SEW-Eurodrive Moviaxis MS XFE24A Manual
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SEW-Eurodrive Moviaxis MS XFE24A Manual

Multi-axis servo inverter ethercat fieldbus interface
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Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services
®
MOVIAXIS
MX Multi-Axis Servo Inverter
XFE24A EtherCAT
Fieldbus Interface
M
Edition 08/2007
anual
11550619 / EN

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Summary of Contents for SEW-Eurodrive Moviaxis MS XFE24A

  • Page 1 Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services ® MOVIAXIS MX Multi-Axis Servo Inverter XFE24A EtherCAT Fieldbus Interface Edition 08/2007 anual 11550619 / EN...
  • Page 2 SEW-EURODRIVE – Driving the world...

  • Page 3: Table Of Contents

    Contents 1 General Information ....................5 1.1 Structure of the safety notes ................5 1.2 Right to claim under warranty ................6 1.3 Exclusion of liability ..................6 1.4 Integral part of the product ................6 1.5 Documentation note ..................6 1.6 Product names and trademarks ...............
  • Page 4 Contents 6 Operating Behavior on EtherCAT ............... 25 ® 6.1 Control of the MOVIAXIS multi-axis servo inverter ........25 ® 6.1.1 Control example in TwinCAT with MOVIAXIS ........26 ® 6.1.2 EtherCAT timeout monitoring (MOVIAXIS )........28 6.1.3 Response fieldbus timeout..............29 6.2 Parameter setting via EtherCAT ..............

  • Page 5: General Information

    General Information Structure of the safety notes General Information Structure of the safety notes The safety notes in these operating instructions are structured as follows: Symbol SIGNAL WORD Nature and source of hazard. Possible consequence(s) if disregarded. • Measure(s) to avoid the hazard. Symbol Signal Word Meaning...

  • Page 6: Right To Claim Under Warranty

    MOVIAXIS multi-axis servo inverter and to achieve the specified product characteris- tics and performance requirements. SEW-EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non-observance of the op- erating instructions. In such cases, any liability for defects is excluded.

  • Page 7: Safety Notes

    "MOVIAXIS Multi-Axis Servo Inverter" operating instructions carefully and understood them." If you are unclear about any of the information in this documentation, or if you require further information, please contact SEW-EURODRIVE. NOTE ® This communication system allows you to adjust the MOVIAXIS multi-axis servo in- verter to a variety of different applications.

  • Page 8: Transport / Putting Into Storage

    Safety Notes Transport / putting into storage Transport / putting into storage You must observe the notes in the manual on transportation, storage and proper han- dling. Installation / assembly Adhere to the instructions in section 4, "Mechanical Installation" Electrical Connection Observe the applicable national accident prevention guidelines when working on live multi-axis servo inverters (for example, BGV A3).

  • Page 9: Introduction

    Introduction Content of the manual Introduction Content of the manual This user manual describes ® • MOVIAXIS startup on the EtherCAT fieldbus system. • The configuration of the EtherCAT master using XML files. ® • Operating MOVITOOLS MotionStudio via EtherCAT. Additional documentation ®...

  • Page 10: Access To All Information

    Introduction Features 3.3.2 Access to all information ® MOVIAXIS offers digital access to all drive parameters and functions via the EtherCAT interface. The servo drive is controlled via fast, cyclic process data. Via this process data channel, you can enter setpoints such as the setpoint speed, ramp generator time for acceleration / deceleration, etc.

  • Page 11: Monitoring Functions

    Introduction Features 3.3.6 Monitoring functions Using a fieldbus system requires additional monitoring functions for the drive technolo- gy, for example, time monitoring of the fieldbus (fieldbus timeout) or rapid stop concepts. ® You can, for example, adapt the monitoring functions of MOVIAXIS specifically to your application.

