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ez-wheel SWD Series User Manual

Safety drive & wheel drive
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SWD
®
SAFETY DRIVE & WHEEL DRIVE
User Manual
Version 2.0.3 - 04/04/2024 – Translated from French

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  • Page 1 ® SAFETY DRIVE & WHEEL DRIVE User Manual Version 2.0.3 - 04/04/2024 – Translated from French...

  • Page 2: Table Of Contents

    USER MANUAL ® Table des matières Introduction ............................. 8 1.1. Who is this manual intended for? ......................8 1.2. Terms of use ............................8 1.3. Additional resources ..........................8 1.4. Declarations of conformity ........................8 1.5. Important information about the manual ..................... 8 1.6.
  • Page 3 USER MANUAL ® SWD® 150 ..............................26 6.2. Overall dimensions and weight ......................26 SWD® Core ..............................26 SWD® 125 ..............................27 SWD® 150 ..............................28 6.3. Mechanical assembly drawing ......................30 SWD® Core ..............................30 SWD® 125 ..............................32 SWD®...
  • Page 4 USER MANUAL ® Communication parameters......................... 56 Default values ............................... 57 9.10. Store and restore configurations ......................62 Communication parameters......................... 63 Manufacturer parameters ..........................65 Drive parameters ............................66 10. CiA 402: Motor control unit profile ....................69 10.1. State machine ............................69 6040 Controlword ............................
  • Page 5 USER MANUAL ® Activation of a safety function via a safety input pair ................100 Permanent deactivation of STO and activation of a safety function............100 Activation of STO by OSSD outputs ......................101 Use of a single security entrance........................ 101 Activation of STO by two emergency stops ....................
  • Page 6 USER MANUAL ® Release note ‘Firmware 2.0.2’ ........................128 SWD® - Quick start ............................130 SWD® standalone without load ........................130 Table des figures Figure 1 – General product overview ........................17 Figure 2 – Overview of mechanical interfaces– SWD® Core ................. 18 Figure 3 –...
  • Page 7 USER MANUAL ® Figure 28 – Configuration of functions according to CiA 402 state machine states ..........72 Figure 29 – Motor control overview ........................72 Figure 30 – 'Speed control' interface ........................76 Figure 31 – ‘Speed control’ architecture ....................... 76 Figure 32 –...

  • Page 8: Introduction

    1.4. Declarations of conformity SWD® products are developed in accordance with the regulatory requirements for commercialization. The declarations of conformity for SWD® products have been drawn up by ez-Wheel with the certification authority INERIS for the certified safety functions. 1.5. Important information about the manual Important information –...
  • Page 9 USER MANUAL ® ez-Wheel and SWD Safety Wheel Drive are registered trademarks. Designations may be trademarks and/or copyrights of their respective manufacturers, their use by third parties for their own purposes could conflict with the rights of their owners. « USER MANUAL »...

  • Page 10: Safety Instructions - Precautions Regarding Usage Of Swd® Products

    Do not expose to fire. Do not insert metal pieces in the connectors. In any case, the product cannot be modified without explicit authorization of ez-Wheel. Do not attempt to modify technical performances. Product use must remain within technical performance range specified by ez-Wheel.

  • Page 11: Description

    USER MANUAL ® 3. Description Warning message applicable to SWD® products fitted with the parking brake option. The surface of the brake is subject to high temperatures approaching 100°C. There is a risk of burn while handling the product after use. A pictogram "Danger hot surface"...

  • Page 12: Swd® 125

    USER MANUAL ® Available transmissions: Commercial Ref. Stage(s) Ratio Nominal speed (rpm) Nominal torque (Nm) ezSWDcore.0x/C 1400 ezSWDcore.4x/C ezSWDcore.14x/C* ezSWDcore.25x/C ezSWDcore.50x/C ezSWDcore.100x/C * Standard commercial reference Key features for standard reference ezSWDcore.14x/C: Speed 0 to 130 rpm Nominal performance 17 Nm at 100 rpm Peak torque 37 Nm Transmission...
  • Page 13 USER MANUAL ® IP index IP66 (Electronic cover) Motor BLDC PM Nominal power Up to 200 W (S1) Transmission 1 or 2-stages Option(s) Parking brake /B Available transmissions: Commercial Ref. Stage(s) Ratio Nominal speed (rpm) Nominal torque (Nm) ezSWD125IM.4x/C* ezSWD125IM.14x/C * Standard commercial reference Key features for standard reference ezSWD125IM.4x/C: Speed...

  • Page 14: Safety Functions

    SMS (Safe Maximum Speed), SLS (Safe Limited Speed), SLSa ,SDI - (Safe Motor control Direction) up to SIL2/PLd/ Cat3 SLSa, Safe asymmetrical speed, ez-Wheel specific, not specified by CEI 61800-5-2 norm. Version 2.0.3_EN - 04/04/2024 - SWD® Page 14 on 133...

  • Page 15: Terms Of Use

    To guarantee SWD® product life, we recommend using caps on unused connectors. Compliant caps are available on ez-Wheel catalogue. SBU, Safe release of the brake, ez-Wheel specific, not specified by CEI 61800-5-2 norm. Reference value, based on standard test condition, may differ according to specific use.

  • Page 16: Product Label

    USER MANUAL ® 3.4. Product label Product label example for SWD® Core ezSWDcore.14/C: Commercial identification of the product Regulatory pictograms Manufacturer identification Item code Geographic origin of the product Motor performance, Safety functions 3.5. Applications SWD® products are designed for speed-controlled moving applications, where risk assessment justifies the implementation of safe movement supervision.

  • Page 17: Synoptic

    USER MANUAL ® 4. Synoptic SWD® Power 24 VDC Power stage management Safety µC Internal Safe In braking SLSa Brake Brake External braking Prog / Diag (Future Use) Figure 1 – General product overview Functions SBC, SLSa, SMS and SBU are implemented from firmware version ‘Firmware 2.0.1’ Motor et gearbox Safety encoder Safety external brake...

