Stober MDS 5000 Operation Manual
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Stober MDS 5000 Operation Manual

Stober MDS 5000 Operation Manual

Ethercat
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EtherCAT®
Operation manual
Fundamentals
Communication
Parameters
V 5.6-H or later
09/2013
en

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Summary of Contents for Stober MDS 5000

  • Page 1 EtherCAT® Operation manual Fundamentals Communication Parameters V 5.6-H or later 09/2013...

  • Page 2: Table Of Contents

    3 Installation....... . . Install in MDS 5000 or SDS 5000 ....
  • Page 3 Table of contents Operation manual 7.2.1 Preselection of the axis ......7.2.2 Expedited Transfer....... . 7.2.3 Error codes for SDO services .

  • Page 4: Introduction

    Target readers of this manual are users who are familiar with the control of drive systems and who have a basic knowledge of EtherCAT. Other manuals The documentation of the MDS 5000 includes the following manuals: Manual Contents Latest version Commissioning Instructions Reinstallation, replacement, function test 442297 V 5.6-H...

  • Page 5: Further Support

    Introduction Operation manual Manual Contents Latest version POSITool operating manual Information on the 442233 V 5.6-H basic functions of POSITool Programming manual Information on 441693 V 5.6-H programming with POSITool a) At the time of publication. You can find all versions at www.stoeber.de > Products > Doc Center. Note that the programming functionality of POSITool can only be used after training by STÖBER ANTRIEBSTECHNIK.

  • Page 6: Notes On Safety

    Notes on Safety Operation manual Notes on Safety The devices may cause risks. For these reasons, comply with the following: • The safety notes listed in the following sections and points • The technical rules and regulations. In addition, always read the appropriate documentation. STÖBER ANTRIEBSTECHNIK GmbH + Co.

  • Page 7: Qualified Personnel

    Notes on Safety Operation manual Qualified personnel Since the devices may harbor residual risks, all configuration, transportation, installation and commissioning tasks including operation and disposal may only be performed by trained personnel who are aware of the possible risks. Personnel must have the qualifications required for the job. The following table lists examples of occupational qualifications for the jobs: Activity Possible occupational qualifications...

  • Page 8: Installation And Connection

    Notes on Safety Operation manual Installation and connection The accessory installation instructions allow the following actions during the installation of accessories: • The housing in the upper slot can be opened. Opening the housing in another place or for other purposes is not permitted. Installation and connection work are only permitted after the device has been isolated from the power! Apply the 5 safety rules in the order stated before performing any work on the...

  • Page 9: Presentation Of Notes On Safety

    Notes on Safety Operation manual Presentation of notes on safety NOTICE Notice means that property damage may occur  if the stated precautionary measures are not taken. CAUTION! Caution with warning triangle means that minor injury may occur  if the stated precautionary measures are not taken. WARNING! Warning means that there may be a serious danger of death...

  • Page 10: Installation

    STÖBER inverters can be integrated in an EtherCAT system. We recommend ordering the option card with installation since the card will already have been installed by STÖBER ANTRIEBSTECHNIK before delivery. Install in MDS 5000 or SDS 5000 WARNING! Danger of injury/death and property damage due to electric shock! ...
  • Page 11 Installation Operation manual Installing the ECS 5000 in an MDS 5000 or SDS 5000 1. Unscrew the mounting screws and remove the cover plate: 2. From below, stick the RJ45 plug connector of the PCB through the plate which is included with the ECS 5000 accessories: 3.
  • Page 12 Installation Operation manual 4. Insert the option PCB in the inverter so that the gold contacts slide into the black terminal block: 5. Secure the plate to the inverter with the mounting screws:  You have installed the accessory. ID 441896.05...

