Stober SC6 Series Operating Manual
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Stober SC6 Series Operating Manual

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EtherCAT – SC6 and SI6
Operating manual
en-US
02/2020
ID 443025.06

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  • Page 1 EtherCAT – SC6 and SI6 Operating manual en-US 02/2020 ID 443025.06...

  • 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 ................................  22 DS6: Configuring the drive controller ........................ 23 7.1.1 Initiating the project .......................... 23 7.1.2 Parameterizing general EtherCAT settings ...................  24 7.1.3 Configuring PDO transmission ...................... 25 7.1.4 Mapping the mechanical axis model .................... 26 7.1.5...
  • Page 4 9.2.1 CoE: CANopen over EtherCAT.......................  50 9.2.2 EoE: Ethernet over EtherCAT ........................  50 9.2.3 EoE: Application cases with STOBER devices .................. 51 Communication objects ............................ 53 9.3.1 Process data objects – PDO ........................ 53 9.3.2 Service data objects – SDO ........................ 54 9.3.3...

  • Page 5: Foreword

    STOBER drive controllers of the SC6 and SI6 series are available with the Ethernet-based EtherCAT fieldbus system as standard. The STOBER product portfolio is also designed for combining these drive controllers 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 regard to EtherCAT communication.

  • Page 6: User Information

    This documentation was created taking into account the applicable standards and regulations as well as the current state of technology. STOBER shall assume no responsibility for damage resulting from failure to comply with the documentation or from use that deviates from the intended use of the product. This is especially true for damage caused by individual technical...

  • 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

    As defined by DIN EN 50178, drive controllers are electrical devices operating as power electronics to control the flow of energy in high-voltage systems. They are intended solely for the operation of STOBER LM series Lean motors, synchronous servo motors (e.g. from the STOBER EZ series), asynchronous motors or torque motors.

  • 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: Connection

    STOBER 5 | Connection Connection In order to connect drive controllers of the SC6 and SI6 series 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 14: What You Should Know Before Commissioning

    6 | What you should know before commissioning STOBER 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 15: Fig. 3 Drivecontrolsuite: Navigation Using Text Links And Symbols

    STOBER 6 | What you should know before commissioning 6.1.1.2 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 16: As6: Structure Of The Program Interface

    6 | What you should know before commissioning STOBER 6.1.2 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 17: Twincat 3: Structure Of The Program Interface

    STOBER 6 | What you should know before commissioning 6.1.3 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 18: Meaning Of Parameters

    (actual velocity, actual torque, etc.) and trigger general actions like Save values, Test phase, etc. 6.2.1 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 19: Parameter Types And Data Types

    STOBER 6 | What you should know before commissioning 6.2.2 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 20: Parameter Types

    6 | What you should know before commissioning STOBER 6.2.3 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 21: Parameter Visibility

    STOBER 6 | What you should know before commissioning 6.2.5 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 22: Commissioning

    7 | Commissioning STOBER 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 23: Ds6: Configuring The Drive Controller

    STOBER 7 | Commissioning 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 [} 14]). Information Since you are working with a controller, the following steps are described based on the...

  • Page 24: Parameterizing General Ethercat Settings

    7 | Commissioning STOBER Projecting the axis 1. Click on Axis Properties tab: Establish the connection between your circuit diagram and the axis to be projected in DriveControlSuite. Reference: Specify the reference code (equipment code) of the axis. Designation: Give the axis a unique name.

  • Page 25: Configuring Pdo Transmission

    These are free to be configured in any way. One channel is reserved for FSoE communication and is parameterized automatically. In order to guarantee error-free communication between the controller and drive controller, STOBER offers an application- dependent pre-assignment of the channels which can be changed at any time.

  • Page 26: Mapping The Mechanical Axis Model

    7.1.4.1 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 27 STOBER 7 | Commissioning 4. A585[1] Feed constant.Shaft revolutions and A585[0] Feed constant. Feed: Specify the feed rate per revolution of the gear unit output. 5. I06 Decimal places position: Specify the number of decimal places for specifying and displaying position set values, velocity values and acceleration values.
  • Page 28 7 | Commissioning STOBER 7.1.4.5 Parameterizing the position and velocity window Enter position limits and velocity zones for set values. To do so, parameterize boundary values for reaching a position or velocity. 1. Select the Axis model wizard > Window position, velocity.