  • Page 12: Assembly And Installation

    NOTE For the installation of the EtherCAT bus, you can use commercially available cables that are intended for EtherCAT bus systems. The EtherCAT cables are not included in the scope of delivery of SEW-EURODRIVE. Manual – XFE24A EtherCAT Fieldbus Interface...

  • Page 13: Pin Assignment

    Assembly and Installation Pin assignment Pin assignment Use prefabricated, shielded RJ45 plug connectors compliant with IEC 11801, edition 2.0, category 5. [3] [2] [1] 54174axx Figure 3: Pin assignment of an RJ45 plug connector A = Front view B = View from back [1] Pin 1 TX+ Transmit Plus [2] Pin 2 TX–...

  • Page 14: Routing And Shielding The Bus Cable

    Assembly and Installation Routing and shielding the bus cable Routing and shielding the bus cable Only use shielded cables and connection elements that also meet the requirements of category 5, class 2 according to IEC11801, edition 2.0. Correct shielding of the bus cable attenuates electrical interference that may occur in industrial environments.

  • Page 15: Bus Termination

    EtherCAT unit, this is automatically detected. Setting the station address The address of EtherCAT units from SEW-EURODRIVE cannot be set at the unit. These units are recognized via their position in the bus structure and are then assigned an ad- ®...

  • Page 16: Operating Displays And Settings

    Assembly and Installation Operating displays and settings Operating displays and settings Switch F1 • Switch position 0: Delivery condition • Switch position 1: Reserved for added functions LED RUN; color: Green / orange LED ERR; color: Red LED link IN; color: Green LED link OUT;...
  • Page 17 Assembly and Installation Operating displays and settings LED link IN LED Each EtherCAT connection for incoming EtherCAT cables (X30) and outgoing Ether- link OUT CAT cables (X31) has a "Link/Activity" LED. The LED shows whether the EtherCAT link to the previous unit (X30) or the next unit (X31) in line exists / is active. Definition of display statuses Display...

  • Page 18: Ethercat Configuration And Startup

    This section provides you with information on configuration of the EtherCAT master and startup of the servo inverter for fieldbus operation. The current version of the XML file for the XFE24A option card is available on the SEW homepage (http://www.sew-eurodrive.de) under the heading "Software". Validity of the XML files for XFE24A ®...

  • Page 19: Pdo Configuration For Operation In The Moviaxis

    EtherCAT Configuration and Startup Configuring the EtherCAT master for MOVIAXIS® using the XML file ® 5.2.3 PDO configuration for operation in the MOVIAXIS In the CoE (CANopen over EtherCAT) version, EtherCAT uses the process data objects (PDO) defined in the CANopen standard for cyclical communication between master and slave.
  • Page 20 EtherCAT Configuration and Startup Configuring the EtherCAT master for MOVIAXIS® using the XML file Static PDO for 16 cyclical process data words acycl. Mailbox cycl. OutputData1 Communication (Standard 16 PO) PO 1 PO 2 PO 3 PO 4 PO 5 PO12 PO13 PO14 PO15 PO 16 61992AXX Figure 5: Assignment of standard process output data for OutputData1...
  • Page 21 EtherCAT Configuration and Startup Configuring the EtherCAT master for MOVIAXIS® using the XML file Assignment of the permanently con- figured process PI 1 PI 2 PI 3 PI 4 PI 5 PI 12 PI 13 PI 14 PI 15 PI 16 input data for PDO InputData1 cycl.

  • Page 22: Settings On The Moviaxis ® Servo Inverter Using The Example Of Single-Axis Positioning

    EtherCAT Configuration and Startup Settings on the MOVIAXIS® servo inverter using the example of single-axis ® Settings on the MOVIAXIS servo inverter using the example of single-axis positioning Settings with For simple fieldbus operation, the following preparations and settings are required. software •...
  • Page 23 EtherCAT Configuration and Startup Settings on the MOVIAXIS® servo inverter using the example of single-axis Manual settings Manual setting of the communication and PDO configurations: • Start the PDO Editor. 11658AXX Figure 8: Manual settings • For operation with an EtherCAT bus system, a free "IN buffer" (e.g. IN buffer 0) must be configured: •...
  • Page 24 EtherCAT Configuration and Startup Settings on the MOVIAXIS® servo inverter using the example of single-axis ® For safety reasons, you must also enable the MOVIAXIS servo inverter at the terminals for control via the EtherCAT bus system. To do so, connect input DI00 (Function „Output stage enable) to DC +24 V.