  • Page 13: Installation In The Fds 5000

    Installation Operation manual Installation in the FDS 5000 WARNING! Danger of injury/death and property damage due to electric shock!  Before installing accessories, turn off all voltage supplies! Then wait 5 minutes for the DC link capacitors to discharge. Never begin with accessory installation until after this! CAUTION! Danger of property damage due to electrostatic discharge, among others!
  • Page 14 Installation Operation manual 2. From below, stick the RJ45 plug connector of the PCB through the plate which is included with the ECS 5000 accessories: 3. Secure the plate to the PCB with the included screw with locking disk: 4. From below, stick the RJ45 plug connector of the PCB through the plate which is included in the ECS 5000 accessories: 5.

  • Page 15: Electrical Installation

    Electrical installation Operation manual Electrical installation There is always exactly one EtherCAT master (for example an industrial PC) and any number of EtherCAT slaves (drive controllers, etc.) connected. All subscribers are connected together in a line. The master is connected at the beginning of the line.

  • Page 16: Connection Cable

    Electrical installation Operation manual Connection Cable Ethernet patch or crossover cables in CAT5e quality can be used as the connection cables. Lengths of 0.2 to 100 m are permitted for an EtherCAT network. RJ-45 socket If you want to make the cables yourself, be sure to select suitable crimp tools and use great care.

  • Page 17: Fundamentals Of Ethercat

    Fundamentals of EtherCAT Operation manual Fundamentals of EtherCAT Fieldbuses have been an established part the world of automation technology for many years now. Since higher and higher speeds are required but the technical limits of this technology have already been reached, new solutions needed to be found.

  • Page 18: How It Functions

    Fundamentals of EtherCAT Operation manual How it functions Ethernet transfers data within packets. With other real-time Ethernet systems each packet is received by the stations, interpreted via a complicated software system, and the process data then removed. After this a response packet is generated.

  • Page 19: State Machine

    Fundamentals of EtherCAT Operation manual State machine The following state machine is implemented in every EtherCAT slave. Which communication services are active via EtherCAT are defined for each state. The EtherCAT master controls the state machine. Power Initializing (IP) (PI) Pre- Operational (SP)
  • Page 20 Fundamentals of EtherCAT Operation manual Transition Actions Stop output update, stop input update, stop mailbox communication A PLC usually performs the startup in this sequence of states: Initialising - Pre-Operational - Safe-Operational - Operational ® If, for example, the TwinCAT software from Beckhoff Automation GmbH is used, these steps can be executed automatically by the System Manager or individually ®...

  • Page 21: User Interface Of The Ecs 5000

    User interface of the ECS 5000 Operation manual User interface of the ECS 5000 The ECS 5000 EtherCAT option is equipped with status LEDs in addition to the RJ-45 sockets X200 IN and 201 OUT. These LEDs have the following functions: •...
  • Page 22 User interface of the ECS 5000 Operation manual Description of the ERROR Indicator (red LED) Error Description No Error No error; LED is continuously off. Booting Error Error while the ECS 5000 option board is being initialized. LED flickers. flickering Invalid...

  • Page 23: Data Transmission With Pdo And Sdo

    Data transmission with PDO and SDO Operation manual Data transmission with PDO and SDO As the exchange of effective data represents the essential task of an EtherCAT system, the description begins with the PDO and SDO communication services. All parameter of the inverter can be read and changed in the parameter channel by the SDO service (SDO = Service Data Object).

  • Page 24: Process Data Transmission With Pdo Service

    Data transmission with PDO and SDO Operation manual Process data transmission with PDO service Process data is transferred by the master cyclically after every pass of the PLC task. STÖBER ANTRIEBSTECHNIK devices provide four PDO channels. Each PDO channel has one reception direction (rx) and one transmission direction (tx) from the point of view of the device.

