SEW-Eurodrive EtherCAT DFE24B Manual
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SEW-Eurodrive EtherCAT DFE24B Manual

SEW-Eurodrive EtherCAT DFE24B Manual

Fieldbus interface
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Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services
Fieldbus Interface DFE24B
EtherCAT
M
Edition 05/2007
anual
11571810 / EN

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Summary of Contents for SEW-Eurodrive EtherCAT DFE24B

  • Page 1 Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services Fieldbus Interface DFE24B EtherCAT Edition 05/2007 anual 11571810 / EN...
  • Page 2 SEW-EURODRIVE – Driving the world Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 3: Table Of Contents

    1 Important Notes...................... 6 Explanation of symbols .................. 6 Integral part of the product ................6 Note on the documentation ................6 Liability for defects ..................7 Product names and trademarks ..............7 Waste disposal....................7 2 Safety Notes ......................8 Preliminary information ..................
  • Page 4 5 Configuration and Startup................... 25 Validity of the XML files for DFE24B ............25 ® Configuring the EtherCAT master for MOVIDRIVE B with the XML file..25 ® 5.2.1 XML for operation in MOVIDRIVE B..........25 5.2.2 Configuration procedure ..............26 ®...
  • Page 5 ® 8 Operating MOVITOOLS MotionStudio via EtherCAT ........74 Introduction ....................74 Required hardware ..................75 Required software ..................75 Installation ....................75 Configuring the mailbox gateway ..............76 Network settings on the engineering PC............76 Configuring the SEW communication server ..........78 8.7.1 Establishing communication ..............

  • Page 6: Important Notes

    Important Notes Explanation of symbols Important Notes Manual Explanation of symbols Always observe the safety and warning information in this documentation. Electrical hazard Possible consequences: Severe or fatal injuries. Hazard. Possible consequences: Severe or fatal injuries. Hazardous situation. Possible consequences: Slight or minor injuries. Harmful situation.

  • Page 7: Liability For Defects

    Incorrect handling or any action performed that is not specified in this manual could impair the properties of the product. In this case, you lose any right to claim under limited warranty against SEW-EURODRIVE GmbH & Co KG. Product names and trademarks The brands and product names in this manual are trademarks or registered trademarks of the titleholders.

  • Page 8: Safety Notes

    Safety Notes Preliminary information Safety Notes Only install and startup the DFE24B EtherCAT fieldbus interface in accordance ® with the relevant accident prevention regulations and the MOVIDRIVE ® MDX60B/61B and MOVITRAC B operating instructions. Preliminary information The following safety notes refer to the use of the DFE24B EtherCAT fieldbus interface.

  • Page 9: Assembly / Installation

    Safety Notes Assembly / installation Assembly / installation Follow the instructions in section 4, "Assembly and Installation Notes." Startup / operation Follow the instructions in section 5, "Configuration and Startup." Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com Manual –...

  • Page 10: Introduction

    Introduction Content of this manual Introduction Content of this manual This user manual describes how to: ® • install the DFE24B EtherCAT option card in the MOVIDRIVE MDX61B drive inverter ® • use the DFE24B EtherCAT option card in the MOVITRAC B frequency inverter and in the UOH11B gateway housing ®...

  • Page 11: Access To All Information

    Introduction Features 3.3.2 Access to all information ® MOVIDRIVE MDX61B offers digital access to all drive parameters and functions via the EtherCAT interface. The drive inverter is controlled via fast, cyclic process data. You can use this process data channel to enter setpoints (e.g. setpoint speed, ramp gener- ator time for acceleration/deceleration, etc.) and to trigger various drive functions such as enable, controller inhibit, normal stop, rapid stop, etc.

  • Page 12: Monitoring Functions

    Introduction Features 3.3.6 Monitoring functions Using a fieldbus system requires additional monitoring functions for the drive technology, for example, cycle time monitoring of the fieldbus (fieldbus timeout) or rapid ® stop concepts. You can, for example, adapt the monitoring functions of MOVIDRIVE ®...