  • Page 18: Interfaces

    USER MANUAL ® 5. Interfaces 5.1. Overview Mechanical assemblies’ identification SWD® Core Figure 2 – Overview of mechanical interfaces– SWD® Core Gearbox mounting flange Brake mounting shaft Brake mounting pins SWD® 125 Figure 3 – Overview of mechanical interfaces – SWD® 125 Brake mounting pins Brake mounting shaft Version 2.0.3_EN - 04/04/2024 - SWD®...
  • Page 19 USER MANUAL ® SWD® 150 Figure 4 – Overview of mechanical interfaces – SWD® 150 Brake mounting pins Brake mounting shaft Version 2.0.3_EN - 04/04/2024 - SWD® Page 19 on 133...

  • Page 20: Connectors And Leds Identification

    USER MANUAL ® Connectors and LEDs identification SWD® Core And, SWD® 125 Connector I/O Connector 24VDC Connector CAN Connector USB Connector ETH (Reserved for future use) Figure 5 – Connectors identification LED Status LED CAN LED ETH (Reserved for future use) Connector brake Figure 6 –...
  • Page 21 USER MANUAL ® SWD® 150 Figure 7 – Connectors and LEDs identification – SWD® 150 Connector CAN Connector 24VDC Connector I/O Connector USB Connector ETH (Reserved for future use) LED Status LED CAN LED ETH (Reserved for future use) Version 2.0.3_EN - 04/04/2024 - SWD® Page 21 on 133...

  • Page 22: Connectors

    USER MANUAL ® 5.2. Connectors The use of shielded cables is strongly recommended, as well as a total length of less than 30 meters for the CAN bus. Connector layout plan Face avant : Face arrière : Figure 8 – Connector layout plan I/O Connector The I/O connector is M12, 12-pin, A-coded, female.

  • Page 23: Vdc Connector

    The USB connector is M8, 5-pin, B-coded, female. It is only used for updating and diagnosing the product. It must only be used with the explicit agreement of ez-Wheel for safety reasons, otherwise all warranties will be voided. Pin #...

  • Page 24: Eth Connector

    SBC (Safe Brake Control) output. Pin # Designation Command SBC V_SBC GND_SBC Consult ez-Wheel for a brake compatible with your product. Implemented from firmware version ‘Firmware (2.0.x)’ Version 2.0.3_EN - 04/04/2024 - SWD® Page 24 on 133...

  • Page 25: Information And Mechanical Assembly

    USER MANUAL ® 6. Information and mechanical assembly 6.1. Dimensions, packaging, and pack contents SWD® Core Depth: 170 mm Width: 150 mm Height: 306 mm Upper wedge Product SWD® Core Lower wedge Conditioning For engine-only logistics operations, use the original packaging. Version 2.0.3_EN - 04/04/2024 - SWD®...

  • Page 26: Swd® 125

    USER MANUAL ® SWD® 125 Definition ongoing. SWD® 150 Definition ongoing. 6.2. Overall dimensions and weight SWD® Core Figure 9 – Overall dimensions – SWD® Core without gearbox Figure 10 – Overall dimensions – SWD® Core with gearbox(es) Indicative values +/- 10% Version 2.0.3_EN - 04/04/2024 - SWD®...

  • Page 27: Swd® 125

    USER MANUAL ® Figure 11 – Overall dimensions - SWD® Core – with external brake Gearbox Dim “G” ± 0.3 (mm) With external Dim “L” ± 2 Weight ± 10% 1-stage 2-stages 3-stages brake (mm) (kg)   42.9 ✓ 42.9 ...
  • Page 28 USER MANUAL ® Figure 14 – Overall dimensions – ‘SWD® 125 2-stages and external brake Gearbox Dim “G” ± 0.3 (mm) With external Dim “L” ± 2 (mm) Weight ± 10% (kg) brake 1-stage 2-stages  ✓  ✓ SWD® 150 Version 2.0.3_EN - 04/04/2024 - SWD®...
  • Page 29 USER MANUAL ® Figure 15 – Overall dimensions – ‘SWD® 150 2-stages’ Figure 16 – Overall dimensions – ‘SWD® 150 2-stages’ with external brake SWD® 150 versions Weight ± 10% (kg) SWD® 150 with gearbox 2-stages 10.5 SWD® 150 with gearbox 2-stages and external brake 11.3 Version 2.0.3_EN - 04/04/2024 - SWD®...

  • Page 30: Mechanical Assembly Drawing

    Max. axial force on shaft when mounted Consult ez-Wheel Depending on how the motor shaft is mounted, special tools may be required. Consult ez-Wheel for more information. Special cases: Please consult us for the maximum permissible loads for cases not defined above.
  • Page 31 USER MANUAL ® The front of the motor has an IP20 protection rating SWD® Core - Machine layout recommendation SWD® Core interface Motor transmission interface Present the SWD® Core product on the machine interface until it stops on the flat surface. Using 4 M5 screws (not supplied), tighten the product on the machine interface.

  • Page 32: Swd® 125

    USER MANUAL ® Installation requirements: Tightening torque for 4 - M5 screws (not supplied): 5 Nm. Length of thread engaged in the product: 8 to 10 mm. Use of thread lock and/or lock washers (not supplied). For sealing higher than IP53, seal the shaft bearing by applying a gasket between the machine interface (x4) and the SWD®...

  • Page 33: Swd® 150

    USER MANUAL ® SWD® 150 SWD® 150 - Machine layout recommendation Version 2.0.3_EN - 04/04/2024 - SWD® Page 33 on 133...

  • Page 34: Swd® Status Indicator

    USER MANUAL ® 7. SWD® Status indicator 7.1. SWD® indicator display mode The LEDs lights up according to the display states standardized in CiA 303-3. LED state Description LED on LED is on LED is off LED scintillating LED blinks at 10 Hz (50 ms on / 50 ms off) LED blinking LED blinks at 2,5 Hz (200 ms on / 200 ms off) LED single flash...