  • Page 25: Process Data - Example Of Fast Reference Values

    Data transmission with PDO and SDO Operation manual The selection of parameter 2808 / 0 (parameter E08 n-motor with 16 bits of data) is shown below as an example of how it is transferred in an SDO telegram. When the parameter is to be mapped to the first position on the 1st PDO (rx) channel, the telegram must be addressed to the parameter with index 1600 and subindex 1.
  • Page 26 Data transmission with PDO and SDO Operation manual Process input data to the MDS (= reference values = outputs in TwinCAT): Parameter Bit Length Data Type Content A180 Device USINT • Bit-0: Additional enable, takes effect in addition to terminal controlbyte enable.
  • Page 27 Data transmission with PDO and SDO Operation manual Parameter Bit Length Data Type Content E200 Device Device status byte: This byte contains status signals of the device StatusByte controller. • Bit-0: Enabled. The drive is ready. No faults, the device status corresponds to E84=4:Oper.
  • Page 28 Data transmission with PDO and SDO Operation manual Parameter Bit Length Data Type Content D200 Speed reference value status word: This word contains status Speed signals of the application. With the application for the fast reference reference value, only bits 0 to 2 are used. Bits 3 to 15 can only be used with the value status application for comfort reference value.
  • Page 29 Data transmission with PDO and SDO Operation manual Parameter Bit Length Data Type Content E02 M-Motor Indication of the current motor torque in Nm. As related to nominal filtered motor torque with asynchronous control modes. As related to standstill torque M0 with servo control modes. Smoothed for indication on the device display.

  • Page 30: Parameter Transmission With Sdo Service

    Data transmission with PDO and SDO Operation manual Parameter Transmission with SDO Service ® All the parameters of the CANopen DS-301 inverter can be read and written with the SDO service. The SDO service always transmits data in 4-byte integer format (except for strings).

  • Page 31: Preselection Of The Axis

    Data transmission with PDO and SDO Operation manual 7.2.1 Preselection of the axis Parameter addressing Only 2 bytes are available for the index and 1 byte for the subindex in the ® addressing of parameters via SDO based on CANopen .
  • Page 32 Data transmission with PDO and SDO Operation manual The whole service consists of the following telegrams: Writing a parameter ® 1. The Client (CANopen master) sends Initiate Domain Download Request. 2. The Server (inverter) acknowledges the request with a positive Initiate Domain Download Response.

  • Page 33: Error Codes For Sdo Services

    Data transmission with PDO and SDO Operation manual 7.2.3 Error codes for SDO services If the response of an SDO service is negative, regardless of whether it is expedited or segmented, STÖBER devices will also return one of the following error descriptions in the event of an error in the Abort SDO Transfer Protocol: Error code...
  • Page 34 Data transmission with PDO and SDO Operation manual Error code Meaning hexadecimal 0800 0023 Dynamic generating of the object directory failed or no object directory available. (Is there a valid configuration in the drive controller?) ID 441896.05...

  • Page 35: List Of The Drive Parameters

    Data transmission with PDO and SDO Operation manual 7.2.4 List of the drive parameters All STÖBER ANTRIEBSTECHNIK GmbH & Co. KG specific parameters are stored as communication objects in the area from index 2000 to 5FFF . The line number after the group are added to the start index. The element of a drive parameter (e.g., 0 for start, 1 for progress and 2 for result for actions) is entered in the subindex of the SDO service.
  • Page 36 Data transmission with PDO and SDO Operation manual Calculation: Start index of parameter group A: 2000 Line of the parameter: 154 = 9A Index and subindex result from this as follows: Index: 2000 + 9A = 209A Subindex: 2 ID 441896.05...

