Stober EtherCAT SD6 Series Operating Manual
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Stober EtherCAT SD6 Series Operating Manual

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EtherCAT – SD6
Operating manual
en-US
02/2020
ID 442516.07

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Summary of Contents for Stober EtherCAT SD6 Series

  • Page 1 EtherCAT – SD6 Operating manual en-US 02/2020 ID 442516.07...

  • Page 2: Table Of Contents

    Table of contents STOBER Table of contents Foreword ..................................  5 User information ...............................  6 Storage and transfer .............................. 6 Described product.............................. 6 Timeliness ................................ 6 Original language .............................. 6 Limitation of liability .............................. 6 Formatting conventions............................ 7 2.6.1 Use of symbols............................ 7 2.6.2...
  • Page 3 STOBER Table of contents Commissioning ................................  23 DS6: Configuring the drive controller ........................ 24 8.1.1 Initiating the project .......................... 24 8.1.2 Parameterizing general EtherCAT settings ...................  25 8.1.3 Configuring PDO transmission ...................... 26 8.1.4 Mapping the mechanical axis model .................... 27 8.1.5...
  • Page 4 Communication protocols............................ 54 10.2.1 CoE: CANopen over EtherCAT.......................  54 10.2.2 EoE: Ethernet over EtherCAT ........................  54 10.2.3 EoE: Application cases with STOBER devices .................. 55 10.3 Communication objects ............................ 58 10.3.1 Process data objects – PDO ........................ 58 10.3.2 Service data objects – SDO ........................ 58 10.3.3...

  • Page 5: Foreword

    EtherCAT fieldbus system. The STOBER product portfolio is also designed for combining SD6 with the MC6 motion controller as an EtherCAT master; together with the associated AS6 development environment, STOBER gives you a complete and uniform solution with...

  • Page 6: User Information

    STOBER User information This documentation assists you with commissioning the SD6 series of the 6th generation of STOBER drive controllers in combination with higher level controller systems over an EtherCAT network. The SD6 drive controllers provide EtherCAT functionality over a separate EC6 communication module that you have to install if it is not pre-installed.

  • Page 7: Formatting Conventions

    STOBER 2 | User information Formatting conventions Orientation guides in the form of signal words, symbols and special text markups are used to emphasize specific information so that you are able identify it in this documentation quickly. 2.6.1 Use of symbols Safety instructions are identified with the following symbols.

  • Page 8: Markup Of Text Elements

    2 | User information STOBER 2.6.2 Markup of text elements Certain elements of the continuous text are distinguished as follows. Important information Words or expressions with a special meaning Interpolated position mode Optional: File or product name or other name...

  • Page 9: Trademarks

    STOBER 2 | User information Trademarks The following names used in connection with the device, its optional equipment and its accessories are trademarks or registered trademarks of other companies: ® ® ® CANopen CANopen and CiA are registered European Union trademarks of CAN in ®...

  • Page 10: General Safety Instructions

    Use in potentially explosive atmospheres § Use in environments with harmful substances as specified by EN 60721, such as oils, acids, gases, vapors, dust and radiation Implementation of the following applications is permitted only after approval from STOBER: § Use in non-stationary applications §...

  • Page 11: Disposal

    STOBER 3 | General safety instructions Disposal Observe the current national and regional regulations when disposing of the product! Dispose of the individual product parts depending on their properties, e.g. as: § Electronic waste (circuit boards) § Plastic § Sheet metal §...

  • Page 12: Network Structure

    Overall network expansion is virtually unlimited because a maximum of 65535 EtherCAT nodes can be connected together. You can configure and parameterize the drive controllers using the STOBER DriveControlSuite DS6 software and the entire EtherCAT network using the STOBER AS6 AutomationControlSuite development environment, for instance.

