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SEW-Eurodrive DFE24B EtherCAT Manual

SEW-Eurodrive DFE24B EtherCAT Manual

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Drive Technology \ Drive Automation \ System Integration \ Services
Manual
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Fieldbus Interface DFE24B EtherCAT
Edition 04/2013
20075758 / EN

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Summary of Contents for SEW-Eurodrive DFE24B EtherCAT

  • Page 1 Drive Technology \ Drive Automation \ System Integration \ Services Manual ® Fieldbus Interface DFE24B EtherCAT Edition 04/2013 20075758 / EN...
  • Page 2 SEW-EURODRIVE—Driving the world...

  • Page 3: Table Of Contents

    Connection and terminal description of the DFE24B option ..... 18 4.4.1 Part number ................18 Pin assignment X30 IN / X31 OUT ............19 ® 4.5.1 DFE24B – EtherCAT connection..........19 Shielding and routing bus cables .............. 19 Bus termination ..................20 Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 4 ..48 Parameterization return codes..............50 6.4.1 Elements..................50 6.4.2 Error class.................. 50 6.4.3 Error code .................. 50 6.4.4 Additional code ................50 6.4.5 List of implemented error codes for SDO services ....51 Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 5 Diagnostic procedures ................82 List of errors ....................84 Technical Data....................85 ® 10.1 DFE24B option for MOVIDRIVE MDX61B..........85 ® 10.2 DFE24B option for MOVITRAC B and gateway housing ......86 Index........................87 Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 6: General Information

    Embedded safety notes are directly integrated in the instructions just before the descrip- tion of the dangerous action. This is the formal structure of an embedded safety note: • SIGNAL WORD Type and source of danger. Possible consequence(s) if disregarded. – Measure(s) to prevent the danger. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 7: Right To Claim Under Warranty

    Product names and trademarks All product names in this documentation are trademarks or registered trademarks of their respective titleholders. ® EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 8: 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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 9: 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 DFE24B EtherCAT option: ® • Manual "MOVIDRIVE B Communication and Fieldbus Unit Profile"...

  • Page 10: Acyclic Data Exchange Via Ethercat

    B provide numerous diagnostics options for startup and service. For example, you can use the integrated fieldbus monitor to control both setpoint values sent from the higher-level controller as well as the actual values. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 11: Assembly And Installation Notes

    Take appropriate measures (discharge strap, conductive shoes, etc.) to protect the option card from electrostatic charge before touching it. • Before installing the option card, remove the keypad and the front cover (see ® MOVIDRIVE MDX60B/61B operating instructions, "chapter Installation"). Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 12 MDX60B/61B operating instructions, section "Installation"). • Keep the option card in its original packaging until immediately before you are ready to install it. • Hold the option card by its edges only. Do not touch any components. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 13: Basic Procedure For Installing/Removing An Option Card

    4. Insert the retaining bracket with the installed option card into the slot, pressing slightly so it is seated properly. Secure the card retaining bracket with the two retain- ing screws. 5. To remove the option card, follow the instructions in reverse order. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 14: Installing The Dfe24B Option Card In Movitrac ® B

    SC11 SBus +, CAN high X46:2 X26:2 SC12 SBus –, CAN low X46:3 X26:3 GND, CAN GND X46:7 X26:7 DC 24 V Terminal assignment X12:8 DC 24 V input X12:9 GND reference potential for binary inputs Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 15: Connecting The System Bus (Sbus 1) Between Several Movitrac

    GND, CAN GND X46:4 SC21 (System bus high, outgoing) X46:5 SC22 (System bus low, outgoing) X46:6 GND (System bus reference) X46:7 DC 24 V X26:7 DC 24 V Terminal assignment X12:8 DC +24 V input Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 16 INFORMATION There must not be any potential displacement between the units connected via the SBus. Take suitable measures to avoid potential displacement, e.g. by connecting the unit ground connectors using a separate lead. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 17: Assembling And Installing The Dfe24B/Uoh11B Gateway Housing