  • Page 37: Emergency Messages

    Emergency messages Operation manual Emergency messages Emergency messages are generated in the EtherCAT slave when device-internal errors or malfunctions occur and are sent via the mailbox mechanism to the EtherCAT master. No Emergency messages can be generated in STÖBER devices by: •...
  • Page 38 Emergency messages Operation manual Fig. 8-1 shows the structure of the mailbox for an emergency message: 6 Byte 2 Byte 8 Byte Mailbox-Header CoE- Emergency-Message Header Fig. 8-1 Structure of the mailbox for an emergency message Fig. 8-2 shows a detailed example of fault 41: Temperature motor TMS: 0A 00 00 00 00 03 00 10 08 29 00 00 00 00 Mailbox-Header...
  • Page 39 Emergency messages Operation manual Error Code Error Register E82 Ereignis-Code Hex value: Designation Hex value: Designation Decimal value: Designation 7110 : brake chopper 8: temperature 42: Temperature brake resistor 9000 : external error 1: generic error 44: External fault 1 4380 : temperature drive I2t 8: temperature...

  • Page 40: State Changes Of The Ethercat® State Machine

    Emergency messages Operation manual State Changes of the EtherCAT® State Machine When an error occurs during the state change of the inverter, the slave sends an appropriate emergency message. The structure of this message is similar to the message for a device malfunction: Emergency message for state change error byte 2 byte...
  • Page 41 Emergency messages Operation manual DiagCode Meaning SyncManager at impermissible address SyncManager at impermissible address SyncManager 1 (read mailbox) PDO length is not correct SyncManager parameterized incorrectly SyncManager at impermissible address SyncManager at impermissible address SyncManager 2 (process data out) PDO length is not correct SyncManager parameterized incorrectly SyncManager at impermissible address SyncManager at impermissible address...

  • Page 42: Synchronization With Distributed Clocks

    Synchronization with distributed clocks Operation manual Synchronization with distributed clocks The axes must be synchronized with each other and with the controller for time- critical applications with several drives which must execute coordinated movements simultaneously. CAUTION! Danger of inverter malfunction! Monitoring the synchronization increases the runtime load! Check to determine whether activation of monitoring inadmissibly increases the cycle time of the inverter.
  • Page 43 Synchronization with distributed clocks Operation manual The parameter G95 shows the status of the PLL regulation 1. Bit 0 and/or bit 1 not 0: The cycle time of the SYNC0 signal must be a whole- number multiple of the inverter cycle time A150. Set the cycle time of the SYNC0 signal in the master to a whole-number multiple of A150.
  • Page 44 Synchronization with distributed clocks Operation manual Generate data on Master task Master Master User Transmit data Shift Time Shift Time to the slaves Same time for EtherCAT 10 % all stations runtime reserve Slave User Shift Time Time can be set differently for each station SYNC0 signal...
  • Page 45 Synchronization with distributed clocks Operation manual Jitter Description Jitter typical maximum PLL on the inverter 20 µs 40 µs Telegram (depends on the master, cannot be < 10% of the No info influenced by the inverter settings) SPS cycle time available SYNC0 typ.
  • Page 46 Synchronization with distributed clocks Operation manual Information This information is for the developers of the EtherCAT master software. Please remember that there is a fundamental difference between ECS 5000 boards with hardware status HW 7 and HW 8: Boards up to HW 7 use the ESC20 as the EtherCAT slave controller while boards starting with HW 8 use the ET1100.

  • Page 47: Monitoring And Diagnosis On The Inverter

    Monitoring and diagnosis on the inverter Operation manual Monitoring and diagnosis on the inverter If the connection between inverter and master is interrupted while the drive is running (e.g., due to disconnection of an EtherCAT cable or a faulty master shutdown), the drive must not be allowed to continue moving with the last received reference values.