  • Page 13: Ec6 Communication Module

    STOBER 5 | EC6 communication module EC6 communication module The drive controllers of the SD6 series are connected to each other and to the EtherCAT master using the EC6 communication module, which offers the necessary fieldbus interfaces. The communication modules match the EtherCAT standard and make it possible for the master to access all relevant drive parameters and functions cyclically and acyclically.

  • Page 14: Connection

    6 | Connection STOBER Connection In order to connect the EC6 communication module of the SD6 drive controller to other EtherCAT nodes, the top of each device features two RJ-45 sockets. Selecting suitable lines EtherCAT is an Ethernet-based communications technology optimized for automation technology.

  • Page 15: What You Should Know Before Commissioning

    STOBER 7 | What you should know before commissioning What you should know before commissioning The following chapters provide a quick introduction to the structure of the program interface and accompanying window designations as well as relevant information about parameters and generally saving your project configuration.

  • Page 16: Fig. 3 Drivecontrolsuite: Navigation Using Text Links And Symbols

    7 | What you should know before commissioning STOBER 7.1.1.2 Navigation using sensitive circuit diagrams Fig. 3: DriveControlSuite: Navigation using text links and symbols In order to illustrate graphically the processing sequence of actual and set values, the use of signals or certain drive component arrangements and to make configuring the accompanying parameters easier, they are displayed on the respective wizard pages of the workspace in the form of circuit diagrams.

  • Page 17: As6: Structure Of The Program Interface

    STOBER 7 | What you should know before commissioning 7.1.2 AS6: Structure of the program interface The AutomationControlSuite (AS6) development environment provides a graphic interface which you can use to organize your automation projects, configure associated networks like EtherCAT, create or debug program codes or parameterize drives.

  • Page 18: Twincat 3: Structure Of The Program Interface

    7 | What you should know before commissioning STOBER 7.1.3 TwinCAT 3: Structure of the program interface In TwinCAT 3, you operate your EtherCAT system using TwinCAT XAE. The following graphic shows the interface elements relevant to this documentation. Fig. 5: TwinCAT 3 (TwinCAT XAE) – program interface...

  • Page 19: Meaning Of Parameters

    (actual velocity, actual torque, etc.) and trigger general actions like Save values, Test phase, etc. 7.2.1 Parameter groups Parameters are assigned to individual groups by topic. The 6th generation of STOBER drive controllers differentiates between the following parameter groups. Group Topic...

  • Page 20: Parameter Types And Data Types

    7 | What you should know before commissioning STOBER 7.2.2 Parameter types and data types In addition to topic-based sorting in individual groups, all parameters belong to a certain data type and parameter type. The data type of a parameter is displayed in the parameter list, properties table. The connections between parameter types, data types and their value range can be found in the following table.

  • Page 21: Parameter Types

    STOBER 7 | What you should know before commissioning 7.2.3 Parameter types The following types of parameters are differentiated. § Simple parameters Consist of one group and one line with a defined value. Example: A21 Brake resistor R: Value = 100 ohms §...

  • Page 22: Parameter Visibility

    7 | What you should know before commissioning STOBER 7.2.5 Parameter visibility The visibility of a parameter depends on the access level defined in the software, the dependency of other parameters, the selected application and the version of the associated firmware.

  • Page 23: Commissioning

    STOBER 8 | Commissioning Commissioning Are you looking to operate several drive controllers using the MC6 motion controller, or operate a controller from Beckhoff Automation GmbH & Co. KG over an EtherCAT network? The following chapters cover the associated commissioning tasks using the DriveControlSuite commissioning software in combination with the AutomationControlSuite development environment as well as TwinCAT 3 from Beckhoff.

  • Page 24: Ds6: Configuring The Drive Controller

    8 | Commissioning STOBER DS6: Configuring the drive controller Project and configure all drive controllers for your drive system in DriveControlSuite (see the chapter DS6: Structure of the program interface [} 15]). Information Since you are working with a controller, the following steps are described based on the...