  • Page 35: Can Led Display

    USER MANUAL ® 7.3. CAN LED display The CAN bus status LED (CAN LED) is a two-color red or green LED, which indicates the operational status of the SWD® CANopen bus: CANopen state LED green LED red Bus Off Initialisation (Ongoing) Initialisation (Initialisation error)
  • Page 36 USER MANUAL ® It is possible that an error blocks the correct operation of the power supply, for example a current requested too high. Objects ‘status_ext_can_alim’ (2401 01 ) and ‘status_ext_canio_alim’ (2401 02 ) are used to find out the status of the power supply on these connectors.

  • Page 37: Can Bus And Canopen Protocol

    USER MANUAL ® 9. CAN bus and CANopen protocol 9.1. Bus specification SWD® TCAN1043 CAN_H CAN_L Rcan 120 Ω Figure 18 – CAN bus internal wiring diagram 9.2. Bitrate of the CAN node (Baudrate) SWD® default baud rate is 1,000,000 bps. This value is configurable. Baud rate configuration can be achieved using two different methods (in NMT Pre-Op mode): With SWD®...

  • Page 38: Can Node Identifier (Node-Id)

    USER MANUAL ® Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes Configure Bit Timing 2100 Parameters Value Baudrate (bps) 1.000.000 800.000 2100 Configure Bit Timing Parameters 500.000 250.000 125.000 9.3. CAN node identifier (N ode-ID) The CANopen node identifier identifies a device on the bus.
  • Page 39 USER MANUAL ® SWD® includes an internal termination resistor whose activation is configurable by software. The internal resistor is activated in the default configuration. During motor drive start-up or reset, the resistor is deactivated until the configuration is applied. CAN_H 0x2102 00 CAN_L Figure 19 –...

  • Page 40: Swd® Identity Object

    USER MANUAL ® 2102 : R Termination Deactivated Activated Value 9.5. SWD® Identity object SWD® identification data is described in object 1018 in this format: Index Sub-index Name Data type Value Number of entries Unsigned8 Vendor-ID Unsigned32 0000 0515 1018 Product code Unsigned32 Revision number...
  • Page 41 USER MANUAL ® Power on or hardware reset Initialisation (14) (11) Pre-operational (13) (10) Stopped (12) Operational Figure 21 – NMT state machine diagram of a CANopen device At Power on the NMT state initialization is entered autonomously NMT state initialization finished – enter NMT state Pre-operational automatically NMT service start remote node indication or by local control (4), (7) NMT service enter pre-operational indication...

  • Page 42: Pdo (Process Data Object)

    USER MANUAL ® 9.7. PDO (Process Data Object) PDOs are messages used to exchange data in producer/consumer mode. A producer CANopen node sends a message which will be consumed by one or more consumer nodes. For the producer: the PDO is a TPDO (T: Transmitted), the same message is an RPDO (R: Received) for the consumer(s).
  • Page 43 USER MANUAL ® COB-ID (:01 The COB-ID input can be used to specify: CAN-ID identity of the message on the bus Validity of the message SWD® supports 11-bit CAN-ID ('CAN base frame') message identifiers and does not implement the sending of TPDOs on RTR request. For RPDOs, the COB-ID format is: Frame 29-bit CAN-ID...
  • Page 44 USER MANUAL ® Value Description Supported  Acyclic synchronous: Triggered when the SYNC message is received and one of the mapped process data has changed its value after the last transmission.  Cyclic synchronous (every sync) Cyclic synchronous (every 2 SYNC) Cyclic synchronous (every 3 SYNC)

  • Page 45: Mapping Parameters

    USER MANUAL ® Inhibit time (:03) The inhibit-time sub-parameter provides the time in ms, when this TPDO is allowed sending it again. The null value disables the inhibit time. It is not allowed to change the value while the PDO exists (bit 31 of sub-index 01 is set to 0 Event timer (:05)

  • Page 46: Default Values

    USER MANUAL ® CAN transmission RPDO 1 (CAN-ID see 1400 Data field Object A Object G Object E 1600 2000 1600 2000 2000 Object A 2000 Object B 1600 2003 1600 2003 2001 Object C 2002 Object D 2003 2003 Object E 2003 Object F...
  • Page 47 USER MANUAL ® Event timer FFFF  Data mapping 1600 Number of mapped  6040 0010 Mapping Entry 1  Controlword Mapping Entry 2  Mapping Entry 3  Mapping Entry 4  Mapping Entry 5  Mapping Entry 6 ...
  • Page 48 USER MANUAL ® Communication parameters 1800 Number of entries COB-ID 4000 0190  Transmission type  Data mapping 1A00 Number of mapped  6041 0010 Mapping Entry 1  Statusword Mapping Entry 2  Mapping Entry 3  Mapping Entry 4 ...

  • Page 49: Emergency (Emcy)

    USER MANUAL ® Communication parameters 1803 Number of entries COB-ID 4000 0490  Transmission type  Data mapping 1A03 Number of mapped  6041 0010 Mapping Entry 1  Statusword 606C 0020 Mapping Entry 2 Velocity actual  value Mapping Entry 3 ...
  • Page 50 USER MANUAL ® Figure 25 – EMCY error state machine After initialisation, The SWD® goes into error-free state. No emergency message is sent. The SWD® detects a 1 error. It goes into error state. An emergency message can be sent with the error code and associated error register.
  • Page 51 USER MANUAL ® 1029 Application error  1029 Application warning  When this error occurs: the node enters the NMT 'pre-Operational' state Value When this error occurs: no change in NMT state of the node When this error occurs: the node enters the NMT 'Stopped' state Version 2.0.3_EN - 04/04/2024 - SWD®...

  • Page 52: Error Code

    USER MANUAL ® Emergency messages (EMCY) are transmitted in the following format: EMCY Message Error code Error register Manufacturer-specific 2 Bytes 1 Byte 5 Bytes Error code Reset Description EMCY  0000 Reset error or no error Generic Description EMCY ...
  • Page 53 USER MANUAL ® Manufacturer Description EMCY  7100 Power supply error on CAN or IO connector  7121 Motor blocked error Monitoring Description EMCY  8001 Fault on safety input STO_1  8002 Fault on safety input STO_2  8003 INSafe_1 safety input failure ...