  • Page 48: Diagnostic Parameters

    Monitoring and diagnosis on the inverter Operation manual 10.1 Diagnostic Parameters The following parameters are available for the diagnosis of EtherCAT on the inverter's display or with POSITool. A252.0 EtherCAT Sync Manager 2 PDO Assign The Sync-Manager 2 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller (ESC) in which the process output data with reference values are sent by the EtherCAT master to the inverter.
  • Page 49 Monitoring and diagnosis on the inverter Operation manual A252.2 EtherCAT Sync Manager 2 PDO Assign The Sync-Manager 2 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller (ESC) in which the process output data with reference values are sent by the EtherCAT master to the inverter.
  • Page 50 Monitoring and diagnosis on the inverter Operation manual A253.0 EtherCAT Sync Manager 3 PDO Assign The Sync-Manager 3 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller (ESC) in which the process input data with actual values are sent by the inverter to the EtherCAT master.
  • Page 51 Monitoring and diagnosis on the inverter Operation manual A253.2 EtherCAT Sync Manager 2 PDO Assign The Sync-Manager 3 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller (ESC) in which the process input data with actual values are sent by the inverter to the EtherCAT master.
  • Page 52 Monitoring and diagnosis on the inverter Operation manual A256 EtherCAT Address Shows the address of the inverter within the EtherCAT network. The value is usually specified by the EtherCAT master. It is either derived from position of the station within the EtherCAT ring or is purposely selected by the user. Values usually start at 1001 hexadecimal (1001 is the first device after the EtherCAT master, 1002...
  • Page 53 Monitoring and diagnosis on the inverter Operation manual Indication of internal inverter diagnostic information on the EtherCAT interface ECS 5000 and the connection to the EtherCAT. A text with the following format is indicated in element 0: "StX ErX L0X L1X" Part 1 of the text means: Abbreviation of EtherCAT Device State State of the EtherCAT State Machine)
  • Page 54 Monitoring and diagnosis on the inverter Operation manual A257.1 EtherCAT Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT interface ECS 5000 and the connection to the EtherCAT. A text with the following format is indicated in element 1: "L0 xx L1 xx" Part 1 of the text means: Abbreviation for Link Lost Counter Port 0 (RJ45 socket labeled "IN") Number of lost connections (hexadecimal) on the port.
  • Page 55 Monitoring and diagnosis on the inverter Operation manual A258 EtherCAT PDO Timeout: This PDO monitoring function (PDO = Process Data Object) should be activated so that the inverter does not continue with the last received reference values after a failure of the EtherCAT network or the master. After the EtherCAT master has put this station (the inverter in this case) into the state "OPERATIONAL,"...
  • Page 56 Monitoring and diagnosis on the inverter Operation manual A259.0 EtherCAT SM-Watchdog This PDO monitoring function (PDO = Process Data Object) should be activated so that the inverter does not continue with the last received reference values after a failure of the EtherCAT network or the master. If the value 65534 was set in another parameter A258 EtherCAT PDO-Timeout, the timeout can be set in the EtherCAT master (TwinCAT software).
  • Page 57 Monitoring and diagnosis on the inverter Operation manual Data type: Value: – Index: 2103 Subindex: A260 EtherCAT Synchronization mode This parameter activates EtherCAT synchronization monitoring mode on the inverter. The inverter offers the option of monitoring the synchronization between master and inverter via Distributed Clock. A check is made to determine whether the time difference between the arrival of the EtherCAT Frame at the inverter and the point in time of the SYNC0 signal on the inverter is within a tolerable time range.
  • Page 58 Monitoring and diagnosis on the inverter Operation manual A261.0 EtherCAT Sync-Diagnostics This parameter can be used to diagnose errors in synchronization mode. The parameter indicates the following error codes: 0: No error. 1: Sync Manager 2 and Sync Manager 3 have different cycle times 2: Cycle time <...
  • Page 59 Monitoring and diagnosis on the inverter Operation manual A262.0 EtherCAT Sync Manager 0 Synchronization type The parameter indicates the synchronization operating mode for Sync Manager 0 (write mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 0: not synchronized No other values possible.
  • Page 60 Monitoring and diagnosis on the inverter Operation manual Value: 0: Not synchronized; 1: Synchronized with AL event on this Sync Manager; 2: Synchronized with AL event Sync0; 3: Synchronized with AL event Sync1; 32: Synchronized with AL event of SM0; 33: Synchronized with AL event of SM1;...
  • Page 61 Monitoring and diagnosis on the inverter Operation manual A263.0 EtherCAT Sync Manager 1 Synchronization type The parameter indicates the synchronization operating mode for Sync Manager 1 (read mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 0: not synchronized No other values possible.
  • Page 62 Monitoring and diagnosis on the inverter Operation manual Value: 0: Not synchronized; 1: Synchronized with AL event on this Sync Manager; 2: Synchronized with AL event Sync0; 3: Synchronized with AL event Sync1; 32: Synchronized with AL event of SM0; 33: Synchronized with AL event of SM1;...
  • Page 63 Monitoring and diagnosis on the inverter Operation manual A264.0 EtherCAT Sync Manager 2 Synchronization type The parameter indicates the synchronization operating mode for Sync Manager 2 (output process data) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 0: not synchronized 2: Synchronized with AL event Sync0: Synchronized operating mode...
  • Page 64 Monitoring and diagnosis on the inverter Operation manual Value: 0: Not synchronized; 1: Synchronized with AL event on this Sync Manager; 2: Synchronized with AL event Sync0; 3: Synchronized with AL event Sync1; 32: Synchronized with AL event of SM0; 33: Synchronized with AL event of SM1;...
  • Page 65 Monitoring and diagnosis on the inverter Operation manual A265.0 EtherCAT Sync Manager 3 Synchronization type The parameter indicates the synchronization operating mode for Sync Manager 3 (input process data) which was set by the controller on the inverter. The parameter can only have the following values: 0: not synchronized 2: Synchronized with AL event Sync0: Synchronized operating mode (synchronous to sync 0 signal)
  • Page 66 Monitoring and diagnosis on the inverter Operation manual Value: 0: Not synchronized; 1: Synchronized with AL event on this Sync Manager; 2: Synchronized with AL event Sync0; 3: Synchronized with AL event Sync1; 32: Synchronized with AL event of SM0; 33: Synchronized with AL event of SM1;...
  • Page 67 Monitoring and diagnosis on the inverter Operation manual A267.0 ECS internal test counter This parameter counts any ECS-5000 events which are detected between the control unit of the inverter and the ECS 5000. Different causes are counted separately in an array with 4 elements.