  • Page 25: Parameterizing General Ethercat Settings

    STOBER 8 | Commissioning Device control tab: Device control: Select 402. Process data Rx, Process data Tx: Select EtherCAT Rx EtherCAT Tx for transmitting the EtherCAT process data. Projecting the axis 1. Click on Axis Properties tab: Establish the connection between your circuit diagram and the axis to be projected in DriveControlSuite.

  • Page 26: Configuring Pdo Transmission

    6 parameters can be transmitted in a defined sequence per channel. The process data can be configured in any way. In order to guarantee error-free communication between the controller and drive controller, STOBER offers application- dependent pre-assignment of the channels which can be changed at any time.

  • Page 27: Mapping The Mechanical Axis Model

    8.1.4.1 Parameterizing the STOBER motor You have projected a STOBER synchronous servo motor with EnDat encoder and integrated brake. By projecting the corresponding motor, limit values for currents and torques as well as associated temperature data are automatically transferred to the respective parameters of the individual wizards. At the same time, all additional data on the energy supply, brake and encoder is transferred.
  • Page 28 8 | Commissioning STOBER 8.1.4.3 CiA 402 HiRes Motion: Scaling an axis ü You have projected the HiRes version of the CiA 402 application. Scale the axis as described below and specify only the number of decimal places in the controller software, i.e. the value parameterized in I06.
  • Page 29 STOBER 8 | Commissioning Information Note that I297 Maximum speed position encoder must be parameterized according to your application case. If I297 is set too low, the permitted maximum speed is exceeded even at normal operating speeds. On the other hand, if I297 is set too high, measuring errors of the encoder can be overlooked.

  • Page 30: Synchronizing Ethercat Nodes

    8 | Commissioning STOBER Limiting velocity, acceleration, jerk (optional) The specified default values are designed for slow velocities without gear units. For this reason, adapt the saved values. Note that the velocity of the motor is parameterized in units other than that of the axis model. Therefore check the velocity of the motor against the velocity of the output.
  • Page 31 STOBER 8 | Commissioning Transmitting the configuration ü The drive controllers are ready for operation. 1. In the project tree, highlight the module under which you have recorded your drive controller and click Assignment and live firmware update in the project menu.

  • Page 32: As6: Putting The Ethercat System Into Operation

    Device area > Vendor: Select STOBER Antriebstechnik GmbH + Co. KG – Drives and open the folder with the same name. ð All drive controllers that can be mapped are displayed. 3. Highlight the desired drive controller in the...

  • Page 33: Configuring Synchronization Using Distributed Clocks

    STOBER 8 | Commissioning 8.2.3 Configuring synchronization using distributed clocks ü As the more precise of the two sync methods, synchronization using distributed clocks (DC-Sync) is pre-configured in the EtherCAT master. In order to reduce jitter in general, we recommend setting data transmission (I/O) of the controller to task begin in the EtherCAT configuration.

  • Page 34: Parameterizing A Softmotion Axis

    8 | Commissioning STOBER 8.2.4 Parameterizing a SoftMotion axis ü You have selected the CiA 402 HiRes Motion application and fully configured the associated axis model in DriveControlSuite. 1. In the device tree, navigate to the first SoftMotion axis SM_Drive_EtherCAT_STOEBER_SD6_HiRes of the first of the added SD6 drive controllers and double click to open it.

  • Page 35: Configuring Eoe Communication

    Ethernet and EtherCAT networks (see the chapter Configuring EoE communication [} 35]). If you are working with a STOBER motion controller and the AS6 development environment, IP routing is activated in the MC6 motion controller by default. 8.2.6 Identifying a MC6 motion controller 1.

  • Page 36: Transmitting A Project Configuration

    8 | Commissioning STOBER 8.2.7 Transmitting a project configuration Transfer the entire project configuration to the motion controller. 1. In the device tree, navigate to Device (STOEBER MC6 (AS6)) and double click to open it. ð Device tab > Communication Settings opens.
  • Page 37 The directory contains a selection of available CiA objects (along with the coordinates and the name of the corresponding drive controller parameter from STOBER). 7. Highlight the CiA object for which you would like to extend PDO transmission and confirm with OK.

