Kollmorgen S300 Translation Of The Original Manual
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- Manual (138 pages) ,
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- Original manual (54 pages)
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Summary of Contents for Kollmorgen S300
- Page 1 EtherCAT for S300/S400/S600/S700 Communication Profile Fieldbus Interface Translation of the original manual Edition 12/2010 Keep the manual as a product component during the life span of the product. Pass the manual to future users / owners of the product. Datei srethercat_e.***...
- Page 2 S700 with EC onboard, symbols acc. to ANSI Z535.6B, randing, several minor corrections 12/2010 Company name SERVOSTAR is a registered trademark of Kollmorgen Corporation EtherCAT is a registered trademark of EtherCAT Technology Group Technical changes which improve the performance of the equipment may be made without prior notice ! Printed in the Federal Republic of Germany All rights reserved.
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Page 3: Table Of Contents
Installing the expansion card (S300, S600) ........ - Page 4 Kollmorgen 12/2010 This page has been deliberately left blank. EtherCAT for S300/S400/S600/S700...
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Page 5: General Information
This manual describes the installation, setup, range of functions and software protocol of the EtherCAT interface for SERVOSTAR 300 (S300), SERVOSTAR 400 (S400), SERVOSTAR 600 (S600) and S700 servo amplifiers and a reference for all commands which are used by these servo amplifiers. -
Page 6: Use As Directed
Indicates a hazardous situation which, if not avoided, could result in mi- nor or moderate injury. Indicates situations which, if not avoided, could result in property dama- This is not a safety symbol. This symbol indicates important notes. EtherCAT for S300/S400/S600/S700... -
Page 7: Abbreviations Used
Shielded Twisted Pair Transmission Control Protocol Transmit TXPDO Transmit PDO User Datagram Protocol: Non-secure multicast/broadcast frame. Unshielded Twisted Pair Extensible Markup Language XML Parser Program for checking XML schemas. ZA ECAT Access mode EtherCAT ZA Drive Acces mode Drive EtherCAT for S300/S400/S600/S700... - Page 8 General Information Kollmorgen 12/2010 This page has been deliberately left blank. EtherCAT for S300/S400/S600/S700...
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Page 9: Installation / Setup
Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account. If the final limit speed of the motor has to be altered, then all the parameters that were previously entered for position control and motion blocks must be adapted. EtherCAT for S300/S400/S600/S700... -
Page 10: Installing The Expansion Card (S300, S600)
Installation / Setup Kollmorgen 12/2010 2.1.2 Installing the expansion card (S300, S600) Fit the EtherCAT expansion card into a the servo amplifier: Use a suitable screwdriver to lever off the cover of the option slot (see instructions ma- nual). Take care that no small items (such as screws) fall into the open option slot. -
Page 11: Setup
When the parameters have been optimized, save them in the ser- Save parameters vo amplifier. 2.2.2 Setup Software for S300 and S700 2.2.3 Setup Software for S400 and S600 Screen page in process. EtherCAT for S300/S400/S600/S700... -
Page 12: Ethercat Setup
TwinCAT system. TwinCAT will now offer you a choice of Danaher Motion servo amplifiers that support EtherCAT. Continue as follows: 1. Click with right mouse button to I/O-Devices, add a new box and select the servo amplifier EtherCAT for S300/S400/S600/S700... - Page 13 Kollmorgen Installation / Setup 12/2010 2. Setup a NC task 3. Setup a drive in the NC task EtherCAT for S300/S400/S600/S700...
- Page 14 5. Create, check, activate and start the configuration Enable the axis: click "Set" button (see arrow, servo amplifier power and enable signal must be present, motor and feedback must be configured). Move the axis: click buttons "F1"…"F4" EtherCAT for S300/S400/S600/S700...