    UOH11B gateway housing Terminal assignment X26:1 SC11 system bus +, CAN high X26:2 SC12 system bus –, CAN low X26:3 GND, CAN GND X26:4 Reserved X26:5 Reserved X26:6 GND, CAN GND X26:7 DC 24 V Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 18: Connection And Terminal Description Of The Dfe24B Option

    Front view of MOVITRAC B and UOH11B Description Function LED H1 (red) System error (only for gateway functionality) LED H2 (green) Reserved ® X24 X terminal RS485 interface for diagnostics via PC and MOVITOOLS Motion- Studio 155123467 Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 19: Pin Assignment X30 In / X31 Out

    Use metallic, grounded cable racks in industrial environments. • 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. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 20: Bus Termination

    The addresses can be displayed, for example, using the DBG60B keypad (parameter P093). DFE24B operating displays ® There are two LEDs on the DFE24B EtherCAT option card that display the current sta- ® tus of the DFE24B option and the EtherCAT system.

  • Page 21: Led Run (Green/Orange)

    "0x01:change/error". Flashing Timeout of the applica- A watchdog timeout has occurred in the application. twice tion watchdog Flashing Reserved three times Flashing four Reserved times PDI watchdog timeout A PDI watchdog timeout occurred. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 22: Led Link/Activity (Green)

    EtherCAT cables (X30 IN) and outgoing EtherCAT ® cables (X31 OUT) has a "Link/Activity" LED. It indicates whether the EtherCAT con- nection to the preceding or following unit is available and active. LED"Link/Activity" 6783085451 Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 23: Gateway Leds

    Gateway is configured correctly. Flashing Bus scan Gateway checks the bus. INFORMATION • LED H2 (green) is currently reserved. ® • X terminal X24 is the RS485 interface for diagnostics via PC and MOVITOOLS MotionStudio. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 24: Project Planning 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 – Fieldbus Interface DFE24B EtherCAT®...
  • Page 25 Configurable PDO with up to 10 cyclical process input data words (16 Bit) and up to 8 cyclical system variables (32 Bit) that can be configured as required and connected to various process data of the drive inverter. Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 26 (control words, setpoints) via the process data configuration in the MOVIDRIVE ® B (see "MOVIDRIVE B Communication and Fieldbus Unit Profile" manual). The pro- plus® cess output data PO4 – PO10 are only available in IPOS Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 27: Movidrive ® B

    (status words, actual values) via the process data configuration in the ® ® MOVIDRIVE B frequency inverter (see "MOVIDRIVE B Communication and Fieldbus plus® Unit Profile" manual). The process input data PI4 to PI10 are only available in IPOS Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 28 Configurable PDO mapping for OutputData 2: acycl. Mailbox cycl. OutputData2 Communication (Configurable PO) 1. Variable 6. Variable 7. Variable PO10 8. Variable max. 10 Process Data PO1..10 (UINT) plus ® max. 8 IPOS Variables (DINT) 6791947147 Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 29 Configurable PDO mapping for InputData 2: max. 10 Process Data PI1..10 (UINT) plus ® max. 8 IPOS Variables (DINT) 1. Variable 2. Variable 7. Variable PI10 8. Variable cycl. InputData2 acycl. Mailbox (Configurable PI) Communication 6791950091 Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 30 Touch probe position 2 virtual (11500.0dec) (H500) encoder 2CED.0hex TpPos1_VE Touch probe position 1 virtual (11501.0dec) (H501) encoder 2CEE.0hex TpPos2_Abs Touch probe position 2 (11502.0dec) (H502) 2CEF.0hex TpPos1_Abs Touch probe position 1 (11503dec) (H503) Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 31 Standard process input data word (15905.0dec) 3E22.0hex Standard process input data word (15906.0dec) 3E23.0hex Standard process input data word (15907.0dec) 3E24.0hex Standard process input data word (15908.0dec) 3E25.0hex PI10 Standard process input data word (15909.0dec) PI10 Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 32: Configuration Of The Ethercat ® Master For Movitrac ® B/Gateway