  • Page 68: Commissioning With Twincat

    The following components are required for operation of devices of the 5 generation of STÖBER inverters with EtherCAT: 1. MDS 5000 or FDS 5000 starting with firmware V 5.2 or SDS 5000 with firmware V 5.4 2. ECS 5000 (EtherCAT board) 3.

  • Page 69: Installing The Driver For Ethercat

    Commissioning with TwinCAT® Operation manual ® Before starting TwinCAT copy the files to the directory \\TwinCAT\Io\EtherCAT ® ® so that TwinCAT can link in the device description files. Then start the TwinCAT system manager againd. 11.3 Installing the driver for EtherCAT ®...
  • Page 70 Commissioning with TwinCAT® Operation manual ® 4. Start the TwinCAT System Manager. shows the screen which appears after the program has started. ® Fig. 11-1 View of the TwinCAT System Manager after its start. 5. In the project tree select I/O-Configuration. 6.
  • Page 71 Commissioning with TwinCAT® Operation manual 13. In the context menu, select Scan Boxes.  The EtherCAT network which was just put together is checked and the founded inverters appears in the project tree under box x (POSIDRIVE(R) xDS 5000). Fig. 11-3 View of the Device 1 (EtherCAT) on the TwinCAT System Manager 14.
  • Page 72 Commissioning with TwinCAT® Operation manual 15. Click the tab Process Data.  The dialog screen shown in appears. The PDO channels to be used for the Sync Managers and the parameters to be used for the PDO channels are configured in this dialog screen. Because this setting has already been prepared locally by STÖBER ANTRIEBSTECHNIK on the inverter, we recommend not making any changes in the parameterization of the inverter at this point except for perhaps removing any existing...