  • Page 54: Error Register

    USER MANUAL ® Error register This object is an 8-bit field, indicating error classes. Each bit corresponds to a class: Signification Generic error Current Voltage Temperature Communication error Device specific Reserved Manufacturer specific Error class and history Object 1001 contains current error class. Data Default Access...

  • Page 55: Srdo (Safety-Relevant Data Object)

    USER MANUAL ® EMCY COB-ID description table: Bit(s) Value Description EMCY exists / is valid. Valid EMCY does not exist / is not valid reserved Frame 11-bit CAN-ID valid (CAN base frame) 29-bit CAN-ID Ignored 11-bit CAN-ID 11-bit CAN-ID of the CAN base frame 9.9.

  • Page 56: Communication Parameters

    USER MANUAL ® Communication parameters Index Sub-index Description Data type Number of entries Unsigned8 Direction Unsigned8 SRDO1: 1301 Unsigned16 SRDO2: 1302 SRVT Unsigned8 SRDO 9 à 16: Transmission type Unsigned8 1309 to 1310 COB-ID 1 Unsigned32 COB-ID 2 Unsigned32 Time (SCT et SRVT) In transmission, the SCT value defines the period at which the SRDO message is to be sent.

  • Page 57: Default Values

    USER MANUAL ® Default values SRDO Valid Direction Mapping  RX (02 Safety control word 1 (6620 0108  TX (01 Safety status word 1 à 8 (6621 0108 -> 6621 0808 (…) Reserved  Safety control word 2 (6620 0208 Safe position actual value i32 (6611 0020 ...
  • Page 58 USER MANUAL ® Information direction 1 (TX) 0 / 1 (TX)   SRVT  Transmission type  COB ID 1 0000 0103  COB ID 2 0000 0104  Mapping Number of entries Safety Statusword 1 6621 0108 Safety Statusword 1 6623 0108 inverted Safety Statusword 2...
  • Page 59 USER MANUAL ® Mapping Number of entries Safety Controword 2 6620 0208 1389 Safety Controword 2 6622 0108 inverted SRDO 10 TX (inactive) Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes Communication parameter Number of entries Information direction 0 (inactive)
  • Page 60 USER MANUAL ® Safety Controword 3 6622 0308 inverted SRDO 12 RX (inactive) Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes Communication parameter Number of entries Information direction 0 (inactive) 0 / 2 (RX) ...
  • Page 61 USER MANUAL ® Communication parameter Number of entries Information direction 0 (inactive) 0 / 2 (RX)   SRVT 130E  Transmission type  COB ID 1 0000 010F  COB ID 2 0000 0110  Mapping Number of entries Safety Controword 6 6620 0608 138E...

  • Page 62: Store And Restore Configurations

    USER MANUAL ®  SRVT  Transmission type  COB ID 1 0000 0113  COB ID 2 0000 0114  Mapping Number of entries Safety Statusword INSafe 2620 0208 1390 Safety Statusword INSafe 2622 0208 inverted 9.10. Store and restore configurations The SWD®...

  • Page 63: Communication Parameters

    USER MANUAL ® The parameters displayed are divided into several groups. Parameters are returned either for all product parameters, or for a specific group. This depends on which sub-index the 'load' command is written to: Sub-index Group of data Supported ...
  • Page 64 USER MANUAL ® 130D SRDO 13 communication parameter 130E SRDO 14 communication parameter 130F SRDO 15 communication parameter 1310 SRDO 16 communication parameter 1381 SRDO 1 mapping parameter 1382 SRDO 2 mapping parameter 1389 SRDO 9 mapping parameter 138A SRDO 10 mapping parameter 138B SRDO 11 mapping parameter 138C...

  • Page 65: Manufacturer Parameters

    USER MANUAL ® 1A06 TPDO 7 Mapping Parameter 1A07 TPDO 8 Mapping Parameter Manufacturer parameters Manufacturer segment 2050 cia402_use_intenal_brake 2064 Accurate position value Accurate position resolution 208f 2100 Configure Bit Timing Parameters 2101 Node ID 2102 R Termination 2155 motctrl_speed_pid_p 2156 motctrl_speed_pid_i 2157...

  • Page 66: Drive Parameters

    USER MANUAL ® 3059 SLSa statuses Drive parameters List of configurable data linked to the CiA 402 profile: Device profile segment 6007 Abort_connection_option_code 603F Error code 6040 Controlword 6041 Statusword 6042 vl_target_velocity 6043 vl_velocity_demand 6044 vl_velocity_actual_value 6046 vl_velocity_min_max_amount 6048 vl_velocity_acceleration 6049 vl_velocity_deceleration 604A...
  • Page 67 USER MANUAL ® 6503 drive_catalogue_number 6505 http_drive_catalogue_address 6600 Time unit 6601 Position unit 6602 Velocity unit 6603 Acceleration unit 6607 Safety application configuration valid 6608 Safety application configuration failed 6611 Safe position actual value i32 6613 Safe velocity actual value i32 661A Inverted safe position actual value i32 661C...
  • Page 68 USER MANUAL ® 66D3 SDI position zero window u32 66D5 SDI velocity zero window u32 66D6 SDI safety application configuration signature 66DE SDIp statuses 66DF SDIn statuses 66F0 ezw_safety_word_scw_mapping_cw1 66F1 ezw_safety_word_scw_mapping_cw2 66F2 ezw_safety_word_scw_mapping_cw3 66F3 ezw_safety_word_scw_mapping_cw4 66F4 ezw_safety_word_scw_mapping_cw5 66F5 ezw_safety_word_scw_mapping_cw6 66F6 ezw_safety_word_scw_mapping_cw7 66F7 ezw_safety_word_scw_mapping_cw8...