    3. Link the I/O or periphery data with the input and output data of the application pro- gram. ® After configuration, you can start the EtherCAT communication. The LEDs RUN and ERR indicate the communication status of option DFE24B (see chapter "Operating dis- plays of the DFE24B option"). Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 33: Pdo Configuration For Dfe24B Gateway For Movitrac ® B

    Mailbox (Standard 24 PI) Communication EtherCAT Unit = SBus-Address: EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE EURODRIVE 6800525835 Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 34 Drive 4 PO1 (15809.0dec) 3DC2.0hex PO11 Drive 4 PO2 (15810.0dec) 3DC3.0hex PO12 Drive 4 PO3 (15811.0dec) 3DC4.0hex PO13 Drive 5 PO1 (15812.0dec) 3DC5.0hex PO14 Drive 5 PO2 (15813.0dec) 3DC6.0hex PO15 Drive 5 PO3 (15814.0dec) Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 35 PO20 Drive 7 PO2 UINT (15819.0dec) 3DCC.0hex 18.0 PO21 Drive 7 PO3 (15820.0dec) 3DCD.0hex 18.0 PO22 Drive 8 PO1 (15821.0dec) 3DCE.0hex 18.0 PO23 Drive 8 PO2 (15822.0dec) 3DCF.0hex 18.0 PO24 Drive 8 PO3 (15823.0dec) Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 36 20.0 PI11 Drive 4 PI2 (15910.0dec) 3E27.0hex 22.0 PI12 Drive 4 PI3 (15911.0dec) 3E28.0hex 24.0 PI13 Drive 5 PI1 (15912.0dec) 3E29.0hex 26.0 PI14 Drive 5 PI2 (15913.0dec) 3E2A.0hex 28.0 PI15 Drive 5 PI3 (15914.0dec) Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 37: Auto-Setup For Gateway Operation

    DFE24B, you must activate Auto-Setup again because the DFE24B saves these val- ues only once during Auto-Setup. At the same time, the process data assignments of the connected drive inverters may not be changed dynamically after Auto-Setup. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 38: Setting The Movidrive ® Mdx61B Inverter

    ® ® The procedure for a complete startup of the MOVIDRIVE B inverter with EtherCAT ® connection is described in chapter "Operating behavior on EtherCAT " and chapter ® "Motion control via EtherCAT ". Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 39: Setting The Movitrac ® B Frequency Inverter

    NO FUNCTION. INFORMATION • Configure the parameter P881 SBus address to values 1 – 8 in ascending order. • SBus address 0 is used by the DFE24B gateway, and so cannot be used here. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 40: Operating Behavior On Ethercat

    Once the file SEW_DFE24B.xml has been copied to the TwinCAT subdirectory "\IO\Eth- erCAT", you can use the function "Append box" in the "offline" mode to insert a ® ® MOVIDRIVE B in the EtherCAT structure (see following figure). 6813851275 Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 41 For the simplest form of process data transport, only the two PDOs InputData1 and OutputData1 are required. You can deactivate the configurable PDOs by deleting the marker for both PDOs (Input and Output) (see the following figure). 6813879051 Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 42: Ethercat ® Timeout (Movidrive ® Mdx61B)

    MDX61B) Parameter P831 Response Fieldbus Timeout is used to set the fault response that is triggered via the fieldbus timeout monitoring function. The parameters set here should match the configuration of the master system. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 43: Controlling The Movitrac ® B Frequency Inverter (Gateway)

    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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 44: Control Example In Twincat With Movitrac ® B

    MOVITRAC B inverter connected to the DFE24B gateway. For simple fieldbus functionality, NC axes do not necessarily have to be created for each device that is found. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 45: Sbus Timeout

