Pilz PMCtendo DD5 Operating Manual
Servo amplifiers
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- Operating manual (197 pages) ,
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- Operating manual (209 pages)
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Summary of Contents for Pilz PMCtendo DD5
- Page 1 EtherCAT for PMCtendo DD5 and PMCprotego D Servo amplifiers Operating Manual-1002906-EN-02...
- Page 2 Preface This document is the original document. All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made for the user's internal purposes. Suggestions and comments for improving this documenta- tion will be gratefully received.
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Page 3: Table Of Contents
Recommended cycle time based on the operating modes Synchronisation based on the cycle time Latch- control word and latch status word 4.10 Mailbox Handling 4.10.1 Mailbox Output 4.10.2 Mail Input 4.10.3 Example of a mailbox access Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 4: General Information
Only by specialists with extensive knowledge of electrical engineer- ing and drive technology Programming Software developer, EtherCAT design engineers The qualified staff must know and observe the following standards: IEC 60364 and IEC 60664 National accident prevention regulations Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 5: Definition Of Symbols
It also highlights areas within the text that are of particular import- ance. INFORMATION This gives advice on applications and provides information on special fea- tures. Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 6: Abbreviations Used
Organizationally Unique Identifier - the first 3 Bits of an Ethernet address. They are as- signed to companies or organisation and the can also be used for Protocol Identifiers (e.g.LLDP). Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... - Page 7 User Datagram Protocol: Unsafe Multicast- Broadcast protocol Unshielded Twisted Pair Extensible Markup Language XML Parser Program for checking XML structures ZA ECAT Access type EtherCAT ZA Drive Access type amplifier Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02...
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Page 8: Safety
We guarantee compliance of the servo amplifier with the following standards in the industrial sector only when using the components named by us and when complying with the installation manual: EU EMC Directive 2004/42/EG EU Low Voltage Directive 2006/95/EG Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 9: Notes On The Online Edition (Pdf Format)
The lines are active cross-references. Click the required line to display the corresponding page. Page number in the text: Page numbers/chapter numbers with cross references are active. Click on the page num- ber/chapter number to go to the specified target. Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 10: Installation/Commissioning
Wire the servo amplifier as described in the operating manual. The wiring of the analogue set value input and the position interface after the connection image of the operating manual may be omitted. Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 11: Connection Technology
CAUTION! Possible loss of the safety Ensure that no hazard can result for personnel or machinery, even if the drive should move unintentionally. Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 12: Ethercat Commissioning
To commission with the TwinCAT tool please use the documents in the download area of the Pilz homepage. To commission with the motion controller PMCprimo please use the documents in the download area of the Pilz homepage. Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 13: Ethercat
Mail Out Buffer (Object channel buffer of ECAT) r/w 0x1C00 Mail In Buffer (Object channel buffer of serve amplifier) *:ZA ECAT = Access type EtherCAT ZA Drive = Access type amplifier Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 14: Al Event (Interrupt Event) And Interrupt Enable
Sync Manager 0x220 Editing a Sync Manager Watch- Watchdog Event dog Event Distributed Clock 0x220 Editing a Distributed Clock (DC) (DC) Event Event 0x220 3 … 7 Reserved Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 15: Phase Runup
0x04: Safe Operational Request 0x08: Operational Request Acknow- 0x120 0x00: No error reset ledgement 0x01: Error reset with positive pulse edge Reserved 0x120 7 … 5 Appl. specific 0x120 15 … 8 R Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 16: Al Status (Address 0X0130:0X0131)
Incorrect synchron- P -> S, S -> O Current status + E isation manager configuration 0x001A Synchronisation er- O S -> O S + E Other codes are not supported. Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 17: Ethercat Communication Phases
(Pro_Out) and actual values (Pro_In) of the amplifier. (SP) 0x02 The ECAT interface no longer produces cyclical interrupts. Therefore the warning for lost synchronisation in the amplifier (in17) and the actual values are not activated further. Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 18: Canopen Over Ethercat (Coe) State Machine
The state machine for control word and status word corresponds to the CANopen state ma- chine according to DA402. Control word and status word can be found in any fixed PDO mapping. Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 19: Description Of States
The servo amplifier follows a quick stop ramp. Fault Reaction Active The servo amplifier reacts to a fault with an E-STOP ramp. Fault A fault is present, the drive has been stopped and locked. Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 20: Commands In The Control Word
Bit 1 = 1 Legend Bits are irrelevant Status of the individual bits Signalises a positive edge in the Bit Signalises a negative edge in the Bit Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 21: Bits Of The Status Machine (Status Word)
Bit 0 = disable STOP Bit 3 = Operation Switched Ready to Status active active Error enabled switch on Not Ready to Switch Switch On Disabled Ready to Switch On Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 22: Implemented Operating Modes
The cycle time used in the servo amplifier for the cyclical set and actual values can be present either configured in the amplifier in the parameter PTBASE or it can be configured in the start phase. Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 23: Recommended Cycle Time Based On The Operating Modes
³ 0.25 ms (³ 250 µs) Synchronisation based on the cycle time With all the Pilz servo amplifiers the internal PLLL can compensate a mean deviation from the cycle time specified by the Mater of up to 1000 ppm. This means, for example that with a set cycle time of 1 ms the drive can still synchronise itself with a mean deviation in the cycle time specified by the master of up to +/- 1µs with its internal PLL. -
Page 24: Latch- Control Word And Latch Status Word
Internal latch C valid (positive rise) 5 - 7 Reserved 8 – 11 00000001 00000000 01xx Acknowledge value external latch 1 (positive rise) 00000010 00000000 02xx Acknowledge value external latch 1 (negative rise) Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 25: Mailbox Handling
The servo amplifier copies the response telegram from the internal Mailbox Input Ar- ray into the mail in the buffer of the EtherCAT interface. Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 26: Mailbox Output
– 4: TXPDO – 5: RxPDO – 6: Remote transmission request of a TxPDO – 7: Remote transmission request of a RxPDO – 8 … 15: Reserved for later applications Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02... -
Page 27: Mail Input
Byte 9 Low Byte of the CAN object number (index) Byte High Byte of the CAN object number (index) Byte Subindex in accordance with the CANopen specification for the Pilz servo ampli- fier Byte Data in case of a write access (Low Byte) -
Page 28: Example Of A Mailbox Access
Error during read or write access: 0x80 Byte 9 Low Byte of the CAN object number (index) Byte High Byte of the CAN object number (index) Byte Subindex in accordance with the CANopen specification for the Pilz servo ampli- fier Byte Data (Low Byte) - Page 29 SDO object 0x1C12 Byte 11 0x01 Subindex 1 Byte 12 0x00 Data value 0x00000000 Byte 13 0x00 Data value 0x00000000 Byte 14 0x00 Data value 0x00000000 Byte 15 0x00 Data value 0x00000000 Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D 1002906-EN-02...
- Page 30 Back cover Support Technical support is available from Pilz round the clock. Americas Australia Scandinavia +45 74436332 Brazil +61 3 95600621 +55 11 97569-2804 Spain Canada Europe +34 938497433 +1 888-315-PILZ (315-7459) Austria Switzerland Mexico +43 1 7986263-0 +41 62 88979-30...