  • Page 69: Cia 402: Motor Control Unit Profile

    USER MANUAL ® 10. CiA 402: Motor control unit profile CiA profile 402 specifies a generic motor interface (PDS: Power Drive System). This interface handles various operating modes, such as position, speed, torque, etc. An operating mode is associated with parameters that must be configured to start the state machine. State machine control depends on the chosen operating mode.
  • Page 70 USER MANUAL ® Start Not ready to switch Switch on disabled Fault Ready to switch on Fault reaction active Transition 13 605E : Fault reaction option code Switched on Transition 8 0x605B : Shutdown option code Transition 5 605C : Disable operation option Quick stop active Operation enabled Power-off or reset...
  • Page 71 USER MANUAL ® Transition Events Actions Automatic transition after power-on or reset Drive device self-test and/or self - application initialization shall be performed Automatic transition Communication shall be activated Shutdown command from control device or None local signal Switch on command received from control The high-level power shall be switched on, if device or local signal possible...
  • Page 72 USER MANUAL ® CiA standard 402-2 defines a set of supported functions for controlling machine states. A summary table of supported function states for each machine stage is available below: The following functions are supported: Active brake, (configurable with object ‘cia402_use_internal_brake’...

  • Page 73: 6040 H Controlword

    USER MANUAL ® 6040 Controlword The '6040 Controlword' object is used to control the CiA 402 PDS state machine and request the transition from one state to another. The transition is made by writing the 'Controlword', or sometimes automatically, for example in the event of an error (if configured).

  • Page 74: Start-Up Example

    USER MANUAL ® manufacturer-specific operation mode specific internal limit active target reached remote warning switch on disabled quick stop voltage enable fault operation enabled switched on rtso ready to switch on Ila - internal limit active The drive sets the 'Ila' bit to 1 if the speed setpoint is outside the speed range authorized for the product (See 6046 - vl_velocity_min_max_amount).
  • Page 75 USER MANUAL ® homing mode interpolated position mode cyclic sync position mode cyclic sync velocity mode cyclic sync torque mode cstca cyclic sync torque mode with commutation angle r(eserved) reserved The operating mode defines the behaviour when the SWD® is in the 'operation enable' state. The object "Modes of operation"...

  • Page 76: Velocity Mode' (Vl) Operation

    USER MANUAL ® 10.2. ‘Velocity mode' (vl) operation Introduction The 'velocity' operating mode controls the speed of the SWD® motor. Speed is controlled by an acceleration or deceleration ramp, which limits the current load and mechanical stress on the motor. Load-dependent force calculation is performed automatically, and a feedback loop ensures that the speed setpoint is followed without exceeding the acceleration or deceleration limits.
  • Page 77 USER MANUAL ® 6042 : Speed setpoint The speed setpoint is transmitted via the dictionary input 'vl_target_velocity' (6042 By default, speeds are expressed in revolutions per minute at the motor shaft, regardless of the mechanical gearbox ratio. The speed unit used depends on the Dimension factor configuration (604C 6064 : Position Position is expressed in motor encoder increments and is available in the dictionary entry 'position_value'...

  • Page 78: Speed Limitations

    USER MANUAL ® 604C : vl_dimension_factor It is possible to apply a dimension factor to the expression of speeds, so that they are expressed in another unit. The dimension factor can be configured using the following objects: Data Default Access Upper Size in Name...

  • Page 79: Speed Limitation And Safety Functions

    USER MANUAL ® vl_target_velocity 6042 00 6046 02 + velocity max amount 6046 01 + velocity min amount 6046 01 - velocity min amount 6046 02 - velocity max amount vl_velocity_demand 6043 00 6046 02 + velocity max amount 6046 01 + velocity min amount 6046 01 - velocity min amount...

  • Page 80: Ramps

    USER MANUAL ® Active function Output command Disconnection of motor torque Maximum speed is set regardless of the requested safety-related functions Speed is restricted below SLS speed set. Same behavior as ‘velocity max amount’. SLSa Speed is restricted below SLSa speed independently for each direction. SDI p Positive speed commands above nZero_SDI are forced to null speed.
  • Page 81 USER MANUAL ® vl_target_velocity 6042 00h vl_velocity_demand 6043 00h 0x6048:01 0x6049:1 vl_velocity_deceleration_ vl_velocity_acceleration_ delta_speed delta_speed 0x6048:02 0x6049:02 vl_velocity_deceleration_ vl_velocity_acceleration_ delta_time delta_time Figure 34 – Acceleration/deceleration ramp management (1/2) When the setpoint direction is reversed, the nominal deceleration ramp is used to return to zero speed. The acceleration ramp is then used to reach the new setpoint.

  • Page 82: Ramp Function Control

    USER MANUAL ® Ramp function control The ramp function can be controlled via the controlword bit field. Bit 5 Run ramp function generator Lock Bit 6 Ramp Limit function output Bit 4 input value Ramp output value Ramp function generator Velocity demand Special function...
  • Page 83 USER MANUAL ® Acceleration ramp Defa Non- Data Lower Upper Size in Name Access Type Mappin Unit volatile Type Limit Limit Bytes Value storage vl_velocity_ 6048 acceleration_ RPDO 10000 delta_speed vl_velocity_ 6048 acceleration_ RPDO delta_time Deceleration ramp Size Non- Data Default Access Lower...
  • Page 84 USER MANUAL ® PID speed control Setpoint vl_velocity_demand Motor Motor ∑ e 6043 00 control vl_velocity_actual_value 6044 00 The PID parameters are accessible in the CANopen dictionary and are updated when the CiA 402 state machine switches to the 'Operation Enable' state. Coefficients can be saved in non-volatile memory.

  • Page 85: Configuration

    USER MANUAL ® 10.3. Configuration The configuration data for the motor controller are considered when the 'Operation enable' state is reached. Modifications in the dictionary are not possible in 'Operation enable', 'Quick stop active' and 'Fault reaction active' states. 6007 Abort connection option code You can define the action to be applied if the CANopen connection is lost.

  • Page 86: Shutdown Option Code

    USER MANUAL ® 605B Shutdown option code You can define the action to be applied when a QuickStop command is received. Data Default Access Lower Upper Size in Non-volatile Name Unit Type Value Type Mapping Limit Limit Bytes storage shutdown option 605B Table code...