  • Page 13: Assembly And Installation Notes

    MDX61B, MOVITRAC B and the UOH11B gateway housing. ® Installing option card DFE24B in MOVIDRIVE MDX61B Only SEW-EURODRIVE personnel may install or remove option cards for ® MOVIDRIVE MDX61B size 0. ® • Users may only install and remove options cards for MOVIDRIVE MDX61B sizes 1 to 6.

  • Page 14: Basic Procedure For Installing And Removing An Option Card

    Assembly and Installation Notes Installing option card DFE24B in MOVIDRIVE® MDX61B 4.1.2 Basic procedure for installing and removing an option card 60039AXX ® Figure 2: Installing an option card in MOVIDRIVE MDX61B sizes 1 to 6 1. Remove the two retaining screws holding the card retaining bracket. Pull the card retaining bracket out evenly from the slot (do not twist!).

  • Page 15: Installing Option Card Dfe24B In Movitrac® B

    Installing option card DFE24B in MOVITRAC® B ® Installing option card DFE24B in MOVITRAC ® • MOVITRAC B does not require any special firmware status. • Only SEW-EURODRIVE personnel may install or remove options cards into ® MOVITRAC 4.2.1 SBus connection ® MOVITRAC DFE 24B FSC11B H L ⊥...

  • Page 16: System Bus Connection

    Assembly and Installation Notes Installing option card DFE24B in MOVITRAC® B For simple cabling, the DFE24B option can be provided with DC 24 V voltage at X26.7 ® from X46.7 of MOVITRAC ® ® When powering option DFE24B through MOVITRAC B, MOVITRAC B itself must be provided with DC 24 V voltage at terminals X12.8 and X12.9.
  • Page 17 Assembly and Installation Notes Installing option card DFE24B in MOVITRAC® B Please note: • If available, use a 2 x 2 core twisted and shielded copper cable (data transmission cable with braided copper shield). Apply the shield at both ends to the electronics ®...

  • Page 18: Installing The Uoh11B Gateway Housing

    Assembly and Installation Notes Installing the UOH11B gateway housing Installing the UOH11B gateway housing UOH11B DFE 24B EtherCAT SEW Drive 1 2 3 4 5 6 7 SC11 Systembus +, CAN high SC12 Systembus -, CAN low DC+24 V GND, CAN GND 61074AXX X26:1 SC11 System bus +, CAN high...

  • Page 19: Connection And Terminal Description Of The Dfe24B Option

    Assembly and Installation Notes Connection and terminal description of the DFE24B option Connection and terminal description of the DFE24B option EtherCAT interface type DFE24B: 1821 126 7 Part number The option "EtherCAT interface type DFE24B" is only possible in conjunction with ®...

  • Page 20: Pin Assignment

    Assembly and Installation Notes Pin assignment Pin assignment Use prefabricated, shielded RJ45 plug connectors to IEC11801 edition 2.0, category 5. [3] [2] [1] 54174AXX Figure 4: 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 21: Shielding And Routing Bus Cables

    EtherCAT slave, it recognizes this automatically. Setting the station address EtherCAT devices from SEW-EURODRIVE do not have an address that can be set on the unit. The units are detected by their position in the bus structure and are assigned an address by the EtherCAT master.

  • Page 22: Operating Displays Of The Dfe24B Option

    Assembly and Installation Notes Operating displays of the DFE24B option Operating displays of the DFE24B option 4.9.1 EtherCAT LEDs There are two LEDs on the DFE24B EtherCAT option card that display the current status of the DFE24B option and the EtherCAT system. DFE24B 61070AXX The RUN LED (green/orange) signals the status of option DFE24B.
  • Page 23 Assembly and Installation Notes Operating displays of the DFE24B option Definition of the display statuses Display Definition Time profile Display is always switched on. Display is always switched off. Display switches on and off at a Flickering 50ms frequency of 10 Hz. 50ms 58094AXX The display lights up briefly, followed...