  • Page 38: Twincat 3: Putting The Ethercat System Into Operation

    8.3.1 Creating and exporting an ESI file The functions and properties of the STOBER drive controllers are described in the form of various objects and collected in an ESI file. Because you are working with TwinCAT 3, generating an ESI file is mandatory. The file must be made available to TwinCAT 3 in the directory specified below.

  • Page 39: Activating The Ethercat Master

    STOBER 8 | Commissioning 8.3.2 Activating the EtherCAT master ü You have already projected all drive controllers of your system using DriveControlSuite and transmitted the project configuration to the individual drive controllers. The EtherCAT master is connected to the network, all system components are energized and the infrastructure is ready for operation.

  • Page 40: Scanning The Hardware Environment

    8 | Commissioning STOBER 8.3.3 Scanning the hardware environment If all system components are connected to the EtherCAT network and the network is energized, it is possible to scan for connected devices automatically. In this scenario, TwinCAT XAE searches for connected devices and terminals and integrates them into the existing project in accordance with their configuration entries in the accompanying ESI files.

  • Page 41: Configuring Synchronization Using Distributed Clocks

    STOBER 8 | Commissioning 8.3.4 Configuring synchronization using distributed clocks ü You have fully configured the associated axis model in DriveControlSuite. As the more precise of the two sync methods, synchronization using distributed clocks (DC-Sync) is pre-configured in the EtherCAT master and slaves.

  • Page 42: Parameterizing An Axis

    8 | Commissioning STOBER 8.3.5 Parameterizing an axis 1. In the solution explorer, navigate to Motion > NC-Task 1 SAF > Axes > Axis 2. In the main window, switch to the Settings tab. 3. Unit: Select degrees (°) as the unit.

  • Page 43: Configuring Eoe Communication

    Ethernet and EtherCAT networks (see the chapter Configuring EoE communication [} 43]). If you are working with a STOBER motion controller and the AS6 development environment, IP routing is activated in the MC6 motion controller by default. 8.3.7 Transmitting a project configuration Transfer the project configuration to the EtherCAT master.

  • Page 44: Checking The Functionality Of The Axes

    8 | Commissioning STOBER 8.3.8 Checking the functionality of the axes Check the functionality of the axes before operation in production. Information Ensure that a suitable safety application that ensures safe shut-off of the axis (emergency off, safety switch, etc.) exists before the start of testing.

  • Page 45: Monitoring And Diagnostics

    PDO is not received within the specified timeout. Monitoring is not triggered if the EtherCAT master regularly ends communication by leaving the operational state. LED display STOBER drive controllers feature diagnostic LEDs that visualize the state of fieldbus communication and the states of the physical connection. 9.2.1...

  • Page 46: Tab. 4 Meaning Of The Green Led (Run)

    9 | Monitoring and diagnostics STOBER Green LED Behavior Operating state Description Init No communication between the EtherCAT master and slave; the configuration starts, saved values are loaded Flashing Pre-operational No PDO communication; the EtherCAT master and slave exchange application-...

  • Page 47: Ethercat Network Connection

    STOBER 9 | Monitoring and diagnostics 9.2.2 EtherCAT network connection The LEDs LA IN and LA OUT at X200 and X201 on the top of the device display the state of the network connection. X200 X201 Fig. 7: LEDs for the state of the EtherCAT network connection...

  • Page 48: Events

    9 | Monitoring and diagnostics STOBER Events The drive controller has a self-monitoring system that uses test rules to protect the drive system from damage. Violating the test rules triggers a corresponding event. There is no possible way for you as the user to intervene in some events, such as the Short/ground event.