  • Page 87: Fault Reaction Option Code

    USER MANUAL ® 605E Fault reaction option code You can define the action to be applied when a PDS (Power Drive System) internal error is detected. Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes 605E...

  • Page 88: Safety Functions

    11.1. SWD® Safety functions The SWD® includes safe motor shutdown functions, as well as advanced safe speed supervision functions. This exclusive, integrated solution developed by ez-Wheel simplifies machine architecture by removing the need for external supervision devices and safety logic.

  • Page 89: Typical Use Of The Safety Functions

    USER MANUAL ® Direction of rotation prohibited: Reliable control of direction ▪ in positive or negative direction of rotation ▪ with a tolerance threshold Overtaking speed: ▪ 8 switchable thresholds Safe speed limitation ▪ adjustable triggering time Overtaking speed, in one direction only: Safe speed limitation, in one ▪...

  • Page 90: Safety Level Summary

    USER MANUAL ® 11.3. Safety level summary ISO 13849-1:2015 EN IEC 61508 IEC 62061 IEC 61800-5-2 NF EN 60204-1 Safety function Category SIL CL Category / Year STOP safety functions Safe Torque Off (STO) Category 4 PL e 1,42E-9 SIL 3 8,9E-9 3,9E-5 100%...
  • Page 91 USER MANUAL ® Safely limited speed asymmetric (SLSa) Category 3 PL d 2,29E-7 SIL 2 11,6E-9 5,1E-5 99,6% SIL 2 SIL 2 Pair of SafeInput Safe direction (SDI) Category 2 PL d 2,29E-7 SIL 2 8,9E-9 3,9E-5 99,7% SIL 2 SIL 2 CANopen Safety Safe direction (SDI)

  • Page 92: Activating A Safety Function

    USER MANUAL ® 11.4. Activating a safety function Safety functions can be triggered by: A safety input on the SWD® I/O connector (SafeIN). A safety controlword from the CANopen dictionary object (Safety controlwords). In reaction to the detection of an internal SWD® error. The control status of a safety function is read-only in the CANopen dictionary and is processed by the SWD®.
  • Page 93 USER MANUAL ® SLSa [2] 3050 0200 3059 0200 SLSa [3] 3050 0300 3059 0300 SLSa [4] 3050 0400 3059 0400 SLSa [5] 3050 0500 3059 0500 SLSa [6] 3050 0600 3059 0600 SLSa [7] 3050 0700 3059 0700 SLSa [8] 3050 0800 3059 0800 SDIp [1]...
  • Page 94 USER MANUAL ® Activation with safety inputs Command code Command 3040 0000 2620 Safety controlwords manufacturer 3050 0100 SLSa [1] Sub-idx Safety_controlword_safein_1 … … IO Pin 3050 0800 SLSa [8] INSafe_ INSafe_ INSafe_ INSafe_ Designation STO 2 STO 1 6632 0000 Ack.

  • Page 95: Default 'Safety Words' Mappings

    USER MANUAL ® 2625 ‘ezw_safety_word_scw_mapping_permanent_cw2’: Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes 2625 Number of entries scw_cw_permanent_can 2625 0000 0000  _2_bit0 scw_cw_permanent_can 2625 0000 0000  _2_bit1 scw_cw_permanent_can 2625 0000 0000 ...
  • Page 96 USER MANUAL ® 66F1 Command 4 0000 0000  66F8 66F1 Command 5 0000 0000  66F8 66F1 Command 6 0000 0000  66F8 66F1 Command 7 0000 0000  66F8 66F1 Command 8 0000 0000  66F8 Safety Controlword Safein 1 In its default configuration, the safety inputs on the connector are not associated with a control.
  • Page 97 USER MANUAL ® Safety Statusword 2 to 8 Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes 66F9 Number of entries 66FF 66F9 6644 0000 Status 1  STO status 66FF 66F9 Status 2 0000 0000 ...

  • Page 98: Recommendations For Implementation

    USER MANUAL ® 11.5. Recommendations for implementation STO activation by emergency stop STO activation by emergency stop via I/O connector interface, connected to input pair STO_1 and STO_2; SIL3 / PLe / Cat4 compliant. E-Stop E-Stop 1. CAN H 1. CAN H 2.

  • Page 99: Sto Activation And Reset With A Safety Reset Relay

    USER MANUAL ® The single input INSafe_1 is configured as a reset input after STO engagement. A rising edge from 0 to 24 VDC on the INSafe_1 input resets the STO State to 0 and restores torque to the motor. Object 6641h 'STO restart acknowledge behavior' must be activated (value set to 1), and safety input 'INSafe 1' configured to STO restart acknowledge command 6630 The input safety component must be chosen to satisfy the overall level of the safety function.

  • Page 100: Activation Of A Safety Function Via A Safety Input Pair

    USER MANUAL ® STO_1 STO_2 Velocity Torque on motor Rearming automatically Rearming on INSafe_1 STO State INSafe_1 Rearming Activation of a safety function via a safety input pair Activation of a software safety function with a 2-pole normally closed (2NC) switch; compliance up to SIL2 / PLd / Cat3.

  • Page 101: Activation Of Sto By Ossd Outputs

    USER MANUAL ® 1. CAN H 2. INSafe_4 3. CAN L 4. 24 VDC 5. STO_1 6. GND 7. INSafe_1 8. STO_2 9. INSafe_3 10. INSafe_2 11. GND 12. ON A switch according to ISO 13850, positive opening according to IEC 60947-5-1, or a certified safety controller must be used as the actuating element.

  • Page 102: Activation Of Sto By Two Emergency Stops

    USER MANUAL ® BP 1NC CAN H CAN H INSafe_4 INSafe_4 3. CAN L 3. CAN L BP 1NC 24 VDC 24 VDC STO_1 STO_1 6. GND 6. GND INSafe_1 INSafe_1 STO_2 STO_2 INSafe_3 24 VDC INSafe_3 10. INSafe_2 10. INSafe_2 11.

