Getting Started; Quick Start Guide - Control Techniques Nidec SI-EtherCAT User Manual

5

Getting started

5.1

Quick start guide

This section is intended to provide a generic guide for setting up SI-EtherCAT with a master/
controller PLC. It will cover the basic steps required to get cyclic data communicating using the
CANopen over EtherCAT (CoE) protocol on the SI-EtherCAT module.
Table 5-1 PDO test mappings
0x6040 (controlword)
Mapping 1
(16-bits)
0x6042 (vl_target_velocity)
Mapping 2
(16-bits)
Mapping 3 Pr 20.021 (32-bits)
It is strongly recommended that the latest firmware be used where possible to ensure
NOTE
that all features are supported.
Due to the large number of different masters that support CoE, details cannot be provided for a
specific master. Generic support is available through your supplier or local Control Techniques
Drive Centre. Before contacting your supplier or local Control Techniques Drive Centre for support
please ensure you have read section 10 Diagnostics on page 153 of this manual and have checked
that the SDO/PDO configurations are correct.
5.1.1 SI-EtherCAT ESI file
Control Techniques provides EtherCAT device description files (in the form of .xml files). These files
provide the master with information about the SI-EtherCAT module and drive configuration to aid
with its configuration. These files can be downloaded from the Control Techniques website or from
your local Control Techniques Drive Centre or supplier. They should be placed in the directory
specified by the master e.g. when using TwinCAT this could be
C:\TwinCAT\3.1\Config\Io\EtherCAT.
The master may have to be re-started for the file to be loaded.
NOTE
5.1.2 Configuring the SI-EtherCAT module for cyclic communications
Unlike other Control Techniques fieldbus communication protocols, CoE does not require that any
module parameters be changed in order to achieve communications. The baud rate of the network
is fixed and the module is automatically allocated an address.
To check that the ethernet cable connected to the SI-EtherCAT module on the drive is connected
correctly, look at the LED on the front of the SI-EtherCAT module relating to the connector being
used, if this light is a solid green color then a link is established with the master, if this light if off then
check the cabling and also check that the master has started communications.
In the master, scan the network ensuring that the SI-EtherCAT module is connected correctly to the
master. If the network is configured correctly the SI-EtherCAT node(s) should be visible in the PLC
master.
Decide on the input / output data you wish to send cyclically (objects and/or parameters).
Cyclic data is implemented on CoE networks by using "Process Data Objects" or PDOs. Separate
data objects are used for receiving (TxPDOs - from the slave to the master) and transmitting
(RxPDOs - from the master to the slave) data.
SI-EtherCAT User Guide
RxPDO1 TxPDO1
0x6041 (statusword)
(16-bits)
0x6064 (position_actual_value)
(32-bits)
N/A
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