  • Page 29: Synchronizing Ethercat Nodes

    STOBER 7 | Commissioning Limiting torque/force (optional) The specified default values take into account the rated operation together with the overload reserves. 1. Select the Axis model wizard > Limit: Torque/force. 2. If the motor force must be limited, adapt the saved values.

  • Page 30: Transmitting And Saving The Configuration

    7 | Commissioning STOBER 7.1.6 Transmitting and saving the configuration In order to transmit and save the configuration to one or more drive controllers, your PC must be located in the same network with the respective devices. Transmitting the configuration ü...

  • Page 31: As6: Putting The Ethercat System Into Operation

    STOBER 7 | Commissioning 6. Confirm the message by clicking on OK. ð The Restart (A09) window closes. ð The fieldbus communication and connection to DriveControlSuite are interrupted. ð The drive controllers restart. AS6: Putting the EtherCAT system into operation...

  • Page 32: Adding A Drive Controller

    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: Parameterizing A Softmotion Axis

    STOBER 7 | Commissioning 7.2.4 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_ETC_STOEBER_SI6_SC6_HiRes of the first added SC6 or SI6 drive controller and double click to open it.

  • Page 34: Configuring Eoe Communication

    Ethernet and EtherCAT networks (see the chapter Configuring EoE communication [} 34]). 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. 7.2.6 Identifying a MC6 motion controller 1.

  • Page 35: Transmitting A Project Configuration

    STOBER 7 | Commissioning 7.2.7 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 36: Special Case: Adding To The Pdo Transmission

    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 37: Twincat 3: Putting The Ethercat System Into Operation

    7.3.1 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 38: Activating The Ethercat Master

    7 | Commissioning STOBER 7.3.2 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 39: Scanning The Hardware Environment

    STOBER 7 | Commissioning 7.3.3 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 40: Configuring Synchronization Using Distributed Clocks

    7 | Commissioning STOBER 7.3.4 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 41: Configuring Eoe Communication

    Ethernet and EtherCAT networks (see the chapter Configuring EoE communication [} 41]). 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. 7.3.7 Transmitting a project configuration Transfer the project configuration to the EtherCAT master.

  • Page 42: Checking The Functionality Of The Axes

    7 | Commissioning STOBER 7.3.8 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 43: 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. 8.2.1...

  • Page 44: Ethercat Network Connection

    8 | Monitoring and diagnostics STOBER Green LED Conduct 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 45: Events

    STOBER 8 | Monitoring and diagnostics 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 46: Parameters

    8 | Monitoring and diagnostics STOBER Cause Check and action 6: EtherCAT PDO-Timeout Missing process data Check the task cycle time in the EtherCAT master and the timeout time in the drive controller and correct them if necessary (A258) 7: Reserved...

  • Page 47: A257 | Ethercat Diagnosis | V1

    STOBER 8 | Monitoring and diagnostics 8.4.3 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 48: A259 | Ethercat Sm-Watchdog | V1

    8 | 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 49: Looking For More Information About Ethercat

    STOBER 9 | 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. EtherCAT EtherCAT (Ethernet for Control Automation Technology) is an industrial Ethernet technology for real-time requirements in automation technology.

  • Page 50: 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. 9.2.1...

  • Page 51: Eoe: Application Cases With Stober Devices

    9 | Looking for more information about EtherCAT? 9.2.3 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 52: Fig. 10: Network Overview - Topology 2

    9 | Looking for more information about EtherCAT? STOBER 9.2.3.2 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 53: Communication Objects

    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 54: Service Data Objects - Sdo

    This determines which communication objects are transferred over the process data channel. The STOBER drive controllers support a flexible assignment of the elements to be transmitted to the individual PDOs. PDO communication allows for a maximum of four independent PDO channels to be operated simultaneously per transmission and sending direction, where channel 4 is a safety channel.

  • Page 55: 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. Byte 8 indicates which axis is affected. If the value is 0, the fault originates from axis A or the global part of the drive controller.

