Master - WEG SCA06 User Manual

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STARTUP GUIDE

The following are the main steps for commissioning of SCA06 servo drive on the EtherCAT network. The steps are
an example of usage. Refer to specific chapters for details on the steps.
9.1

INSTALLING THE ETHERCAT MODULE

1. Install the EtherCAT communication module at slot 2, as indicated in the installation guide that came with the
module.
2. Connect the Ethernet cable to the module, considering the necessary care in network installation, as described
in section 4:
Use shielded cable.
Perform a properly grounding connection.
Avoid the passage of communication cables next to power cables.
9.2 CONFIGURING THE DRIVE
1. Follow the recommendations described in the user's guide to program the device parameter related to motor
parameters, desired functions for the I/O signs, etc.
2. Program the desired mode of operation for application in parameter P0202 (P0202 = 5 for control via EtherCAT).
3. Set the desired device action in the event of communication failure, through P0662 (P0662 = 1 to cause equip-
ment failure in the event of loss of communication with the master).
4. Other settings, such as selection of data for communication via EtherCAT, are made by the configuration tool
of the network master.
9.3 CONFIGURING THE MASTER
The way you do the setup of the network depends largely on the master and configuration tool. It is important to
know the tools used to perform this activity. In general, the following steps are required to perform the network
configuration.
1. Load the XML configuration file provided on the CD shipped with the product
network configuration tool.
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.
TxPDOs are associated with the Sync Manager 2 (outputs), while RxPDOs are associated with the Sync
Manager 3 (Inputs). The selection of which receive and transmit PDOs are active is done through objects
1C12h and 1C13 respectively.
Each PDO has a default mapping containing a set of predetermined objects for communication. This default
mapping is usually sufficient to meet most applications, but you can change the mapping if desired.
4. You must also set the data update cycle. The minimum value supported by the device is 200 us.
5. The equipment allows the master to use two interrupt modes for data update:
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It is important to note if the XML configuration file is compatible with SCA06 servo drive firmware version.
Startup Guide
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