  • Page 25: Operating Behavior On Ethercat

    Operating Behavior on EtherCAT Control of the MOVIAXIS® multi-axis servo inverter Operating Behavior on EtherCAT This section describes the basic behavior of the servo inverter on the EtherCAT system when controlled via permanently configured PDOs for fieldbus communication. ® Control of the MOVIAXIS multi-axis servo inverter ®...

  • Page 26: Control Example In Twincat With Moviaxis

    Operating Behavior on EtherCAT Control of the MOVIAXIS® multi-axis servo inverter ® 6.1.1 Control example in TwinCAT with MOVIAXIS Once the file SEW_XFE24A.xml has been copied to the TwinCAT subdirectory ® "\IO\EtherCAT" , you can add MOVIAXIS to the EtherCAT structure in the "offline mode"...
  • Page 27 Operating Behavior on EtherCAT Control of the MOVIAXIS® multi-axis servo inverter Now, you can link up to 16 process data words to the PLC program or write data into them for manual testing as shown in the following figure. 11644AXX First, mark the process output data PO1.

  • Page 28: Ethercat Timeout Monitoring (Moviaxis ® )

    Operating Behavior on EtherCAT Control of the MOVIAXIS® multi-axis servo inverter ® 6.1.2 EtherCAT timeout monitoring (MOVIAXIS Use the parameter "Communication\Basic settings\Communication option" to set the monitoring time for the EtherCAT option card XFE24A. If this monitoring time is exceed- ed during the process data configuration, an error message is issued, see Error re- sponse, sec.

  • Page 29: Response Fieldbus Timeout

    Operating Behavior on EtherCAT Control of the MOVIAXIS® multi-axis servo inverter 6.1.3 Response fieldbus timeout The "Fieldbus Timeout" response is used to configure the error response, which is trig- gered by the "fieldbus timeout monitoring". The parameters set her should match the configuration of the master system.

  • Page 30: Parameter Setting Via Ethercat

    Operating Behavior on EtherCAT Parameter setting via EtherCAT Parameter setting via EtherCAT The SDO services READ and WRITE, which are common in CoE (CANopen over EtherCAT), provide access to the drive parameter in EtherCAT. ® MOVITOOLS MotionStudio can access all unit functions via VoE services (Vendor- specific over EtherCAT).

  • Page 31: Reading A Parameter Via Twincat (Example)

    Operating Behavior on EtherCAT Parameter setting via EtherCAT 6.2.2 Reading a parameter via TwinCAT (example) The function "SDO-READ" is available for reading a parameter. The index of the param- eter to be read is necessary. For implementation in TwinCAT, the function module FB_EcCoESdoRead is required. This function module is available in the TcEtherCAT.lib library.

  • Page 32: Writing A Parameter Via Twincat (Example)

    Operating Behavior on EtherCAT Parameter setting via EtherCAT 6.2.3 Writing a parameter via TwinCAT (example) The function "SDO-WRITE" is available for writing a parameter. The index of the param- eter to be written is necessary. For implementation in TwinCAT, the function module FB_EcCoESdoWrite is required. This function module is available in the TcEtherCAT.lib library.
  • Page 33 Operating Behavior on EtherCAT Parameter setting via EtherCAT The function module is integrated in TwinCAT as follows: 11662AXX Figure 13: Integration of the function module in TwinCAT SEW parameter always have a data length of 4 Byte (1DWord). For scaling and a more ®...