  • Page 49: Event 52: Communication

    STOBER 9 | Monitoring and diagnostics 9.3.1 Event 52: Communication The drive controller is interrupted if: § A29 = 0: Inactive for Drive Based device controller § A540 = 0: disable drive, motor is free to rotate for CiA 402 device controller Response: §...

  • Page 50: Parameters

    9 | Monitoring and diagnostics STOBER Parameters The following diagnostic parameters are available for EtherCAT communication in combination with SD6 drive controller. 9.4.1 A255 | EtherCAT Device State | V2 State of the drive controller in the EtherCAT network (EtherCAT State Machine, ESM).

  • Page 51: A257 | Ethercat Diagnosis | V1

    STOBER 9 | Monitoring and diagnostics 9.4.3 A257 | EtherCAT Diagnosis | V1 Diagnostic information of the drive controller in the EtherCAT network. § [0]: EtherCAT operating state * Format: StX ErX L0X L1X § [1]: EtherCAT network connection – error counter ** Format: L0 xx L1 xx §...

  • Page 52: A259 | Ethercat Sm-Watchdog | V1

    9 | Monitoring and diagnostics STOBER § • L10 = No Link No connection to another EtherCAT device via X201 (OUT port) • L11 = Link Detected Connection to another EtherCAT device via X201 (OUT port) ** EtherCAT network connection – error counter §...

  • Page 53: Looking For More Information About Ethercat

    STOBER 10 | Looking for more information about EtherCAT? Looking for more information about EtherCAT? The following chapters summarize the key terms, services and relationships relating to EtherCAT. 10.1 EtherCAT EtherCAT (Ethernet for Control Automation Technology) is an industrial Ethernet technology for real-time requirements in automation technology.

  • Page 54: Communication Protocols

    Only data that is not time-critical, i.e. service data objects (SDO), are exchanged using the mailbox channel; time-critical process data objects (PDO) are, like in CANopen, transferred using the process data channel. Both the STOBER drive controllers of the 6th generation as well as the STOBER MC6 motion controller support the EtherCAT protocols. 10.2.1...

  • Page 55: Eoe: Application Cases With Stober Devices

    10 | Looking for more information about EtherCAT? 10.2.3 EoE: Application cases with STOBER devices STOBER uses EoE to connect DriveControlSuite to STOBER drive controllers of the 6th generation in combination with an EtherCAT master. A distinction is made between two topologies here: §...

  • Page 56: Fig. 10: Network Overview - Topology 2

    10 | Looking for more information about EtherCAT? STOBER 10.2.3.2 Topology 2: EtherCAT master and DS6 on different PCs If the EtherCAT master and DriveControlSuite are installed on different PCs, the drive controllers are in an Ethernet subnet that is initially unknown to DriveControlSuite.
  • Page 57 ð You have now successfully set the route. Information If you are working with a STOBER motion controller and the AS6 development environment, IP routing is activated in the MC6 motion controller by default. In TwinCAT 3, you must enable this function on the master using EtherCAT >...

  • Page 58: Communication Objects

    6 parameters can be transmitted in a defined sequence per channel. The process data can be configured in any way. In order to guarantee error-free communication between the controller and drive controller, STOBER offers application- dependent pre-assignment of the channels, which can be changed at any time.
  • Page 59 STOBER 10 | Looking for more information about EtherCAT? 10.3.2.2 Expedited transfer The simplified, expedited SDO transfer is used for transferring all parameters with a data type of maximum of 4 bytes. In this type of transmission, 4 data bytes are sent in a single frame. The data is arranged in accordance with the Intel format (little-endian), meaning that the byte with the smallest value is saved at the starting address and transmitted first (compare with big-endian or Motorola format, where the highest-value component is sent first).

  • Page 60: Emergency Objects - Emcy

    The values of the STOBER-specific parameters E82 Event type and E43 Event cause are transmitted in the 4th and 5th bytes. You can find a table with the potential encodings for an EMCY message in the appendix (see the chapter EMCY message –...