  • Page 103: Exchanges Of Safety Input Status On The Canopen Safety Bus

    USER MANUAL ® Exchanges of safety input status on the CANopen Safety bus Information on the state of the safety inputs is exchanged on the CANopen Safety bus. So that any device connected to the CANopen bus can know the state of the safety inputs. This information is exchanged through a safety message on the CANopen Safety bus, called SRDO.

  • Page 104: Connection To A Canopen Safety Controller

    USER MANUAL ® Connection to a CANopen safety controller Safety PLC SWD® Core Application Safety application (functional) CANopen CANopen Safety Driver CAN interface CANopen Safety (SRDO) CAN bus CANopen (SDO, PDO, …) Safety PLC / autre SWD® Linux PC SWD® Core Application Safety application (functional)

  • Page 105: Safety Function

    USER MANUAL ® safety_function_output_2 Not used Safety function Deactivated Activated Bit value 11.7. Safety function STO Activation STO is activated by command 0x6640, active low. After engaging an STO, the motor is electrically disconnected and no longer exerts torque. The speed slows down, but in the case of activation of STO alone, the motor is not braked, and the speed deceleration depends on the inertia of the drive.
  • Page 106 USER MANUAL ® Activating STO Command 6640 00 Velocity Torque on motor Rearming on Ack Rearming automatically STO State Status 6644 00  Settings Acknowledge → True: Rearmeming on Ack 6641 00 → False: Rearming automatically required Status 6633 00 Acknowledge demand Command 6632 00...

  • Page 107: Sbc Activation

    USER MANUAL ® SBC Activation The SWD® manages two engine braking modes. Internal motor braking and external braking. Internal braking works by short-circuiting the motor phases. While the external brake works by lack of current. It is mounted on the motor shaft, at the rear of the product. The use or not of the internal brake is configurable Braking applied according to the configuration used SBC commands Internal brake...

  • Page 108: Sbu Activation

    USER MANUAL ® The internal brake is maintained after disconnecting the power supply to the motors. Brake hold time is approximately three minutes. Since software version ‘Firmware 1.1.4’, the internal brake remains disabled in the event of: 1. Driven by means external to the engine (towing) 2.
  • Page 109 USER MANUAL ® SDI Activation SDIp Command 66D0 0x SDIn Command 66D1 0x Velocity Direction positive + nZero_SDI – nZero_SDI Direction negative Settings violation  66D5 0x → nZero_SDI (valeur 0x) Torque on motor Rearming according to Param. 6641 (cf. STO Activation) SDIp Active Status 66DE 0x...

  • Page 110: Sls Activation

    USER MANUAL ® SLS Activation Eight levels of SLS speed limitation can be activated by command 6690 , index 01 to 08. The SLS 6690 is active low, and speed monitoring is activated after a trigger time defined by the first of these two events: The time t_SLS (in ms) elapsed since the activation of the SLS command The time t_L_SLS (in ms) elapsed after the speed passed through the authorized window...

  • Page 111: Activation Du Slsa

    USER MANUAL ® Defau Non- Access Upper Size in Name Data Type Unit Lower Limit volatile Type Mapping Limit Bytes Value storage 6690 SLS Commands BOOLEAN Time to 6691 Monitoring start 6693 SLS speed limit Time to SLS start 6694 “within limit”...
  • Page 112 USER MANUAL ® SLSa Commands 3050 Speed SLSa  Settings : SLSa → t_SLSa p SLSa _p 3051 → n_SLSa p 3052 3052 t_SLSa_p → t_L_SLSa p 3053 t_L_SLSa_p  Settings : SLSa SLSa_n → t_SLSa n 3054 Viola 3055 →...

  • Page 113: Sms Activation

    USER MANUAL ® SMS Activation Two maximum positive and negative SMS velocity commands can be activated in the low state to prevent the exceeding of a speed threshold. The two SMS functions each have indexes for activating the speed threshold not to be exceeded (RPM), for a positive speed and for a negative speed.

  • Page 114: Signatures

    USER MANUAL ® 11.8. Signatures Security configurations include a CRC-type signature to ensure their integrity. A signature error prevents the transition to the NMT operational state. In the event of an error on the signature of one of the safety functions, the object '6607 00h Safety application configuration valid' is worth 00h, otherwise it is worth A5h.

  • Page 115: Srdo Signatures

    USER MANUAL ® 0x83b9u, 0x9398u, 0xa3fbu, 0xb3dau, 0xc33du, 0xd31cu, 0xe37fu, 0xf35eu, 0x02b1u, 0x1290u, 0x22f3u, 0x32d2u, 0x4235u, 0x5214u, 0x6277u, 0x7256u, 0xb5eau, 0xa5cbu, 0x95a8u, 0x8589u, 0xf56eu, 0xe54fu, 0xd52cu, 0xc50du, 0x34e2u, 0x24c3u, 0x14a0u, 0x0481u, 0x7466u, 0x6447u, 0x5424u, 0x4405u, 0xa7dbu, 0xb7fau, 0x8799u, 0x97b8u, 0xe75fu, 0xf77eu, 0xc71du, 0xd73cu, 0x26d3u, 0x36f2u, 0x0691u, 0x16b0u, 0x6657u, 0x7676u, 0x4615u, 0x5634u, 0xd94cu, 0xc96du, 0xf90eu, 0xe92fu, 0x99c8u, 0x89e9u, 0xb98au, 0xa9abu, 0x5844u, 0x4865u, 0x7806u, 0x6827u, 0x18c0u, 0x08e1u, 0x3882u, 0x28a3u,...
  • Page 116 USER MANUAL ® SRDO 9 signature 6C9B 65535 SRDO 10 signature 2274 65535 SRDO 11 signature 78AE 65535 SRDO 12 signature 4052 65535 SRDO 13 signature 9968 65535 SRDO 14 signature 1BF6 65535 SRDO 15 signature 3A94 65535 SRDO 16 signature 9941 65535 The configurations for each SRDO are stored in the following objects:...