  • Page 34: Configuration Return Codes

    Operating Behavior on EtherCAT Configuration return codes Configuration return codes 6.3.1 Elements In the event of an incorrect parameter setting, the servo drive sends back various return codes to the master which sets the parameters. These codes provide detailed informa- tion about what caused the error.

  • Page 35: List Of Implemented Error Codes For Sdo Services

    Operating Behavior on EtherCAT Configuration return codes 6.3.5 List of implemented error codes for SDO services Error code Error Error Additional Designation Description class code code 0x00000000 NO_ERROR No error. 0x05030000 TOGGLE_BIT_NOT_CHANGED Error in the toggle bit during seg- mented transfer. 0x05040000 SDO_PROTOCOL_TIMEOUT Timeout during execution of service.

  • Page 36: Motion Control Via Ethercat

    Motion Control via EtherCAT EtherCAT introduction Motion Control via EtherCAT This chapter contains information about the EtherCAT functions that enable clock syn- ® chronous operation of MOVIAXIS connected to an EtherCAT master, which is neces- sary for motion control applications. EtherCAT introduction This section describes the functions and terms used for clock synchronous operation of SEW servo inverters on EtherCAT.
  • Page 37 Motion Control via EtherCAT EtherCAT introduction 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 usu- ally the higher-level controller. From the calculated path curve, a setpoint speed (→ sec. "7.2.1") or setpoint position (→...
  • Page 38 Motion Control via EtherCAT EtherCAT introduction ≈ dx/dt While in control intervals 1 to 3 only a slightly inaccurate speed (v = dx/dt ) is determined, in the fourth control interval, a significant error (v = 2dx/dtS) occurs when calculating the velocity. This incorrect speed calculated in one sample interval results in violent responses of the control algorithms in the controller and can even trigger error messages.

  • Page 39: Speed Setpoint Interface (Velocity Mode)

    Motion Control via EtherCAT EtherCAT introduction 7.1.1 Speed setpoint interface (Velocity mode) 61478AXX Figure 15: Velocity mode – Cascade with fieldbus interface Control Fieldbus interface Servo inverter Position setpoint Position controller Position actual value Speed controller Speed setpoint Output stage of the servo inverter Actual speed value Driven machine Torque setpoint...

  • Page 40: Settings For Velocity Mode (Speed Interface)

    Motion Control via EtherCAT EtherCAT introduction 7.1.2 Settings for Velocity mode (speed interface) IN process data 11663AXX Figure 16: IN process data 11719AEN Figure 17: Control word 0 settings Manual – XFE24A EtherCAT Fieldbus Interface...
  • Page 41 Motion Control via EtherCAT EtherCAT introduction IN buffer 0 links Then establish links from the IN buffer 0 to the control word 0 and to the process data according the above example using drag & drop. Control word 0 settings For calling up the FCB06 interpolated speed control, it must be configured in a control word (here: control word 0).
  • Page 42 Motion Control via EtherCAT EtherCAT introduction Configuration of the FCB06 (inter- polated speed) 11665AXX Figure 19: Configuration of the FCB06 Set the cycle time of your EtherCAT controller in the controller setpoint cycle parameter, e.g. 1 ms. In addition to that, the source for the speed setpoint must be set, here: process data buff- er channel 1.
  • Page 43 Motion Control via EtherCAT EtherCAT introduction OUT process data 11666AXX Figure 20: OUT process data The unit and resolution of the speed or velocity and position, or travel of the axis, de- pends on the settings of the user travel units, which were made during startup. If no oth- er user travel units were defined, they are as follows: Travel distance: 1.0000 [Revolutions]...

  • Page 44: Position Setpoint Interface (Position Mode)

    Motion Control via EtherCAT EtherCAT introduction 7.1.3 Position setpoint interface (Position mode) 61479AXX Figure 21: Position mode – Cascade with bus interface Control Fieldbus interface Servo inverter Position setpoint Position controller Position actual value Speed controller Speed setpoint Output stage of the servo inverter Actual speed value Driven machine Torque setpoint...