  • Page 24: Gateway Led

    Assembly and Installation Notes Operating displays of the DFE24B option Each EtherCAT connection has a "Link/Activity" LED for the incoming EtherCAT cable LED Link/Activity (X30) and the outgoing EtherCAT cable (X31). They signal whether the EtherCAT (green) connection to the preceding (X30) or following (X31) unit is available / active. LED"Link/Activity"...

  • Page 25: Configuration And Startup

    Configuration and Startup Validity of the XML files for DFE24B Configuration and Startup This section provides you with information on configuration for the EtherCAT master and startup of the drive inverter for fieldbus operation. The current version of the XML file for the DFE24B control card is available on the SEW homepage under the heading "Software."...

  • Page 26: Configuration Procedure

    Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE® B with the XML file 5.2.2 Configuration procedure ® Proceed as follows to configure MOVIDRIVE B with EtherCAT fieldbus interface: 1. Install (copy) the XML file according to the specifications of your configuration soft- ware.

  • Page 27: Pdo Configuration For Operation In Movidrive

    Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE® B with the XML file ® 5.2.3 PDO configuration for operation in MOVIDRIVE In the CoE (CANopen over EtherCAT) variant, EtherCAT uses the process data objects (PDO) defined in the CANopen standard for cyclical communication between master and slave.
  • Page 28 Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE® B with the XML file ® List of the possible process data objects (PDO) for DFE24B MOVIDRIVE Index Size Name Mapping Sync manager Sync unit 1600hex 20 bytes OutputData1 (Standard 10 PDO) Fixed (5632dec) content 1602hex...
  • Page 29 Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE® B with the XML file Static PDO for 10 cyclic process data words acycl. Mailbox cycl. OutputData1 Communication (Standard 10 PO) PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7 PO 8...
  • Page 30 Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE® B with the XML file Fixed assignment of the configured ® process input data MOVIDRIVE MOVIDRIVE ® Process Data 1...3 or for PDO plus ® plus ® IPOS Process Data 4...10 IPOS Process Data 1...3 InputData1...
  • Page 31 Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE® B with the XML file The process data transferred with OutputData2 and InputData2 can be configured as re- Configurable PDO quired with process data information according to the following table. 32-bit variables of for up to 8 IPOS- type DINT and standard process data PO1 ...
  • Page 32 Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE® B with the XML file The maximum amount of configurable PDO OutputData2 and InputData2 data is Assignment of the configurable • 10 process data words (type UINT) process input and plus® •...
  • Page 33 Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE® B with the XML file Index.Subindex Name Data Size in Read Access attribute type bytes Write 2CF0.0hex TpPos2_Ext Touch probe position 2 external (11504.0dec) (H504) 2CF1.0hex TpPos2_Mot Touch probe position 2 motor (11505.0dec) (H505) encoder...
  • Page 34 Configuration and Startup Configuring the EtherCAT master for MOVIDRIVE® B with the XML file Plausibility of the configuration of process data objects: • In the freely configurable process data objects OutputData2 and InputData2, cyclical process output data PO1 ... 10 cannot be inserted when OutputData1 or InputData1 is configured at the same time.

  • Page 35: Configuring The Ethercat Master For Movitrac® B / Gateway With Xml File

    Configuration and Startup Configuring the EtherCAT master for MOVITRAC® B / gateway with XML file ® Configuring the EtherCAT master for MOVITRAC B / gateway with XML file ® This section describes the configuration of the EtherCAT master with MOVITRAC and the DFE24B gateway / UOH11B.