  • Page 117: Sto Signature

    USER MANUAL ® STO signature The STO configuration signature is stored in object 6645 00 The data to be considered are, in order: Index Sub-Index Name Size (Bytes) 6641 STO acknowledge behavior 66F0 01 to 08 Safety Controlword 1 4 (for each sub-index) 66F1 01 to 08 Safety Controlword 2...

  • Page 118: Sls Signatures

    USER MANUAL ® 66FB 01 to 08 Safety Statusword 4 4 (for each sub-index) 66FC 01 to 08 Safety Statusword 5 4 (for each sub-index) 66FD 01 to 08 Safety Statusword 6 4 (for each sub-index) 66FE 01 to 08 Safety Statusword 7 4 (for each sub-index) 66FF...

  • Page 119: Slsa Signatures

    USER MANUAL ® 66FD 01 to 08 Safety Statusword 6 4 bytes for each sub-index 66FE 01 to 08 Safety Statusword 7 4 bytes for each sub-index 66FF 01 to 08 Safety Statusword 8 4 bytes for each sub-index 26F1 01 to 08 Safety Controlword Safe_in 4 bytes for each sub-index...

  • Page 120: Sdi Signatures

    USER MANUAL ® SDI Signatures There is a signature for each of the 2 SDI functions. Signatures are stored in object 66D6 0x , the sub-index x corresponding to the SDI configuration number. The data to be considered are, in order: Index Sub-Index Name...

  • Page 121: Periodic Checks

    USER MANUAL ® 66ACh SMS velocity maximum negative u32 4 bytes 66ADh SMS error reactions 4 bytes 66F0 01 to 08 Safety Controlword 1 4 bytes for each sub-index 66F1 01 to 08 Safety Controlword 2 4 bytes for each sub-index 66F2 01 to 08 Safety Controlword 3...

  • Page 122: Constraints Linked To The Calculation Of System Characteristics

    USER MANUAL ® Constraints linked to the calculation of system characteristics SRDO Number The number of SRDO producers is limited to 64 in an SR system. The number of SRDO consumers is not limited. The number of SRDO producers is limited due to compatibility with EN 50325-4 which specifies only 128 reserved high priority CAN Identifiers, and the limited available bandwidth.
  • Page 123 USER MANUAL ® Response time of the safety function Sensor Input Logic Output Action Optional Input Logic Output Transport Transport SR data SR data Optional Producer Consumer SR data SR data Response time of the network Figure 45 – example of the range of reaction times Example: The SFRT shown in the previous figure comprises the following elements: •...

  • Page 124: Information & Contact

    USER MANUAL ® Information & contact For more information on SWD® technology and ez-Wheel: https://github.com/ezWheelSAS https://ez-wheel.com/en ez-Wheel SAS Moulin de l’Abbaye, 135 route de Bordeaux 16400 La Couronne – France Phone: +33 (0)5 31 61 55 80 Version 2.0.3_EN - 04/04/2024 - SWD®...

  • Page 125: Appendices

    USER MANUAL ® Appendices Versions overview Release notes SWD® - Quick start Version 2.0.3_EN - 04/04/2024 - SWD® Page 125 on 133...

  • Page 126: Versions Overview

    USER MANUAL ® Versions overview Version Release date Content ‘Firmware’ September Add safety fuctions SMS, SLSa, SBC et SBU 2.0.2 2023 Improve motor control Support LSS protocol (NodeID, Baudrate) 1.2.0 March 2023 Add TPDO revealing Safety commands states (STO, SDI, SLS, …) Speed measurement from 1 RPM Electronic protection in case of towing Firmware update availbable with GUI...

  • Page 127: Release Notes

    USER MANUAL ® Release notes Release note ‘Firmware 1.0.3’ Implementation of improved motor calibration and, consequently, improved symmetry of motor behaviour. The motor control considers geometric variations in the position of the magnets on the rotor. A new calculation method provides motor speed data with less noise. This data is available in the 'od_velocity_actual_value' CANopen object.
  • Page 128 USER MANUAL ® a node to be configured without knowing its NodeID, or if several nodes connected to the CANopen bus have the same NodeID. The addition of objects that can be used to find out the status of safety function commands. The "safety_function_output_1"...
  • Page 129 USER MANUAL ® It is now possible to configure motor braking via the SBC function. 4 modes are available: • SBC NONE: freewheel • SBC 1: application of the internal brake and the external brake • SBC 2: application of the external brake only •...
  • Page 130 USER MANUAL ® SWD® - Quick start SWD® standalone without load Hardware set-up: 1. Connect the power to the SWD® (~5A max. required): 2. Connect SWD®’s STO inputs to 24V: 3. Connect you controller to the CAN bus Either on SWD® IO connector: Or on dedicated SWD®...
  • Page 131 USER MANUAL ® CANopen set-up: 4. Disable SRDO1 (RX), or send the safety message, i.e. SRDO1: Disable reception of SRDO1 on SWD®: Or send the SRDO1 to the SWD® Set SRDO1 field direction 0x1301:01 to: Send the safety message on bus can with the Value = 0x00 following parameters: CAN-ID...
  • Page 132 USER MANUAL ® Method A: Use your own controller (e.g. PLC) Start CANopen node: Send NMT start to SWD node (0x10): Or Broadcast NMT start to all nodes: CAN-ID Length Data CAN-ID Length Data 01 10 01 00 NB: SWD® CAN led should be solid green. SWD® heartbeat (CAN-ID 0x710 ) should display value 05 Enable Power Drive System FSA , by sending relevant commands.
  • Page 133 USER MANUAL ® Method B: Use an IPC with swd-services Debian package. Install the package, following the installation guide on our GitHub page : https://github.com/ezWheelSAS/swd-services/blob/main/docs/md/installation.md Start using it, following the usage guide on our GitHub page: https://github.com/ezWheelSAS/swd-services/blob/main/docs/md/usage.md You can create a symbolic link of the remote script in your home directory “~” (Optional): /opt/ezw/usr/sbin/remote.py ~ 8.b Start the remote in a new terminal: ~/remote.py smc_drive...

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