Summary of Contents for SEW-Eurodrive FSE24B EtherCAT
- Page 1 Drive Technology \ Drive Automation \ System Integration \ Services Manual Communication Interface ® FSE24B EtherCAT ® for MOVITRAC Edition 04/2013 20126956 / EN...
- Page 2 SEW-EURODRIVE—Driving the world...
-
Page 3: Table Of Contents
4.7.2 LED ERR (red)................14 4.7.3 LED SYS-F (red)................ 15 4.7.4 LED Link/Activity (green) ............16 Configuration and Startup................17 Validity of the XML file for the FSE24B communication option ....17 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... - Page 4 Reading or changing unit parameters........43 7.5.3 Starting up units (online)............44 Error Diagnostics ....................45 Diagnostic procedures ................45 Technical Data....................48 ® FSE24B communication option for MOVITRAC B ........48 Index........................49 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®...
-
Page 5: General Information
This is the formal structure of an embedded safety note: • SIGNAL WORD Nature and source of hazard. Possible consequence(s) if disregarded. – Measure(s) to prevent the danger. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 6: Right To Claim Under Warranty
Installation and startup only by qualified electricians observing the relevant accident prevention regulations and the operating instructions of the connected units. Product names and trademarks ® EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 7: Safety Notes
Disposal Observe the applicable national regulations. Dispose of the following materials separately in accordance with the country-specific regulations in force, as: • Electronics scrap • Plastics • Sheet metal Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 8: Introduction
B simply and effectively to the ® EtherCAT fieldbus system, you should request the following documentation on fieldbus ® technology in addition to this user manual for the FSE24B EtherCAT option: ® • Manual "MOVITRAC B Communication and Fieldbus Unit Profile"... -
Page 9: Acyclic Data Exchange Via Ethercat
B inverter offers numerous diagnostic options for startup and service purposes. For example, you can use the integrated fieldbus monitor to control both set- point values sent from the higher-level controller as well as the actual values. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 10: Assembly And Installation Notes
® which briefly interrupts the EtherCAT line. In order to prevent the brief interruption ® of the EtherCAT line, the FSE24B must be supplied with DC 24 V via X47. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 11: Connection And Terminal Assignment
Connection of the DC 24 V supply for the FSE24B communi- ® cation option and MOVITRAC 1: DC 24 V 2: GND ® X30 IN: RJ45 plug connector Incoming EtherCAT connection. ® X30 OUT: RJ45 plug connector Outgoing EtherCAT connection. 3035170571 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 12: Pin Assignment X30 In/Out
Route the signal cable and the corresponding equipotential bonding close to each other using the shortest possible route. • Avoid using plug connectors to extend bus cables. • Route the bus cables closely along existing grounding surfaces. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 13: Bus Termination
Status LEDs of FSE24B ® The FSE24B EtherCAT communication option has three LEDs that indicate the current ® ® status of the FSE24B, the EtherCAT system, and the connection to MOVITRAC FSE24B SYS-F 3012714763 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 14: Led Run (Green)
Flashing twice Timeout of the appli- A watchdog timeout has occurred in the application. cation watchdog Flashing three Reserved times Flashing four Reserved times PDI watchdog timeout A PDI watchdog timeout occurred. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 15: Led Sys-F (Red)
No communication between the FSE24B front module and ® MOVITRAC ® Check the P88. parameters in MOVITRAC • Baud rate (CAN) = 500 kBd ® • Profile (CAN) = MOVILINK • SBus address = 0 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 16: Led Link/Activity (Green)
(X30 OUT) has a "Link/Activity" LED. It indicates whether the EtherCAT con- nection to the preceding or following unit is available and active. X30 IN X30 OUT LED "Link/Activity" 3036161675 [1] = No function Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 17: Configuration And Startup
Configuration of process data objects (PDO) ® ® 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- Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... - Page 18 List of the possible process data objects (PDO) for FSE24B MOVITRAC Index Size Name Mapping Sync Manager Sync Unit 1600hex 6 bytes OutputData1 (standard 3 PO) Fixed con- (5632dec) tent 1601hex 20 bytes OutputData1 (standard 10 PO) Fixed con- (5633dec) tent Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®...
- Page 19 UINT (15801.0dec) 3DBA.0hex UINT (15802.0dec) 3DBB.0hex UINT (15803.0dec) 3DBC.0hex UINT (15804.0dec) 3DBD.0hex 10.0 UINT (15805.0dec) 3DBE.0hex 12.0 UINT (15806.0dec) 3DBF.0hex 14.0 UINT (15807.0dec) 3DC0.0hex 16.0 UINT (15808.0dec) 3DC1.0hex 18.0 PO10 UINT (15809.0dec) Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®...
- Page 20 UINT (15901.0dec) 3E1E.0hex UINT (15902.0dec) 3E1F.0hex UINT (15903.0dec) 3E20.0hex UINT (15904.0dec) 3E21.0hex 10.0 UINT (15905.0dec) 3E22.0hex 12.0 UINT (15906.0dec) 3E23.0hex 14.0 UINT (15907.0dec) 3E24.0hex 16.0 UINT (15908.0dec) 3E25.0hex 18.0 PI10 UINT (15909.0dec) Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®...