  • Page 36: Pdo Configuration For Dfe24B Gateway For Movitrac

    Configuration and Startup Configuring the EtherCAT master for MOVITRAC® B / gateway with XML file ® 5.3.3 PDO configuration for DFE24B gateway for MOVITRAC ® In the DFE24B gateway operating mode for MOVITRAC B, one PDO each is used for cyclical process input and output data.
  • Page 37 Configuration and Startup Configuring the EtherCAT master for MOVITRAC® B / gateway with XML file Assignment of the fixed configured process output data (PDO 1) acycl. Mailbox cycl. OutputData1 Communication (Standard 10 PO) PO22 PO23 PO24 Drive 1 Drive 2 Drive 8 PO1...PO3 PO1...PO3...
  • Page 38 Configuration and Startup Configuring the EtherCAT master for MOVITRAC® B / gateway with XML file Index.Subindex Offset in PDO Name Assignment Data type Size in bytes 3DC7.0hex 10.0 PO16 Drive 6 PO1 (15815.0dec) 3DC8.0hex 12.0 PO17 Drive 6 PO2 (15816.0dec) 3DC9.0hex 14.0 PO18...
  • Page 39 Configuration and Startup Configuring the EtherCAT master for MOVITRAC® B / gateway with XML file Assignment of the fixed configured process input data (PDO 1) Drive 1 Drive 2 Drive 8 PI1...PI3 PI1...PI3 PI1...PI3 PI22 PI23 PI24 cycl. InputData1 acycl. Mailbox (Standard 10 PI) Communication 61240AXX...
  • Page 40 Configuration and Startup Configuring the EtherCAT master for MOVITRAC® B / gateway with XML file Index.Subindex Offset in PDO Name Assignment Data type Size in bytes 3E2B.0hex 30.0 PI16 Drive 6 PI1 UINT (15915.0dec) 3E2C.0hex 32.0 PI17 Drive 6 PI2 (15916.0dec) 3E2D.0hex 34.0...

  • Page 41: Auto Setup For Gateway Operation

    Configuration and Startup Configuring the EtherCAT master for MOVITRAC® B / gateway with XML file 5.3.4 Auto setup for gateway operation The auto setup function can be used to startup DFE24B as a gateway without a PC. The function is activated using the DIP switch Auto-Setup (see section 4.4 on page 19) . Setting the DIP switch Auto-Setup (AS) from OFF to ON position causes the function to be executed once.

  • Page 42: Setting The Movidrive® Mdx61B Drive Inverter

    Configuration and Startup Setting the MOVIDRIVE® MDX61B drive inverter ® Setting the MOVIDRIVE MDX61B drive inverter The following settings must be made for simple fieldbus operation. 11638AXX ® However, to control the MOVIDRIVE B drive inverter via EtherCAT, you must first switch the drive inverter to control signal source (P101) and setpoint source (P100) = FIELDBUS.

  • Page 43: Setting The Movitrac® Frequency Inverter

    Configuration and Startup Setting the MOVITRAC® frequency inverter Activation of the control signal source and setpoint source FIELDBUS is signaled to the machine controller using the "Fieldbus mode active" bit in the status word. ® For safety reasons, you must also enable the MOVIDRIVE B drive inverter at the terminals for control via the fieldbus system.
  • Page 44 Configuration and Startup Setting the MOVITRAC® frequency inverter ® To control the MOVITRAC B frequency inverter via EtherCAT, you must first switch the inverter to Control signal source (P101) and Setpoint source (P100) = SBus. The SBus ® setting means the MOVITRAC B frequency inverter parameters are set for setpoint ®...

  • Page 45: Ethercat Operating Characteristics

    EtherCAT Operating Characteristics Controlling the MOVIDRIVE® MDX61B drive inverter EtherCAT Operating Characteristics This section describes the basic characteristics of the drive inverter on EtherCAT with control via fixed PDO for fieldbus communication (motion control applications → Sec. 7). ® Controlling the MOVIDRIVE MDX61B drive inverter ®...

  • Page 46: Control Example In Twincat With Movidrive Mdx61B

    EtherCAT Operating Characteristics Controlling the MOVIDRIVE® MDX61B drive inverter ® 6.1.1 Control example in TwinCAT with MOVIDRIVE MDX61B Once the SEW_DFE24B.xml file has been copied to the TwinCAT subdirectory ® "\IO\EtherCAT", you can use the function "Append box" to insert a MOVIDRIVE B unit in the EtherCAT structure (→...
  • Page 47 EtherCAT Operating Characteristics Controlling the MOVIDRIVE® MDX61B drive inverter For the simplest form of process data transport, only the two PDOs InputData1 and OutputData1 are required. You can deactivate the configurable PDOs by deleting the marker for both PDOs (Input and Output) (→ following figure). 11643AXX Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com Manual –...