    1 of all inverters. In this case, LED "H1" (system error) flashes at regular intervals on the DFE24B. The exact error code is displayed in the status of the ® gateway with MOVITOOLS MotionStudio using diagnostics interface X24. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 46: Dfe24B Fieldbus Timeout In Gateway Operation

    For the SDO services READ and WRITE, other flags and parameters might be neces- sary: • to activate the function • to display in-process messages or error messages • to monitor timeout times • to report errors in the execution Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 47: 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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 48: Example Of Writing 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: Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 49 In the above example, the internal setpoint n11 (index 8489, subindex 0) was set to a ® speed of 100 rpm. According to the "MOVITRAC B Communication and Fieldbus Unit Profile" manual, the required speed must be multiplied by a factor of 1000. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 50: Parameterization Return Codes

    For Error class 8 = Other error, only Error code = 0 (Other error code) is defined. In this case, detailed identification is made using the additional code. 6.4.4 Additional code The additional code (2 bytes) includes the detailed error description. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 51: List Of Implemented Error Codes For Sdo Services

    General error 0x08000020 DATA_CANNOT_BE_READ_OR_STORED Data access error 0x08000021 DATA_CANNOT_BE_READ_OR_STORED_ Data access error due to local con- BECAUSE_OF_LOCAL_CONTROL trol. 0x08000022 DATA_CANNOT_BE_READ_OR_STORED_ Data access error due to unit status. IN_THIS_STATE 0x08000023 NO_OBJECT_DICTIONARY_IS_PRESENT No object dictionary present. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 52: 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 – Fieldbus Interface DFE24B EtherCAT®...
  • Page 53 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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 54: 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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 55: 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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 56: 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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 57: Selecting The Communication Mode (Online Or Offline)

    [1] [2] 9007200389198219 [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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 58: Communication Via Ethercat

    SEW controllers. 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 – Fieldbus Interface DFE24B EtherCAT®...
  • Page 59 EURODRIVE 3266486283 [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 – Fieldbus Interface DFE24B EtherCAT®...
  • Page 60 [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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 61: Configuration Of The Mailbox Gateway In The Ethercat ® Master

    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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 62: Configuring The Network At The Engineering Pc

    10 . 3 . 64 . 170 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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 63: Checking The Network Settings

    – Configuring the network at the engineering PC (page 57) INFORMATION ® Settings of the EtherCAT master are not adopted ® • If the settings of the EtherCAT master are not accepted, perform a reboot. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 64: 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 – Fieldbus Interface DFE24B EtherCAT®...
  • Page 65 [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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 66: 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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 67: Starting Up Units (Online)

    3. Select the unit you want to startup. 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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 68: Motion Control Via Ethercat

    In motion control applications, positioning travel with target position and travel parame- ters such as speed and ramp time is administered in the motion controller that is usually the higher-level controller. The calculated track curve is then used to transfer a setpoint Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 69: Clock Synchronism

    The problem described above caused by discreet sampling in different systems will usu- ally only be a problem in motion control applications when the cycle time of the controller is short or similar to the internal processing cycles of the inverter and external encoders. Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 70 To prevent unwanted excessive acceleration during longer control intervals (>1 ms), in- ® stead of adopting the speed setpoint directly, MOVIDRIVE B uses linear interpolation. ® This means that for a setpoint cycle of 5 ms, the controller in MOVIDRIVE B does not Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 71 This means that for a setpoint cycle of 5 ms, the controller in MOVIDRIVE B does not activate the required position change every 5 ms in a single step, but rather in 5 small steps of 1 ms each. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 72: Settings In Movidrive ® B With Movitools ® Motionstudio

    P101 Control signal source = Fieldbus • P700 Operating mode = SERVO + IPOS or CFC + IPOS • P870 Setpoint description PO1 = Control word 1 • P873 Actual value description PI1 = Status word 1 Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 73 P916 Ramp type = Interpolation velocity • P970 DPRAM Synchronization = YES • P971 Synchronization phase = 0 P971 can be used to optimize the phase angle if aliasing occurs. Set a phase angle of 0 ms as standard. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 74: Position Mode Settings