-
Page 21: Setting The Movitrac ® B Frequency Inverter
The simplest way of en- abling the frequency inverter at the terminals is to connect the DIØ1 (function CW/STOP) input terminal to a +24 V signal and to program the remaining input terminals to NO FUNCTION. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 22: Operating Behavior In Connection With Ethercat
For more information about control via the process data channel, in particular regard- ® ing the coding of the control and status word, refer to the "MOVITRAC B Communi- cation and Fieldbus Unit Profile" manual Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 23: Control Example In Twincat With Movitrac ® B
"Find devices" to search the EtherCAT line for connected MOVITRAC units (see fol- lowing figure). 3018087563 For the simplest form of process data transport, only the two PDOs InputData1 and OutputData1 are required. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 24: Communication Timeout Between Ethercat
Communication timeout between EtherCAT , FSE24B and MOVITRAC ® If the data transmission via EtherCAT is interrupted or faulty, the response monitoring time configured in the master elapses in the FSE24B communication option. The ERR Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 25: Unit Error
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 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 26: Example Of Reading A Parameter In Twincat Via Ethercat
The output flags bBusy and bError indicate the status of the service. nErrId shows the error number when the bError flag is set if an error occurs. The function module is integrated in TwinCAT as follows: 3018638731 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 27: Example Of Writing A Parameter In Twincat Via Ethercat
– tTimeout: Timeout interval of the function module. The output flags bBusy and bError indicate the status of the service. nErrId shows the error number when the bError flag is set if an error occurs. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 28: Parameterization Return Codes
These codes provide detailed information about the ® cause for the error. Refer to the "MOVITRAC B Communication and Fieldbus Unit Pro- file" manual for a description of the return codes. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 29: Operating Movitools ® Motionstudio Via Ethercat
[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 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... - Page 30 The following basic components are included in the MOVITOOLS MotionStudio software package, allowing you to use the units to execute functions: • MotionStudio ® • MOVITOOLS ® MOVITOOLS MotionStudio provides the right tools for every unit type. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®...
-
Page 31: First Steps
For detailed information on how to configure a communication channel, refer to the section "Communication via ...". 2. Scan your network (unit scan). Press the [Start network scan] button [1] in the tool- bar. 9007200387461515 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 32: Configuring Units
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. 2446355211 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 33: Connection Mode
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]. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 34: Selecting The Communication Mode (Online Or Offline)
[1] "Switch to online mode" symbol [2] "Switch to offline mode" symbol 2. Select the unit node. 3. Right-click to open the context menu and display the tools for configuring the unit. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 35: Communication Via Ethercat
INFORMATION ® ® Unassigned 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. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... - Page 36 [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 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®...
- Page 37 [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 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®...
-
Page 38: Configuration Of The Mailbox Gateway In The Ethercat
The IP address is usually assigned 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 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 39: Configuring The Network At The Engineering Pc
3267406603 IP address: IP address of the engineering PC Subnet mask: Subnet mask of the engineering PC ® Standard gateway: IP address of the EtherCAT master (engineering interface) in the Ethernet network Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 40: Checking The Network Settings
– Configuring the network at the engineering PC (page 39) INFORMATION ® Settings of the EtherCAT master are not adopted ® • If the settings of the EtherCAT master are not accepted, perform a reboot. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 41: Communication Settings In Movitools ® Motionstudio
Select the "EtherCAT settings" tab. ® for EtherCAT 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 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... - Page 42 [Add IP address] button "IP address" edit box ® 5. Enter the IP address of the mailbox gateway (in the EtherCAT master) in the "IP address" input field [3] and click the [OK] button. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®...
-
Page 43: Executing Functions With The Units
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. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 44: Starting Up Units (Online)
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 your unit. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 45: Error Diagnostics
Slave is in SAFE-OPERATIONAL state. → once Lights up green Slave is in OPERATIONAL state. → Startup the bus in the master. Option FSE24B is defective. Continue with 3: Response of the ERR LED? Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... - Page 46 ↓ 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. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®...
- Page 47 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. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®...
-
Page 48: Technical Data
MotionStudio version 5.40 or later. ® • Engineering at the PC via EtherCAT ; advanced diagnostics using the fieldbus status parameters in parameter group P09_ is possible with ® MOVITOOLS MotionStudio 5.70 or later. Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... -
Page 49: Index
Exclusion of liability ..........6 Reading a parameter in TwinCAT .....26 Executing functions of the units ......30 SDO services READ and WRITE ......25 Executing functions with the units ......43 Writing a parameter in TwinCAT......27 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®... - Page 50 Structure of section safety notes......5 MOVITRAC® B..........17 ® Setting the MOVITRAC B frequency inverter..21 Validity ...............17 Setting the station address ........13 X30 IN/OUT, pin assignment .........12 Signal word, meaning ..........5 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®...
- Page 52 SEW-EURODRIVE—Driving the world SEW-EURODRIVE Driving the world SEW-EURODRIVE GmbH & Co KG P.O. Box 3023 D-76642 Bruchsal/Germany Phone +49 7251 75-0 Fax +49 7251 75-1970 sew@sew-eurodrive.com www.sew-eurodrive.com...
Need help?
Do you have a question about the FSE24B EtherCAT and is the answer not in the manual?
Questions and answers