  • Page 48: Ethercat Timeout (Movidrive ® Mdx61B)

    EtherCAT Operating Characteristics Controlling the MOVIDRIVE® MDX61B drive inverter Now, you can either connect up to 10 process data words with the PLC program or - as shown in the following figure - write them for manual testing. 11644AXX First select process output data PO1. In the window that appears, choose the tab page "Online".

  • Page 49: Controlling The Movitrac® B (Gateway) Frequency Inverter

    EtherCAT Operating Characteristics Controlling the MOVITRAC® B (Gateway) frequency inverter ® Controlling the MOVITRAC B (Gateway) frequency inverter The frequency inverters connected to the gateway are controlled via the process data channel, which is 3 I/O data words for each connected inverter. These process data words are mapped directly in the process image when using an EtherCAT master, which means they can be addressed immediately by the control program.

  • Page 50: Control Example In Twincat With Movitrac ® B (Gateway)

    EtherCAT Operating Characteristics Controlling the MOVITRAC® B (Gateway) frequency inverter ® 6.2.1 Control example in TwinCAT with MOVITRAC B (gateway) Once the SEW_DFE24B.xml file has been copied to the TwinCAT subdirectory "\IO\EtherCAT", you can use the function "Append box" to insert a DFE24B gateway in the EtherCAT structure (→...

  • Page 51: Sbus Timeout

    EtherCAT Operating Characteristics Controlling the MOVITRAC® B (Gateway) frequency inverter ® The first 3 process data words are exchanged with the first MOVITRAC B unit on the DFE24B gateway. They can be connected to the PLC program or written for manual testing (→...

  • Page 52: Dfe24B Fieldbus Timeout In Gateway Operation

    EtherCAT Operating Characteristics Configuration via EtherCAT 6.2.4 DFE24B fieldbus timeout in gateway operation You can use the parameter P831 Fieldbus timeout response to set how the gateway should respond when EtherCAT communication times out. P831 Fieldbus timeout response Description No response The drives connected via SBus continue to work with the last setpoint.

  • Page 53: Example Of Reading A Parameter In Twincat Via Ethercat

    EtherCAT Operating Characteristics Configuration via EtherCAT 6.3.2 Example of reading a parameter in TwinCAT via EtherCAT The function SDO-READ is available for reading parameters. The index of the parameter to be read is required. You can display the parameter index in the SHELL program or in the parameter tree using the key combination [CTRL + F1].
  • Page 54 EtherCAT Operating Characteristics Configuration via EtherCAT The figure below shows the process of integrating the function module in TwinCAT: 11647AXX SEW parameters always have a data length of 4 bytes (1 DWord). Refer to the "Fieldbus Unit Profile" manual for more details and information on scaling. In the above example, the DC link voltage was read (index 8325, subindex 0).

  • Page 55: Example Of Writing A Parameter In Twincat Via Ethercat

    EtherCAT Operating Characteristics Configuration via EtherCAT 6.3.3 Example of writing a parameter in TwinCAT via EtherCAT The function SDO-WRITE is available for writing parameters. The index of the parame- ter to be written is required. You can display the parameter index in the SHELL program or in the parameter tree using the key combination [CTRL + F1].

  • Page 56: Configuration Return Codes

    EtherCAT Operating Characteristics Configuration return codes SEW parameters always have a data length of 4 bytes (1 DWord). Refer to the "Fieldbus Unit Profile" manual for more details and information on scaling. In the above example, the internal setpoint n11 (index 8489, subindex 0) was set to a speed of 100 rpm.