  • Page 61: Ethercat State Machine

    STOBER 10 | Looking for more information about EtherCAT? 10.4 EtherCAT state machine The EtherCAT state machine (ESM) controls the different operating states of an EtherCAT slave along with any potential state change. Different functions can be carried out in the EtherCAT slaves depending on the individual states.
  • Page 62 10 | Looking for more information about EtherCAT? STOBER State transitions § IP: Start Mailbox Communication Start of SDO communication over the mailbox channel. § PI: Stop Mailbox Communication Stop of SDO communication over the mailbox channel. § PS: Start Input UpdateStart Input Update Start of PDO communication over the process data channel.

  • Page 63: Synchronization

    STOBER 10 | Looking for more information about EtherCAT? 10.5 Synchronization For spatially distributed processes that require simultaneous actions, the EtherCAT master and slaves absolutely must work in synchronization with each other in the same cycle. EtherCAT provides two different methods for synchronizing the master and slaves: a SyncManager event (SM-Sync) and distributed clocks (DC-Sync).

  • Page 64: Sm-Sync: Synchronization Using Syncmanager Event

    10 | Looking for more information about EtherCAT? STOBER 10.5.1 SM-Sync: Synchronization using SyncManager event In the case of adjustment using a SyncManager event, the EtherCAT slaves synchronize using incoming data as the event. Cycle time Cycle time Cycle time...

  • Page 65: Dc-Sync: Synchronization Using Distributed Clocks

    STOBER 10 | Looking for more information about EtherCAT? 10.5.2 DC-Sync: Synchronization using distributed clocks Synchronization using the distributed clocks method allows the same time to be maintained for all nodes of an EtherCAT network. Each EtherCAT slave with distributed clocks functionality has a local clock. Normally, the time from the first DC-Sync- capable EtherCAT slave downstream of the master in the network serves as the reference time.

  • Page 66: Fig. 14 As6: Dc-Sync - Settings

    10 | Looking for more information about EtherCAT? STOBER 10.5.2.1 AS6: Synchronization using DC-Sync The event for one synchronization is referred to as the Sync 0 signal in STOBER AutomationControlSuite. Each slave generates it own Sync 0 signal cyclically using the respective SyncManager. 10.5.2.1.1 DC settings The following graphic shows stable synchronization using distributed clocks when using AutomationControlSuite.
  • Page 67 STOBER 10 | Looking for more information about EtherCAT? Settings on the master's and slave's end In general, the following settings are particularly significant for DC-Sync: § Sync Offset ... Specifies the time span between the release of the process data from the master and the Sync 0 signal of the slaves for the entire network simultaneously.
  • Page 68 10 | Looking for more information about EtherCAT? STOBER 10.5.2.1.2 Optimize values and correct problems You have commissioned your EtherCAT network. If you need to optimize synchronization using distributed clocks after the fact due to insufficient EtherCAT communication quality, we recommend the following measures.
  • Page 69 STOBER 10 | Looking for more information about EtherCAT? 10.5.2.1.2.3 EtherCAT slave: Synchronization – Read out diagnostic parameter You can get information about the status of the EtherCAT synchronization using the A261 diagnostic parameter. It checks whether a frame arrives at an EtherCAT slave within a certain time period based on the Sync 0 signal.

  • Page 70: Fig. 15 Twincat 3: Dc-Sync - Settings

    10 | Looking for more information about EtherCAT? STOBER 10.5.2.2 TwinCAT 3: Synchronization using DC-Sync The event for one synchronization is referred to as the SYNC 0 signal in Beckhoff TwinCAT 3. Each slave generates it own SYNC 0 signal cyclically using the respective SyncManager.
  • Page 71 STOBER 10 | Looking for more information about EtherCAT? Settings on the master's and slave's end In general, the following settings are particularly significant for DC-Sync. § SYNC Shift Time ... Specifies the time span between the release of the process data from the master and the SYNC 0 signal of the slaves for the entire network simultaneously.
  • Page 72 10 | Looking for more information about EtherCAT? STOBER 10.5.2.2.2 Optimize values and correct problems You have commissioned your EtherCAT network. If you need to optimize synchronization using distributed clocks after the fact due to insufficient EtherCAT communication quality, we recommend the following measures.