  • Page 45: Settings For Position Mode

    Motion Control via EtherCAT EtherCAT introduction 7.1.4 Settings for Position mode IN process data 11667AXX Figure 22: IN process data 11720AEN Figure 23: Control word 0 settings Manual – XFE24A EtherCAT Fieldbus Interface...
  • Page 46 Motion Control via EtherCAT EtherCAT introduction IN buffer 0 links Establish a connection from status word 0 and IN process data to the IN buffer 0 using drag & drop. The assignment of control word 0 differs from the process data link for Velocity mode. Control word 0 settings For calling up the FCB10 interpolated positioning, it must be configured in a control word...

  • Page 47: Settings In The Ethercat Master

    Motion Control via EtherCAT Settings in the EtherCAT master Configuration of the FCB10 (inter- polated position- ing) 11669AXX Figure 25: Configuration of the FCB10 Set the cycle time of your EtherCAT controller in the controller setpoint cycle parameter, e.g. 1 ms. The position setpoints of the controller are smoothed with these configurable mean val- ue filters for a "steady", continuous speed curve.

  • Page 48: Settings For Position Mode

    Motion Control via EtherCAT Example: TwinCAT 7.2.2 Settings for Position mode • The position setpoint is transferred via the input word configured in the PDO Editor. • The position is transferred via the output word configured in the PDO Editor. The resolution is set during startup.
  • Page 49 Motion Control via EtherCAT Example: TwinCAT Check the timeout monitoring for the sync manager 0x1000. To do so, tick the "Watch- dog Trigger" option in the "Edit Sync Manager" window (→ following figure) and enter the watchdog time in the "Value" field. 61457AXX NC axis Then, the NC axis is configured (→...

  • Page 50: Velocity Mode

    Motion Control via EtherCAT Example: TwinCAT Encoder The CANopen DS402" is specified as encoder (under "Axis x_Enc") and configured as configuration follows (→ following figure). 11716AEN The scaling factor results from the following formula: · 360° PositionNumerator · Inc PositionDenominator 7.3.1 Velocity mode In Velocity mode, "Drive connected to KLXXX..."...
  • Page 51 Motion Control via EtherCAT Example: TwinCAT Finally, the setpoint speed and the actual position of the drive are linked to the NC axis. The control and status word 1 is controlled by teh PLC task according to the description ® in the MOVIAXIS project planning manual (→...

  • Page 52: Operating Movitools® Motionstudio Via Ethercat

    Operating MOVITOOLS® MotionStudio via EtherCAT Introduction ® Operating MOVITOOLS MotionStudio via EtherCAT ® This section describes the operation of the MOVITOOLS MotionStudio via EtherCAT. Introduction EtherCAT provides the user with acyclical parameter services in addition to cyclical pro- cess data. This acyclical data exchange is performed via the mailbox gateway of the EtherCAT master (→...

  • Page 53: Required Hardware

    Operating MOVITOOLS® MotionStudio via EtherCAT Required hardware Required hardware ® If a suitable operating system for MOVITOOLS MotionStudio is installed in the Ether- CAT controller, no further hardware is required. ® If no suitable operating system is available or if MOVITOOLS MotionStudio is to be op- erated from a different PC, the EtherCAT master requires a second Ethernet interface ®...

  • Page 54: Configuration Of The Mailbox Gateway

    Operating MOVITOOLS® MotionStudio via EtherCAT Configuration of the mailbox gateway Configuration of the mailbox gateway • Activate the VoE / EoE support of the EtherCAT controller. • Determine the IP address of the EtherCAT mailbox gateway. Usually the IP address is assigned by the TwinCAT program.
  • Page 55 Operating MOVITOOLS® MotionStudio via EtherCAT Network settings on the engineering PC There are two basic routing variants: 1. Variant: Access to the mailbox gateway by determining the standard gateway on the engineering PC. In this variant, the IP address of the EtherCAT master is specified as standard gateway.