  • Page 56: Ethercat State Machine

    9 | Looking for more information about EtherCAT? STOBER EMCY message: Exiting the fault state In accordance with the CANopen standard, an EMCY message is structured as follows when exiting the fault state. Byte 0x1E EMCY Error Free Axis Master...
  • Page 57 STOBER 9 | Looking for more information about EtherCAT? Operating states § Init State after an EtherCAT slave is switched on. The configuration starts; saved values are loaded. Neither SDO nor PDO communication is possible using the mailbox and process data channels, i.e. the master and slave do not communicate directly.

  • Page 58: Synchronization

    9 | Looking for more information about EtherCAT? STOBER 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 59: Sm-Sync: Synchronization Using Syncmanager Event

    STOBER 9 | Looking for more information about EtherCAT? 9.5.1 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 60: Dc-Sync: Synchronization Using Distributed Clocks

    9 | Looking for more information about EtherCAT? STOBER 9.5.2 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 61: Fig. 14 As6: Dc-Sync - Settings

    9 | Looking for more information about EtherCAT? 9.5.2.1 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. 9.5.2.1.1 DC settings The following graphic shows stable synchronization using distributed clocks when using AutomationControlSuite.
  • Page 62 9 | Looking for more information about EtherCAT? STOBER 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 63 STOBER 9 | Looking for more information about EtherCAT? 9.5.2.1.2 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 64 9 | Looking for more information about EtherCAT? STOBER 9.5.2.1.2.3 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 65: Fig. 15 As6: Dc-Sync - Unstable Synchronization, Cycle Time < 1 Ms

    For cycle times < 1 ms, quality defects can occur in the EtherCAT communication if the receipt of the PDO data from the controller and transmission of the process data from the drive controller overlap. The following graphic shows unstable synchronization using distributed clocks when using TwinCAT 3. Cycle time Cycle time Cycle time STOBER MC6 NC+PLC NC+PLC NC+PLC Frame...

  • Page 66: Fig. 16 As6: Dc-Sync - Stable Synchronization, Cycle Time < 1 Ms

    For cycle times < 1 ms, change the cycle sequence of the application to RxPDO, TxPDO, graphical programming (A149 = 1). The following example shows a synchronization with a changed cycle sequence. The frame jitter (controller) and application jitter (drive controller) are separated and synchronization is stable. Cycle time Cycle time Cycle time STOBER MC6 NC+PLC NC+PLC NC+PLC Frame...

  • Page 67: Fig. 17 Twincat 3: Dc-Sync - Settings

    STOBER 9 | Looking for more information about EtherCAT? 9.5.2.2 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 68 9 | Looking for more information about EtherCAT? STOBER 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 69 STOBER 9 | Looking for more information about EtherCAT? 9.5.2.2.2 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 70 9 | Looking for more information about EtherCAT? STOBER 9.5.2.2.2.3 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 71: Fig. 18 Twincat 3: Dc-Sync - Unstable Synchronization, Cycle Time < 1 Ms

    STOBER 9 | Looking for more information about EtherCAT? 9.5.2.2.2.4 Cycle time < 1 ms For cycle times < 1 ms, quality defects can occur in the EtherCAT communication if the receipt of the PDO data from the controller and transmission of the process data from the drive controller overlap.

  • Page 72: Fig. 19 Twincat 3: Dc-Sync - Stable Synchronization, Cycle Time < 1 Ms

    9 | Looking for more information about EtherCAT? STOBER Changing the cycle sequence For cycle times < 1 ms, change the cycle sequence of the application to RxPDO, TxPDO, graphical programming (A149 = 1). The following example shows a synchronization with a changed cycle sequence.

  • 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

    9 | Looking for more information about EtherCAT? STOBER 9.6.2 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. Information We recommend against deleting the system-specified modules of an ESI file, even if these are not used.

  • 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

    10 | Appendix STOBER Index Subindex TxPDO RxPDO Name Comment 1A02 hex 3rd TxPDO mapping parameter 1A02 hex 0 hex — Number of mapped application Constant value of 24 ✓ objects in TxPDO 1A02 hex 1 hex – 24 hex —...