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Page 15: Ethercat
0x1140 ProIn (Process data Input, act. values ECAT) 0x1800 Mail Out Buffer (Object Channel Buffer ECAT) 0x1C00 Mail In Buffer (Object Channel Buffer Drive) * ZA ECAT = Acces mode EtherCAT ZA Drive = Access mode Drive EtherCAT for S300/S400/S600/S700... -
Page 16: Al Event (Interrupt Event) And Interrupt Enable
Activation of input event process data Sync Manager 3 Event 0x201 (PDO, servo amplifier's cyclical actual values) Sync Manager 4 – 0x221 4...7 Reserved Sync Manager 7 Event Sync Manager 8 – 0x222 0…7 Reserved Sync Manager 15 Event EtherCAT for S300/S400/S600/S700... -
Page 17: Phase Run-Up
O -> B, S -> B, P -> B Invalid sync manager 0x0017 P -> S, S -> O Current Status + E configuration 0x001A Synchronize error O, S -> O S + E No other codes are supported. EtherCAT for S300/S400/S600/S700... -
Page 18: Ethercat Communication Phases
Deactivation of all EtherCAT events apart from AL control. In addition, the ECAT interface stops sending interrupts, causing the amplifier to lose syn- (OI) 0x01 chronization (warning n17) and cease updating actual values. Stopping of all mailbox activities. EtherCAT for S300/S400/S600/S700... -
Page 19: Canopen Over Ethercat (Coe) Status Machine
Quick Stop Active The servo amplifier follows a quick stop ramp. Fault Reaction Active The servo amplifier responds to a fault with an emergency stop ramp. Fault A fault is pending, the drive is stopped and disabled. EtherCAT for S300/S400/S600/S700... -
Page 20: Commands In The Control Word
Deactivation of setpoint transfer from EtherCAT interface and stopping of drive in speed control mode (OPMODE 0) Resetting of clear fault (CLRFAULT) command channel Resetting of reference run command channel Resetting of SAVE command channel EtherCAT for S300/S400/S600/S700... -
Page 21: Status Machine Bits (Status Word)
Not Ready to Switch On Switch On Disabled Ready to Switch On Switch On Operation Enable Fault Fault reacti- on active Quick Stop Active Bits labeled X are irrelevant. 0 and 1 indicate the status of individual bits. EtherCAT for S300/S400/S600/S700... -
Page 22: Fixed Pdo Mappings
Position act.value (4 Byte), Statusword (2 Byte), total (6 Byte) 2. Velocity interface 0x1702: Velocity setpoint (4 Byte), Controlword (2 Byte), total (6 Byte); default for S300/S700 0x1B01: Position act.value (4 Byte), Statuswort (2 Byte), total (6 Byte) 3. Torque interface... -
Page 23: Supported Cyclical Setpoint- And Actual Values
IDLE. This object is used to activate the drive's latch status machi- Latch 0x20A4 UINT16 ne; the latch control word is processed independently of the Controlword EtherCAT bus cycle (ASCII:PTBASE). EtherCAT for S300/S400/S600/S700... -
Page 24: Supported Cyclical Actual Values
ID range from This object is used to return the drive's actual latched position. Latch 0x20A0 INT32 The value provided (positive/negative edge, latch 1/2) is de- Position termined by the latch control word. 0x20A3 EtherCAT for S300/S400/S600/S700... -
Page 25: Supported Operation Modes
Synchronization based on cycle time On all Kollmorgen servo amplifiers, the internal PLL is able to even out an average deviation of up to 1000 ppm in the cycle time provided by the master. By way of an example, if the cycle time is set to 1 ms, the drive will still be able to synchronize with an average deviation of up to +/- 1µs in the... -
Page 26: Latch Controlword And Latch Statusword
Acknowledge value internal latch C (positive rise) 12-15 00010000 00000000 1xxx Status Digital Input 4 00100000 00000000 2xxx Status Digital Input 3 01000000 00000000 4xxx Status Digital Input 2 10000000 00000000 8xxx Status Digital Input 1 EtherCAT for S300/S400/S600/S700... -
Page 27: Mailbox Handling
The servo amplifier deletes all data in the internal mailbox output array so that a new mail- box access attempt can be made. The servo amplifier copies the response telegram from the internal mailbox input array to the mail-in buffer of the EtherCAT interface. EtherCAT for S300/S400/S600/S700... -
Page 28: Mailbox Output
Byte 13 Data with a write access Byte 14 Data with a write access Byte 15 Data with a write access (High Byte) The servo amplifier answers to ever telegram with an answer in the Mailbox Input buffer. EtherCAT for S300/S400/S600/S700... -
Page 29: Mailbox Input
Low Byte of the CAN object number (Index) Byte 9 Byte 10 High Byte of the CAN object number (Index) Byte 11 Subindex according to CANopen Specification for the Kollmorgen servo amplifier Byte 12 Data (Low Byte) - error code Fehlercode according to CANopen Specification Byte 13... -
Page 30: Example: Mailbox Access
0x12 SDO-Object 0x1C12 Byte 10 0x1C SDO-Object 0x1C12 0x01 Subindex 1 Byte 11 Byte 12 0x00 Data value 0x00000000 Byte 13 0x00 Data value 0x00000000 Byte 14 0x00 Data value 0x00000000 0x00 Data value 0x00000000 Byte 15 EtherCAT for S300/S400/S600/S700... -
Page 31: Index
Synchronization ... 25 Target group ... . . 5 Use as directed... . 6 EtherCAT for S300/S400/S600/S700... - Page 32 E-Mail technik@kollmorgen.com Tel.: +49 (0)2102 - 9394 - 2250 +49 (0)2102 - 9394 - 3110 Fax: North America Kollmorgen Customer Support North America Internet www.kollmorgen.com E-Mail support@kollmorgen.com Tel.: +1 - 540 - 633 - 3545 Fax: +1 - 540 - 639 - 4162...