  • Page 73: Monitoring The Process Data Connection To Twincat

    Commissioning with TwinCAT® Operation manual 11.5 Monitoring the process data connection to TwinCAT® The Watchdog function must be activated in the master to monitor the process ® data connection. This function is set up on the TwinCAT System Manager as shown below: Activate the watchdog on TwinCAT system manager 1.
  • Page 74 Commissioning with TwinCAT® Operation manual 5. 5.In the input fields Set Multiplier and Set SM Watchdog enter the values for calculating the SM Watchdog time. The SM Watchdog time is calculated with the following formula: SM Watchdog time = (Multiplier * 0.04 * 10 s) * SM Watchdog The time in the example shown in is calculated as follows: SM Watchdog time = (25000 * 0.04 * 10...

  • Page 75: Activation Of The Synchronization With Twincat

    Commissioning with TwinCAT® Operation manual 11.6 Activation of the synchronization with TwinCAT® To activate synchronization using distributed clocks, the function must first be ® activated on each slave. The related settings are in TwinCAT in the Advanced Settings for the slave. Information ®...
  • Page 76 Commissioning with TwinCAT® Operation manual 4. Choose the operation mode. - XML file prepared with POSITool from V 5.4A: The operation mode is saved in the XML file. - XML file prepared with POSITool up to V 5.4: The operation mode must be configured manually.
  • Page 77 Commissioning with TwinCAT® Operation manual Element Description Here the factor used to calculate the cycle time for the 4:Factor SYNC 0 signal based on the Sync Unit Cyclecan be selected. Normally the factor 1 is set here so that the cycle time for SYNC 0 is the same as the Sync Unit Cycle.

  • Page 78: Positool Over Ethercat

    POSITool over EtherCAT Operation manual POSITool over EtherCAT Using the POSITool over EtherCAT function you can reach, via an EtherCAT master, all 5 generation STÖBER inverters that are connected to the master in an EtherCAT network. You can run all commissioning and diagnostic functions provided by POSITool on all converters via one connection.
  • Page 79 POSITool over EtherCAT Operation manual Information For correct communication, the EtherCAT master software and the mailbox gateway it contains must work correctly. The manufacturer of this software is solely responsible for this function! • Common installation of EtherCAT master and POSITool on a PC or industrial PC (IPC).

  • Page 80: Activating Mailbox Gateway

    POSITool over EtherCAT Operation manual 12.2 Activating mailbox gateway Information The functionality described in the following is only available in ® conjunction with TwinCAT from the version described in 11.1. Many of the parameters related to the use of EtherCAT are to be set in the ®...
  • Page 81 POSITool over EtherCAT Operation manual 3. Select the EoE Support element.  The following dialog screen is displayed: 4. Activate the Virtual Ethernet Switch function (Enable checkbox). 5. Select the Connect to TCP/IP Stack checkbox. 6. Select the IP Enable Router checkbox. 7.

  • Page 82: Reading And Sending Data Using Positool Over Ethercat

    POSITool over EtherCAT Operation manual 12.3 Reading and sending data using POSITool over EtherCAT 12.3.1 Reading inverter data from the EtherCAT® network (reverse documentation) Information Ensure all the requirements in 12.1 are met before you use the POSITool over EtherCAT function. Information The following procedure describes how data can be imported into an existing project.
  • Page 83 POSITool over EtherCAT Operation manual 3. Accept the dialog screen using the OK button.  POSITool automatically reads a list of the devices connected from the mailbox gateway and displays the inverters in POSITool. If the mailbox gateway does not support the information on the devices connected, you can update the list using the Scan address list and Scan address range buttons.
  • Page 84 POSITool over EtherCAT Operation manual 4. Click the read from EtherCAT... button.  The following dialog screen is displayed: Fig. 12-3 Read configuration / paramters from EtherCAT 5. Mark the line for the inverter entry in POSITool to which the data are to be written.
  • Page 85 POSITool over EtherCAT Operation manual 9. Click the OK button.  The data are read from the EtherCAT network and added to the EtherCAT group in the project view. You can edit the data as usual. To be able to allocate destination and source more quickly in large, existing projects, in the Read configuration/parameters from EtherCAT dialog screen you can use the following buttons: •...