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

    Subindex E200 = 0 = 0 hex The following table includes the manufacturer-specific communication objects in axis A and how they are mapped to the corresponding parameters of STOBER. Information on the manufacturer-specific communication objects in axis B can be found in the chapter Manufacturer- specific parameters: A000 hex –...

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

    The following table includes the communication objects of the standardized profile CiA 402 Drives and motion control device profile – Part 2: Operation modes and application data supported by axis A 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 10 | Appendix Index Subindex TxPDO RxPDO Name Comment 6091 hex Gear ratio 6091 hex 0 hex — — Highest subindex supported Constant value of 2 6091 hex 1 hex Motor revolutions A584[0] ✓ ✓ 6091 hex 2 hex...

  • Page 80: Tab. 10 Cia 402-2 Communication Objects: 6000 Hex - 65Ff Hex

    10 | Appendix STOBER Index Subindex TxPDO RxPDO Name Comment 60C4 hex 1 hex — — Maximum buffer size A603[0]; no function 60C4 hex 2 hex — — Actual buffer size A603[1]; no function 60C4 hex 3 hex — —...

  • Page 81: Manufacturer-Specific Parameters: A000 Hex - D3Ff Hex

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

  • Page 82: Cia 402 Drives And Motion Control: 6800 Hex - 6Dff Hex

    The following table includes the communication objects of the standardized profile CiA 402 Drives and motion control device profile – Part 2: Operation modes and application data supported by axis B 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 83 STOBER 10 | Appendix Index Subindex TxPDO RxPDO Name Comment 6891 hex Gear ratio 6891 hex 0 hex — — Highest subindex supported Constant value of 2 6891 hex 1 hex Motor revolutions A584[0] ✓ ✓ 6891 hex 2 hex...

  • Page 84: Tab. 12 Cia 402-2 Communication Objects: 6800 Hex - 6Dff Hex

    10 | Appendix STOBER Index Subindex TxPDO RxPDO Name Comment 68C4 hex 6 hex — — Buffer clear A683[5]; no function 68C5 hex 0 hex Max acceleration A684 ✓ ✓ 68C6 hex 0 hex Max deceleration A685 ✓ ✓ 68E3 hex...

  • Page 85: Etg.5000.1 Modular Device Profile: F000 Hex - Ffff Hex

    STOBER 10 | Appendix 10.1.6 ETG.5000.1 Modular Device Profile: F000 hex – FFFF hex The following table includes the supported communication objects of the standardized profile ETG.5000.1 Modular Device Profile. Index Subindex TxPDO RxPDO Name Comment F050 hex Detected module ident list...

  • Page 86: Emcy Message - Incorrect State Transitions: Error Codes

    10 | Appendix STOBER 10.3 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. 15: EMCY – Transition error codes Error register specifies the state of the EtherCAT State Machine at the time of the EMCY sending.

  • Page 87: Emcy Message - Device Fault: Error Codes

    STOBER 10 | Appendix 10.4 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 80: Illegal action 2110 hex: Short circuit earth...

  • Page 88: Detailed Information

    10 | Appendix STOBER Error code Error register Event (E82) FF09 hex: Manufacturer specific error 1 hex: Generic error 44: External fault 1 FF0A hex: Manufacturer specific error 1 hex: Generic error 68: External fault 2 Tab. 18: EMCY – Device fault error codes 10.5...

  • Page 89: Abbreviations

    STOBER 10 | Appendix 10.6 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 90: 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 91: Close To Customers Around The World

    STOBER 11 | Contact 11.3 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 92: Glossary

    Glossary STOBER 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 93 STOBER Glossary 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 94: List Of Figures

    List of figures STOBER List of figures Fig. 1 EtherCAT – Network structure, using the SI6 series as an example..............Fig. 2 DS6 – Program interface ..........................Fig. 3 DriveControlSuite: Navigation using text links and symbols................Fig. 4 AS6 – Program interface ..........................
  • Page 95 STOBER List of tables 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 red LED (error) ........................Tab. 5 Meaning of the green LED (Run) ........................
  • Page 96 443025.06 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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