  • Page 57: Additional Code

    EtherCAT Operating Characteristics Configuration return codes 6.4.4 Additional code The additional code (2 bytes) contains a detailed description of the error. 6.4.5 List of the error codes for SDO services Error code Error Error Additional Designation Description class code code 0x00000000 NO_ERROR No error.

  • Page 58: Motion Control Via Ethercat

    Motion Control via EtherCAT Introduction to EtherCAT Motion Control via EtherCAT This section contains information on the EtherCAT functions that enable ® MOVIDRIVE B to be operated synchronously on an EtherCAT master for motion control applications. Introduction to EtherCAT This section describes the functions and terms used for running SEW drive inverters on EtherCAT in synchronous operation.
  • Page 59 Motion Control via EtherCAT Introduction to EtherCAT In motion control applications, positioning travel with target position and travel parame- ters, such as speed and ramp times, is calculated in the motion controller, i.e. usually the higher-level controller. The calculated track curve is then used to transfer a setpoint →...
  • Page 60 Motion Control via EtherCAT Introduction to EtherCAT ≈ Whereas the speed (v = dx/dt dx/dt ) in control intervals 1 to 3 is only slightly inaccurate, there is considerable error in the speed calculation in the fourth control in- terval (v = 2dx/dtS). An inaccurate speed value of this magnitude in one interval can cause strong responses in the controller’s control algorithms and can even trigger error messages.

  • Page 61: Velocity Mode

    Motion Control via EtherCAT Introduction to EtherCAT 7.1.1 Velocity mode 61478AXX Figure 17: Velocity mode – cascade with fieldbus interface Control Fieldbus interface Inverter Position setpoint Position controller Actual position value Speed controller Speed setpoint Output stage of the inverter Actual speed value Driven machine Torque setpoint...

  • Page 62: Position Mode

    Motion Control via EtherCAT Introduction to EtherCAT 7.1.2 Position mode 61479AXX Figure 18: Position mode – cascade with bus interface Control Fieldbus interface Inverter Position setpoint Position controller Actual position value Speed controller Speed setpoint Output stage of the inverter Actual speed value Driven machine Torque setpoint...

  • Page 63: Settings In Movidrive® B With Movitools® Motionstudio

    Motion Control via EtherCAT Settings in MOVIDRIVE® B with MOVITOOLS® MotionStudio ® ® Settings in MOVIDRIVE B with MOVITOOLS MotionStudio 7.2.1 Settings for velocity mode ® You must make the following parameter settings in MOVITOOLS MotionStudio to ® → control a MOVIDRIVE B unit in motion control with synchronized speed setpoints ( following figure): 61450AXX...
  • Page 64 Motion Control via EtherCAT Settings in MOVIDRIVE® B with MOVITOOLS® MotionStudio Next, activate controller synchronization in the EtherCAT network. To do so, make the → following parameter settings ( following figure): 61451AXX • P887 Synchronization ext. controller = ON • P888 Synchronization time SBus [ms] = 1 The synchronization time must correspond exactly with the bus cycle.

  • Page 65: Settings For Position Mode

    Motion Control via EtherCAT Settings in MOVIDRIVE® B with MOVITOOLS® MotionStudio 7.2.2 Settings for position mode ® You must make the following parameter settings in MOVITOOLS MotionStudio to ® control a MOVIDRIVE B unit in motion control with synchronous position specification →...
  • Page 66 Motion Control via EtherCAT Settings in MOVIDRIVE® B with MOVITOOLS® MotionStudio Next, activate controller synchronization in the EtherCAT network. To do so, make the → following parameter settings ( following figure): 61453AXX • P887 Synchronization ext. controller = ON • P888 Synchronization time SBus [ms] = 1 The synchronization time must correspond exactly with the bus cycle.

  • Page 67: Settings In Ethercat Master

    Motion Control via EtherCAT Settings in EtherCAT master Settings in EtherCAT master Activate the Distributed Clock function for time-slice synchronization. The bus cycle must correspond exactly with the synchronization time set in parameter P888. You should also activate the watchdog for timeout monitoring for the Sync Manager 0x1000 (Output Data) only.