  • Page 86: 2Sending Inverter Data To Ethercat

    POSITool over EtherCAT Operation manual Fig. 12-4 Establish connection in the project view 12.3.2 Sending inverter data to EtherCAT® Information Ensure all the requirements in 12.1 are met before you use the POSITool over EtherCAT function. To be able send existing project data to an inverter, the following requirements must be met: •...
  • Page 87 POSITool over EtherCAT Operation manual 3. Accept the dialog screen using the OK button.  POSITool automatically reads a list of the devices connected from the mailbox gateway and displays the inverters in POSITool. If the mailbox gateway does not support the information on the devices connected, you can update the list using the Scan address list and Scan address range buttons.
  • Page 88 POSITool over EtherCAT Operation manual 5. Mark the inverter to which you want to write the data. 6. In this line double-click <Please select>.  A list is displayed that contains all the inverter entries in your project. 7. Select the inverter entry which you want to write to the selected inverter. 8.

  • Page 89: Management

    POSITool over EtherCAT Operation manual 12.4 Management To be able to use the POSITool over EtherCAT function in an existing project, you must add an EtherCAT entry to the project. For this purpose, on the File menu choose the New EtherCAT… command. The following dialog screen is displayed: Fig.
  • Page 90 POSITool over EtherCAT Operation manual Fig. 12-5 Manage EtherCAT dialog screen On this dialog screen the name of the EtherCAT entry is displayed in the field at the top. Using the Delete button you can delete the EtherCAT entry. In this case the inverters allocated are displayed directly in the project view.

  • Page 91: Principle Of Operation

    POSITool over EtherCAT Operation manual 12.5 Principle of operation EtherCAT makes possible: • The cyclic transfer of process data (PDO) using a controller or CNC • Acyclic services for writing and reading parameters in the inverter using CoE (SDO) as well as the transfer of manufacturer-specific protocols (VoE, Vendor-specific protocol over EtherCAT).
  • Page 92 POSITool over EtherCAT Operation manual POSITool TwinCAT Mailbox Gateway EtherCAT Master ® Fig. 12-7 Communication between POSITool and TwinCAT ID 441896.05...

  • Page 93: List Of Literature

    List of literature Operation manual List of literature 1. Projecting manuals: ® • POSIDRIVE MDS 5000: ID 442272 ® • POSIDRIVE FDS 5000: ID 442268 ® • POSIDYN SDS 5000: ID 442276 2. Commissioning instructions: ® • POSIDRIVE MDS 5000: ID 442296 ®...
  • Page 94 Notizen ID 441896.05...
  • Page 95 E-Mail: mail@stober.co.uk eMail: info@stoeber.it www.stober.co.uk www.stoeber.it China Japan Singapore STOBER CHINA STOBER Japan STOBER Singapore Pte. Ltd. German Centre Beijing P.O. Box 113-002, 6 chome 50 Tagore Lane Unit 2010, Landmark Tower 2, 15-8, Hon-komagome #05-06B 8 North Dongsanhuan Road Bunkyo-ku...
  • Page 96 STÖBER ANTRIEBSTECHNIK GmbH + Co. KG Kieselbronner Str. 12 75177 PFORZHEIM GERMANY Tel. +49 7231 582-0 Fax. +49 7231 582-1000 E-Mail: mail@stoeber.de 24/h service hotline +49 180 5 786 323 www.stober.com Technische Änderungen vorbehalten Errors and changes excepted ID 441896.05 09/2013 441896.05...

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