  • Page 73: Modular Esi Files

    In order to guarantee maximum flexibility regarding PDO transmission options, STOBER ESI files have a modular structure. A STOBER ESI file contains specified configurations for PDO transmission for every application in the form of default modules. You can add to the standard configurations of any application or configured PDO transmission freely as desired and add your STOBER ESI file as a new module.

  • Page 74: Deleting A Module From The Esi File

    10 | Looking for more information about EtherCAT? STOBER 10.6.2 Deleting a module from the ESI file You can delete a configuration of the PDO transmission you have added, i.e. the associated module, from an existing ESI file. 1. Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu >...

  • Page 75: Appendix

    ETG.1000.6 EtherCAT specification: 1000 hex – 1FFF hex The following table includes the supported communication objects for the standardized profile ETG.1000.6 EtherCAT specification – CANopen over EtherCAT (CoE) Communication Area as well as how the objects are mapped to the corresponding parameters of STOBER. Index Subindex...

  • Page 76: Tab. 8 Cia 301 Communication Objects: 1000 Hex - 1Ffff Hex

    11 | Appendix STOBER Index Subindex TxPDO RxPDO Name Comment 1A02 hex 0 hex — Number of mapped ✓ application objects in TxPDO 1A02 hex 1 hex – 6 hex — ✓ Application objects A235[0] - A235[5] 1A03 hex 4th TxPDO mapping parameter...

  • Page 77: Manufacturer-Specific Parameters: 2000 Hex - 53Ff Hex

    Index E200 = 8192 + (4 × 512) + 200 = 10440 = 28C8 hex Subindex E200 = 0 = 0 hex The following table includes the supported communication objects and how they are mapped to the corresponding parameters of STOBER. Index Group...

  • Page 78: Cia 402 Drives And Motion Control: 6000 Hex - 65Ff Hex

    The following table includes the supported communication objects of the standardized profile CiA 402 Drives and motion control device profile – Part 2: Operation modes and application data for motion control, as well as how they are mapped to the corresponding parameters of STOBER. The communication objects are used in the applications...
  • Page 79 STOBER 11 | Appendix Index Subindex TxPDO RxPDO Name Comment 6091 hex 1 hex Motor revolutions A584[0] ✓ ✓ 6091 hex 2 hex Shaft revolutions A584[1] ✓ ✓ 6092 hex Feed constant 6092 hex 0 hex — — Highest subindex supported...

  • Page 80: Tab. 11 Etg.5000.1 Communication Objects: F000 Hex - Ffff Hex

    11 | Appendix STOBER Index Subindex TxPDO RxPDO Name Comment 60C4 hex 6 hex — — Buffer clear A603[5]; no function 60C5 hex 0 hex Max acceleration A604 ✓ ✓ 60C6 hex 0 hex Max deceleration A605 ✓ ✓ 60E3 hex...

  • Page 81: Sdo Transmission: Error Codes

    STOBER 11 | Appendix 11.2 SDO transmission: Error codes If an SDO frame cannot be processed, the slave sends an SDO Abort Domain Transfer and outputs one of the following errors ─ along with the error class, error code and additional information ─ over the Abort SDO Transfer Protocol in case of an error.

  • Page 82: Emcy Message - Incorrect State Transitions: Error Codes

    11 | Appendix STOBER 11.3 EMCY message – Incorrect state transitions: Error codes Error code Meaning A000 hex Incorrect transition from pre-operational to safe-operational state A001 hex Incorrect transition from safe-operational to pre-operational state Tab. 13: EMCY – Transition error codes Error register specifies the state of the EtherCAT State Machine at the time of the EMCY sending.