    The control word and status word can be used depending on the controller and ap- plication. The control and status words can be set using parameters P870 – P876 or plus® transferred to IPOS variables and activated in accordance with the functions of the motion controller's status machine. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 75: Ethercat ® Master Settings

    P888. You should also activate the watchdog for timeout monitoring for the Sync Manager 0x1000 (Output Data) only. Make sure you deactivate the fixed PDO (InputData1 and OutputData1). Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 76: Velocity Mode Settings

    The status word can either be transferred via PI1 together with the position setpoint plus® in PDO2, or - if the status machine is adapted for a particular application in IPOS plus® - read in directly from a system variable in IPOS Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 77: Example Twincat

    For clock synchronous operation, select the "DC for synchronization" option on the DC (Distributed Clock) tab page. Make sure that the cycle time in the "Cycle time" field is the same as the synchronization time specified in P888. 6824750603 Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 78: Nc Axis Parameterization

    Set the maximum speed and the lag error monitoring on the "Global" tab page. Set the ramp times on the "Dynamics" tab page. INFORMATION The settings you make must suit the mechanical components and match the settings made in the inverter. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 79: Encoder Parameterization

    Enter the following values in the "Analog" tab page (see following figure): 6824952587 The speed setpoint ("Reference velocity") = maximum motor speed × 6 is entered with the conversion factor "at Output Ratio [0.0 – 1.0]" = (maximum motor speed × 5) / 2 Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 80 (H511) and status word are defined in PDO2 (see following figures). 6824949131 In the PDO assignment, PDO1 is deactivated and the setpoint speed and control word or actual position (H511) and status word are defined in PDO2 (see following figures). 6824997515 6824993931 Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 81 Finally, the drive's setpoint speed and actual position are linked with the NC axis and the control word and status word 1 are controlled with the PLC task in accordance with the description in the fieldbus unit profile (see following figure). 6825043211 Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 82: Error Diagnostics

    Slave is in SAFE-OPERATIONAL state. → once Lights up green Slave is in OPERATIONAL state. → Startup the bus in the master. Option DFE24B is defective. Continue with 3: Response of the ERR LED? Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 83 RUN LED lights up green once (slave is in SAFE-OPERATIONAL state). ↓ 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 – Fieldbus Interface DFE24B EtherCAT®...

  • Page 84: List Of Errors

    If the red system error LED (H1) is via diagnostic interface and perform flashing, the error is in the DFx itself. In the action described in this table. this case, error F111 was only reported to the controller via fieldbus. Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 85: Technical Data

    VoE (Simple MOVILINK Protocol over EtherCAT Firmware status of 824 854 0.18 or higher (display with P076). ® MOVIDRIVE ® Tools for startup • MOVITOOLS MotionStudio engineering software version 5.40 and higher. • DBG60B keypad Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 86: Dfe24B Option For Movitrac ® B And Gateway Housing

    ® • VoE (Simple MOVILINK Protocol over EtherCAT Firmware status of No special firmware status required. ® MOVIDRIVE ® Tools for startup • MOVITOOLS MotionStudio engineering software version 5.40 and higher. • FBG60B keypad Manual – Fieldbus Interface DFE24B EtherCAT®...

  • Page 87: Index

    Reading a parameter in TwinCAT .....47 SDO services READ and WRITE ......46 Writing a parameter in TwinCAT......48 Functions Parameters Functional principle ..........52 ® For EtherCAT ..........66 Parameterizing units in the parameter tree..66 Reading/changing device parameters ....66 Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 88 Shielding and routing bus cables ......19 ® Project planning of the EtherCat master for Signal word, meaning ..........6 MOVIDRIVE® B..........24 Startup Validity ...............24 Starting up the unit..........67 X30 IN/OUT, pin assignment .........19 Manual – Fieldbus Interface DFE24B EtherCAT®...
  • Page 92 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...

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