  • Page 68: Settings For Position Mode

    Motion Control via EtherCAT Settings in EtherCAT master 7.3.2 Settings for position mode • The position setpoint is written directly to system variable H499 via the configured PDO2 and is scaled as follows: – 1 revolution of the motor shaft The parameters used in the controller must be scaled accordingly before they are transferred to the inverter.

  • Page 69: Example In Twincat

    Motion Control via EtherCAT Example in TwinCAT Example in TwinCAT Make the settings shown in the following figures. Configure synchronous operation 61455AXX For synchronous operation, select the option "DC for synchronization" on the DC (Distributed Clock) tab page. Make sure that the cycle time in the "Cycle time" field is the same as the synchronization time specified in P888.
  • Page 70 Motion Control via EtherCAT Example in TwinCAT Activate timeout monitoring for Sync Manager 0x1000. To do so, in the "Edit Sync → Manager" window activate the "Trigger" checkbox in the "Watchdog" group box ( following figure). 61457AXX → Next, configure the NC axis ( following figure).

  • Page 71: Velocity Mode

    Motion Control via EtherCAT Example in TwinCAT "CANopen DS402" is defined as the encoder (under "Axis x_Enc") and configured as Configuring the → follows ( following figure). encoder 61461AXX The scaling factor is calculated using the following formula: 360 ° /(4096 inc/revolution) = 0.087890625 °/inc 7.4.1 Velocity mode "Drive connected to KLXXX..."...
  • Page 72 Motion Control via EtherCAT Example in TwinCAT In the PDO assignment, PDO1 is deactivated and the setpoint speed and control word → or actual position (H511) and status word are defined in PDO2 ( following figures). 61464AXX 61465AXX Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com Manual –...
  • Page 73 Motion Control via EtherCAT Example in TwinCAT Finally, the drive’s setpoint speed and actual position are linked with the NC axis and the control word and status word 1 are controlled with the PLC task in accordance with → the description in the fieldbus unit profile ( following figure).

  • Page 74: Operating Movitools® Motionstudio Via Ethercat

    Operating MOVITOOLS® MotionStudio via EtherCAT Introduction ® Operating MOVITOOLS MotionStudio via EtherCAT ® This section describes how to operate MOVITOOLS MotionStudio via EtherCAT. Introduction EtherCAT provides the user with acyclical parameter services in addition to cyclical process data. This acyclical data exchange takes place via the mailbox gateway of the EtherCAT master (→...

  • Page 75: Required Hardware

    Operating MOVITOOLS® MotionStudio via EtherCAT Required hardware Required hardware ® If an operating system that is compatible with MOVITOOLS MotionStudio is available on the EtherCAT master, no additional hardware is required. ® If a compatible operating system is not installed, or if MOVITOOLS MotionStudio is to be operated from another PC, the EtherCAT master requires a second Ethernet ®...

  • Page 76: Configuring The Mailbox Gateway

    Operating MOVITOOLS® MotionStudio via EtherCAT Configuring the mailbox gateway Configuring the mailbox gateway • Activate VoE/EoE support on the EtherCAT master. • Specify the IP address of the EtherCAT mailbox gateway. The IP address is usually assigned by the TwinCAT program and may not be changed. The settings look as follows in Beckhoff’s TwinCAT program: 61284AXX Figure 19: Set the IP address of the EtherCAT mailbox gateway...
  • Page 77 Operating MOVITOOLS® MotionStudio via EtherCAT Network settings on the engineering PC Two variants are available for routing: 1. Variant: Access to the mailbox gateway by specifying the standard gateway on the engineering PC. In this variant, the IP address of the EtherCAT master is entered as the standard gateway for TCP/IP communication.

