Table Of Contents - Control Techniques Nidec SI-EtherCAT User Manual

1 Safety information .......................................................................................6
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
1.10
1.11
2 Introduction ................................................................................................10
2.1
2.2
2.3
2.4
2.5
2.6
2.7
3 Mechanical installation .............................................................................13
3.1
4 Electrical installation .................................................................................14
4.1
4.2
4.3
4.4
4.5
5 Getting started ...........................................................................................17
5.1
5.2
5.3
6 Protocols ....................................................................................................29
6.1
6.2
6.3
6.4
6.5
6.6
7 Drive profile (CiA402) support ..................................................................56
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
7.10
4
Contents
Warnings, Cautions and Notes ................................................................................6
Installation and use ..................................................................................................6
Enclosure .................................................................................................................6
Competence of the installer .....................................................................................6
Repairs .....................................................................................................................7
Electric Shock and Fire Hazards ..............................................................................7
Electrical installation .................................................................................................7
Setting up, commissioning and maintenance ...........................................................8
Safety of machinery, safety-critical applications ......................................................9
Electromagnetic compatibility (EMC) .......................................................................9
Copyright ..................................................................................................................9
Products covered by this User Guide .....................................................................10
Firmware Statement ...............................................................................................10
What is EtherCAT? ................................................................................................10
About SI-EtherCAT ................................................................................................10
Features .................................................................................................................10
Option module identification ...................................................................................11
Conventions used in this guide ..............................................................................12
General installation ................................................................................................13
SI-EtherCAT module information ...........................................................................14
SI-EtherCAT terminal descriptions .........................................................................15
Module grounding and EMC ..................................................................................15
Network topology ...................................................................................................16
Minimum node-to-node cable length ......................................................................16
Quick start guide ....................................................................................................17
Quick start flowchart ...............................................................................................21
Supported objects ..................................................................................................22
Process Data Objects (PDOs) ...............................................................................29
Service Data Object (SDO) parameter access ......................................................29
CANopen over EtherCAT (CoE) ............................................................................30
Ethernet over EtherCAT(EoE) ................................................................................51
Additional position loop scaling ..............................................................................52
Cyclic data loss behaviour .....................................................................................53
0x6040 Controlword ...............................................................................................56
0x6041 Statusword ................................................................................................57
Common profile features ........................................................................................59
Interpolated position mode .....................................................................................82
vl velocity mode ......................................................................................................84
Homing mode .........................................................................................................92
Cyclic Synchronous Position Mode ........................................................................99
Cyclic Synchronous Velocity Mode ......................................................................102
Cyclic Synchronous Torque Mode .......................................................................103
Profile Position Mode ...........................................................................................106
SI-EtherCAT User Guide