  • Page 83: Emcy Message - Device Fault: Error Codes

    STOBER 11 | Appendix 11.4 EMCY message – Device fault: Error codes Error code Error register Event (E82) 0 hex: No error 0 hex: No error 30: Inactive 1000 hex: Generic error 1 hex: Generic error 48: Brake release control or 80: Illegal...

  • Page 84: Tab. 16 Emcy - Device Fault Error Codes

    11 | Appendix STOBER Error code Error register Event (E82) 8510 hex: Excessive reference position 1 hex: Generic error 85: Excessive jump in reference value jump 8600 hex: Positioning controller 1 hex: Generic error 51: Virtual master limit switch 8611 hex: Following error...

  • Page 85: Detailed Information

    STOBER 11 | Appendix 11.5 Detailed information The documentation listed in the following table offers additional relevant information about the associated drive controllers. Current document versions can be found at http://www.stoeber.de/en/downloads/. Device/Software Documentation Contents SD6 drive controller Manual System design, technical data,...

  • Page 86: Abbreviations

    11 | Appendix STOBER 11.6 Abbreviations Abbreviation Meaning ASIC Application-specific Integrated Circuit Acknowledge Telegram CAN in Automation CANopen over EtherCAT EMCY Emergency Electromagnetic Compatibility Ethernet over EtherCAT EtherCAT Slave Controller EtherCAT Slave Information EtherCAT State Machine EtherCAT Technology Group EtherCAT...

  • Page 87: Contact

    Your suggestions, opinions, wishes and constructive criticism help us to ensure and further develop the quality of our documentation. If you want to contact us for a specific reason, we would be happy to receive an e-mail from you at: documentation@stoeber.de Thank you for your interest. Your STOBER editorial team...

  • Page 88: Close To Customers Around The World

    12 | Contact STOBER 12.3 Close to customers around the world We offer you committed, expert advise and support in over 40 countries worldwide: STOBER AUSTRIA STOBER SOUTH EAST ASIA www.stoeber.at www.stober.sg Phone +43 7613 7600-0 sales@stober.sg sales@stoeber.at STOBER CHINA STOBER SWITZERLAND www.stoeber.cn...

  • Page 89: Glossary

    STOBER Glossary Glossary Broadcast domain Logical grouping of network devices within a local network that reaches all nodes via broadcast. CiA 402 Application of the commissioning software, which includes both the controller-based and drive-based operating modes (csp, csv, cst, ip, pp, pv, pt).
  • Page 90 Glossary STOBER Communication objects in a CANopen or EtherCAT network that transmit data such as set and actual values, control commands or status information based on events or objectives, in cycles or in real time on request. PDOs are generally exchanged over the process data channel with high priority.

  • Page 91: List Of Figures

    STOBER List of figures List of figures Fig. 1 EtherCAT – Network structure ........................Fig. 2 DS6 – Program interface ..........................Fig. 3 DriveControlSuite: Navigation using text links and symbols................Fig. 4 AS6 – Program interface ..........................Fig. 5 TwinCAT 3 (TwinCAT XAE) – program interface ....................
  • Page 92 List of tables STOBER List of tables Tab. 1 X200 and X201 connection description......................Tab. 2 Parameter groups ............................Tab. 3 Parameters – Data types, styles, possible values.................... Tab. 4 Meaning of the green LED (run) ........................Tab. 5 Meaning of the red LED (error) ........................
  • Page 93 442516.07 02/2020 STÖBER Antriebstechnik GmbH + Co. KG Kieselbronner Str. 12 75177 Pforzheim Germany Tel. +49 7231 582-0 mail@stoeber.de www.stober.com 24 h Service Hotline +49 7231 582-3000 www.stober.com...

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