  • Page 78: Configuring The Sew Communication Server

    8.7.1 Establishing communication ® MOVITOOLS MotionStudio allows you to communicate with electronics products from SEW-EURODRIVE GmbH & Co KG via different communication paths at the same time. ® When you start MOVITOOLS MotionStudio, the SEW communication server is started automatically and an additional symbol will appear in the Windows status bar.
  • Page 79 Operating MOVITOOLS® MotionStudio via EtherCAT Configuring the SEW communication server 3. The "Set up Ethercat" window opens. Click the "+" button [1] and add the IP address of the mailbox gateway to the EtherCAT master. 61937AXX Observe the specified unit scan range in the basic settings (Fields "Scan range from/to").

  • Page 80: 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) Press the <F5> function key or the "Online scan" symbol to perform an automatic search through all communication channels and display the connected units in the unit tree.

  • Page 81: Activating Online Mode

    Operating MOVITOOLS® MotionStudio via EtherCAT Activating online mode Activating online mode • Perform the unit scan (see section 8.7). ® • Use the mouse to highlight the required unit. Switch MOVITOOLS MotionStudio to online mode by pressing the "Online Mode" button (→ following figure). 11652AXX •...

  • Page 82: Error Diagnostics

    Error Diagnostics Diagnostic procedures Error Diagnostics Diagnostic procedures The diagnostic procedures described in the following section demonstrate the error analysis methods for the following problems: • Inverter does not operate on EtherCAT. • Inverter cannot be controlled using the EtherCAT master. For more information dealing specifically with the inverter parameter settings for various fieldbus applications, refer to the Fieldbus Unit Profile manual and the MOVIDRIVE ®...
  • Page 83 Error Diagnostics Diagnostic procedures Step 3: Status of the ERR LED? Example 1: LED RUN lights up green (slave is in the state OPERATIONAL). ↓ EtherCAT communication of the DFE24B option is in the operating state. Example 2: • LED RUN flashes green (slave is in the state PRE-OPERATIONAL) •...
  • Page 84 Error Diagnostics Diagnostic procedures Flashing Prerequisite: • LED RUN flashes green (slave is in the state PRE-OPERATIONAL) • LED RUN lights up green once (slave is in the state SAFE-OPERATIONAL) ↓ Invalid configuration. Repair the configuration error and start the bus in the master again.

  • Page 85: List Of Errors

    Error Diagnostics List of errors List of errors • The following error list applies to option DFE24B in gateway operation. ® • When operating option DFE24B in MOVIDRIVE B, the corresponding error codes ® can be found in the MOVIDRIVE MDX60B/61B operating instructions.

  • Page 86: Technical Data

    Technical Data Option DFE24B for MOVIDRIVE® MDX61B Technical Data ® 10.1 Option DFE24B for MOVIDRIVE MDX61B ® Option DFE24B (MOVIDRIVE MDX61B) 1821 126 7 Part number P = 3 W Power consumption IEC 61158, IEC 61784-2 Standards 100 MBaud full duplex Baud rate 2 ×...

  • Page 87: Option Dfe24B For Movitrac ® B And

    Technical Data Option DFE24B for MOVITRAC® B and Universal Gateway Housing ® 10.2 Option DFE24B for MOVITRAC B and Universal Gateway Housing UOH11B DFE 24B EtherCAT 22.5 59796AXX Figure 20: Dimensions of the UOH11B gateway housing ® Option DFE24B (MOVITRAC B gateway) U = DC 24 V (–15 %, +20 %) External voltage supply...

  • Page 88: Index

    Index Index Additional code ...........57 Fieldbus monitor ..........12 Auto setup for gateway operation .......41 Functions EtherCAT ............. 58 Baud rate ............17 Bus cable GSD file .............. 86 Routing ............21 Validity for DFE24B ........25 shielding ............21 Bus termination ........21 Installation Installing and removing option cards ...
  • Page 89 Index Pin assignment of an RJ45 plug connector ..20 Position mode .............62 Process data object (PDO) configuration For cyclical EtherCAT operation of MOVIDRIVE® MDX61B .......27 Putting into storage ..........8 Safety notes ............8 Assembly / installation ........9 Bus systems ...........8 Startup / operation ..........9 Transportation / putting into storage ....8 SBus Timeout ............51...

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