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LinMot C1150-SE-XC-0S Interface Manual

Ethercat soe profile interface
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Download this manual See also: Installation Manual
EtherCAT SoE Profile Interface
Manual
Documentation of the EtherCAT SoE Interface of the
Oktober 2018
following Drives:
·
C1150-SE-XC-0S/1S
·
C1250-SE-XC-0S/1S
·
C1450-SE-VS-0S/1S
·
E1450-SE-QN-0S/1S
·
E1250-SE-UC
Doc.: 0185-1103-E_6V4_MA_EtherCAT-CiA402

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Summary of Contents for LinMot C1150-SE-XC-0S

  • Page 1 EtherCAT SoE Profile Interface Manual Documentation of the EtherCAT SoE Interface of the following Drives: · C1150-SE-XC-0S/1S · C1250-SE-XC-0S/1S · C1450-SE-VS-0S/1S · E1450-SE-QN-0S/1S · E1250-SE-UC Oktober 2018 Doc.: 0185-1103-E_6V4_MA_EtherCAT-CiA402...
  • Page 2 NTI AG. LinMot® is a registered trademark of NTI AG. Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation.

  • Page 3: Table Of Contents

    Adding Parameters or Variables to the PDO data by UPID ......... 12 Asynchronous Configuration Protocol SoE ..........15 Communication SoE Profile Area ................15 Generic LinMot SoE Parameter Mapping ............... 15 EtherCAT SoE Parameters ................16 Parameters ........................ 16 5.1.1 EtherCAT/Dis-/Enable ..................

  • Page 4: System Overview

    EtherCAT is the open real-time Ethernet network originally developed by Beckhoff. The LinMot act as Slave in this network and is implemented with the standard ASIC ET1100 from Beckhoff. With the SoE (Sercos over EtherCAT) Protocol it is possible to use the Sercos functionality over the EtherCAT bus, the drive behaves as a Sercos drive.

  • Page 5: Setup In The Plc

    Setup in the PLC In the following steps the integration of a LinMot EtherCAT Sercos Servo Drive in the PLC is described. In the example a Beckhoff master PLC is used. The easiest way is the online configuration when the device is connected to the EtherCAT network.

  • Page 6: Scan The Ethercat Slave Devices

    Scan the EtherCAT slave devices Connect the EtherCAT LinMot SoE Servo Drive to the EtherCAT-Master and power on the signal supply. Then scan for the connected devices in the System Manager: Scan for EtherCAT slave devices. With the question Add drives to NC-configuration select yes.
  • Page 7 These steps add the servo drive and its NC-axis to the project. If the master also supports also the mapping Velocity command value it is strongly recommended to add this to MDT1 data. NTI AG / LinMot 7 / 19...
  • Page 8 Add the Velocity command value by selecting it from the dictionary Click Yes to relink the new process data. 8 / 19 NTI AG / LinMot...
  • Page 9 MDT1 telegram with added Velocity command value. Now the NC encoder has to be set to the correct value push the calulate button for this. After this action the value should stand at this value (2^32). NTI AG / LinMot 9 / 19...
  • Page 10 0. If this is forgotten, the behaviour could be noisy. To set these NC parameters they have to be downloaded. Now the servo drive can be used with system manager NC functionality when started. 10 / 19 NTI AG / LinMot...

  • Page 11: Process Data Object (Pdo) Configuration

    PLC point of view. For a detailed description of the exchanged data and its meaning refer to [1]. For a detailed description of the PDO data refer to [1] or have a look at the TwinCAT demo program, which is included with the LinMot-Talk software. Input PDO Modules 3.1.1...

  • Page 12: Output Pdo Modules

    MDT 1 telegram. With this a much better dynamic could be reached. Typical Startup Telegrams This figure shows the startup telegram list of LinMot EtherCAT servo drive Adding Parameters or Variables to the PDO data by UPID Sometimes it is needed to have acces to other process data object at runtime, for this additional data object could be added to the existing data objects by UPID.
  • Page 13 (the size 2 bytes or 4 bytes has to be the same as the defined eith the UPID) then click OK. Modified Startup list with Demand Current (UPID 0x1B93) added to the AT list (S-0-0016) NTI AG / LinMot 13 / 19...
  • Page 14 Now the new data cpould be linkt to a PLC data object. 14 / 19 NTI AG / LinMot...

  • Page 15: Asynchronous Configuration Protocol Soe

    LinMot SoE Object Dictionary Generic LinMot SoE Parameter Mapping Apart from the above described parameters with the LinMot servo drives, there exists a generic parameter mapping of the LinMot parameters by UPID to the SoE parameter NTI AG / LinMot...

  • Page 16: Ethercat Soe Parameters

    Download, Software, LinMot Talk. 5.1.1 EtherCAT/Dis-/Enable With the Dis-/Enable parameter the LinMot Servo Drive can be run without the Ethernet EtherCAT Interface going online. So in a first step the system can be configured and run without any bus connection.

  • Page 17: Ethercat/Station Alias/Alias Address Parameter Mask

    Quick Stop is performed, when the IO timeout occurs. Error with Go To Pos Drive goes to Error State before the Voltage is disabled a Go To Position is performed, when the IO timeout occurs. NTI AG / LinMot 17 / 19...

  • Page 18: Connecting To The Ethercat Network

    X17 – X18ETHERCAT Connector Wire color code Assignment 100BASE-TX WHT/ORG WHT/GRN WHT/BLU WHT/BRN case RJ-45 Use standard patch cables (twisted pair, S/UTP, AWG26) for wiring. This type of cable is usually referred to as a “Cat5e-Cable”. 18 / 19 NTI AG / LinMot...
  • Page 19 LinMot USA Inc. N1922 State Road 120, Unit 1 Lake Geneva, WI 53147 Phone: 262-743-2555 E-Mail: usasales@linmot.com Web: http://www.linmot-usa.com/ Please visit http://www.linmot.com/contact to find the distribution close to you. Smart solutions are... NTI AG / LinMot 19 / 19...

This manual is also suitable for:

C1250-se-xc-1sC1450-se-vs-0sE1450-se-qn-0sC1450-se-vs-1sE1250-se-ucE1450-se-qn-1s ... Show all

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