  • Page 56: Configuration Of The Sew Communication Server

    Establishing communication ® MOVITOOLS MotionStudio allows you to communicate with the electronics products from SEW-EURODRIVE GmbH & Co KG via several, different communication paths at the same time. ® When you start MOVITOOLS MotionStudio, the SEW communication server is also started, and an additional icon will appear in the Windows status bar.
  • Page 57 Operating MOVITOOLS® MotionStudio via EtherCAT Configuration of the SEW communication server 3. The "Configure EtherCAT" window opens. Click on the "+" button [1] to add the IP address of the mailbox gateway in the EtherCAT master. 61937AXX For the basic settings, observe the specified unit scan range ("Scan range start / end" fields).

  • Page 58: Automatic Search For Connected Units (Unit Scan)

    Operating MOVITOOLS® MotionStudio via EtherCAT Automatic search for connected units (unit scan) Automatic search for connected units (unit scan) After pressing function key <F5> or the "Online scan" symbol , all configured com- munication channels are searched automatically and accessible units are displayed in the unit tree.

  • Page 59: Activating Online Operation

    Operating MOVITOOLS® MotionStudio via EtherCAT Activating online operation Activating online operation • Perform the unit scan (see section 8.7). ® • Use the mouse to mark the unit you want to operate. Switch MOVITOOLS Motion- Studio to online mode by clicking on the "Online mode" symbol (→ following figure). 11656AXX •...

  • Page 60: Error Diagnostics

    Error Diagnostics Diagnostic procedures Error Diagnostics Diagnostic procedures The diagnostic procedures described in the following section demonstrate the fault anal- ysis methods for the following problems: • Servo inverter does not work on EtherCAT. • Servo inverter cannot be controlled using the EtherCAT master For more specific information about configuration of the servo inverter for different field- ®...
  • Page 61 Error Diagnostics Diagnostic procedures Step 3: How does the ERR LED respond? Example 1: RUN LED lights up green (slave is in OPERATIONAL state). ↓ The EtherCAT communication of the XFE24A option is in operating state. Example 2: • RUN LED flashes green (slave is in PRE-OPERATIONAL state). •...

  • Page 62: List Of Errors

    Error Diagnostics List of errors Flashing Prerequisite: • RUN LED flashes green (slave is in PRE-OPERATIONAL state). • RUN LED lights up green once (slave is in SAFE-OPERATIONAL state). ↓ An invalid configuration has occurred. Correct the configuration error and then start the bus in the master.

  • Page 63: Technical Data

    Technical Data XFE24A option for MOVIAXIS® Technical Data ® 10.1 XFE24A option for MOVIAXIS ® XFE24A option (MOVIAXIS Part number 1821 2492 Power consumption P = 3 W Standards IEC 61158, IEC 61784-2 Baud rate 100 Mbaud full duplex 2 × RJ45 (8x8 modular jack) Connection technology Bus termination Not integrated because bus termination is automatically activated.

  • Page 64: Index

    Index Index Monitoring functions ........... 11 Motion control via EtherCAT ......36 Additional code ...........34 Example TwinCAT ........48 Introduction ..........36 Bus cable Position mode ..........44 Routing ............14 Settings in the EtherCAT master ....47 Shielding ............14 Velocity mode ..........39 ®...
  • Page 65 Index IN process data settings .......46 OUT process data ........47 Settings for Velocity mode Configuration of the FCB06 (interpolated speed) ............42 Control word 0 settings .........41 IN buffer 0 links ..........41 IN process data ..........40 IN process data settings .......41 OUT buffer 0 links ........43 OUT process data ........43 SEW communication server ........56...
  • Page 67 SEW-EURODRIVE – Driving the world...
  • Page 68 Internet, available Anywhere. today. around the clock. 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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