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NSD ABSOCODER NCW-3DNECMP Specifications & Instruction Manual

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ZEF005730500
ABSOCODER Converter
NCW-3DNECMP
Specifications & Instruction Manual
Applicable sensor: MRE-32SP062
MRE-G[ ]SP062

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Summary of Contents for NSD ABSOCODER NCW-3DNECMP

  • Page 1 ZEF005730500 ABSOCODER Converter NCW-3DNECMP Specifications & Instruction Manual Applicable sensor: MRE-32SP062 MRE-G[ ]SP062...
  • Page 3 CONTENTS INTRODUCTION ..............................i COPYRIGHT................................ i GENERAL SAFETY RULES ..........................ii REVISION HISTORY ............................iii 1. OVERVIEW ..............................1 1-1. Features ........................................1 2. MODEL SELECTION WHEN ORDERING ....................2 3. SPECIFICATIONS ............................3 3-1. Converter Specifications ..................................3 3-2. ABSOCODER Sensor Specification ..............................5 3-3.
  • Page 4 9. EtherNet/IP COMMUNICATION SETUP ....................25 9-1. Procedure Before the Operation ............................... 25 9-2. Establishing the Communication ..............................26 9-2-1. Auto configuration in the online ..............................27 9-2-2. Manual configuration in the offline ............................. 29 9-3. Set Parameter of NCW-3DNEC ............................... 33 9-3-1.
  • Page 5 INTRODUCTION Thank you very much for purchasing our product. Before operating this product, be sure to carefully read this manual so that you may fully understand the product, safety instructions and precautions. - Please submit this manual to the operators actually involved in operation. - Please keep this manual in a handy place.
  • Page 6 - Be sure to store the converter in designed temperature and humidity 8. Disposal range, and do not exposed to direct sunlight. - Be sure to consult with NSD when the converter is stored for long CAUTION periods. - Be sure to handle the converter and ABSOCODER sensor as...
  • Page 7 REVISION HISTORY The Document No. appears at the upper right of this manual's cover page. Document No. Date Revision Description ZEF005730500 5, Dec., 2017 1st Edition Japanese document: ZEF005730002...
  • Page 8 GmbH. For the details of the tool, refer to the TwinCAT2 System Manager manual. ●Obtain ESI file (XML file). If the configuration tool is needed the definition file (ESI file), download it from NSD website. URL: www.nsdcorp.co.jp File name: ESI_Rev000000**_NSD_NCW-3D_EC_********.xml 1-1.
  • Page 9 (If a cable length is 50m or more, it can be selected by each 10m.) Reinforced SH-01 Option for MRE-32SP062SAC, MRE-32SP062SBC servo-mount fixture L type flange RB-01 Option for flange-mount and reinforced servo-mount fixture File name: ESI_Rev000000**_NSD_ ESI File Download it from NSD website. NCW-3D_EC_********.xml...
  • Page 10 3. SPECIFICATIONS 3-1. Converter Specifications (1) General specification Items Specifications Power supply voltage 24VDC±10% (including ripple) Power consumption 10W or less 20 M-Ohms or more between external DC power terminals and ground Insulation resistance (by 500 VDC insulation resistance tester) Withstand voltage 500 VAC, 60Hz for 1 minute between external DC power terminals and ground 20m/s...
  • Page 11 (3) Communication specification Items Specifications Physical layer EtherCAT 100Base-TX, Fast Ethernet, ISO/IEC 8802-3 Number of communication ports 2 (connector: RJ45) Communication speed 100Mbit/s (Full-Duplex) Cycle time Minimum 125μs (SM2/DC Synchronus) Communication Protocol EtherCAT (Conformance Test Record V1.2.6) Device profile CAN application protocol over EtherCAT (CoE) Number of SyncManagers Number of FMMUs Recommended cable...
  • Page 12 8-core, 2 pairs without shield + 2 pairs with shield Color of sheath Gray Black Advantage Extensible for long distances Superior flexibility; ideal for moving place [Remark] Contact your NSD representative when the extension cable combines the standard cable (4P-S) and the robotic cable (4P-RBT).
  • Page 13 4. DIMENSIONS 4-1. Converter Dimension Units: mm Mounting hole DIN rail...
  • Page 14 4-2. ABSOCODER Sensor Dimensions Units: mm...
  • Page 15 Units: mm...
  • Page 16 4-3. Extension Sensor Cable Dimension ● 4P-S-0102-[L], 4P-RBT-0102-[L] Units: mm NOTE: [L] is given in terms of meter...
  • Page 17 5. CHECKING THE CONTENTS OF THE SHIPPING CASE Open the packing case, and verify that all items are present. When extension sensor cables are ordered, they are packed separately. (1) Converter ····································································· 1 unit (2) Manual ········································································ 1 piece...
  • Page 18 6. INSTALLATION 6-1. Converter Installation Conditions and Precautions When installing the converter, the following conditions and precautions should be observed. -Installation Site (1) Avoid sites where the unit is exposed to direct sunlight. (2) The ambient temperature should never exceed a 0 to 55°C range. (3) The ambient humidity should never exceed a 20 to 90% RH range.
  • Page 19 6-2. ABSOCODER Sensor Installation Conditions and Precautions The ABSOCODER sensor installation procedures and precautions are described in this section. ● Handling of Turn-type ABSOCODER Sensor Item Explanation (1) Main unit (2) Cable ● Mounting of Turn-type ABSOCODER Sensor Item Explanation Precaution (1) Mounting For details regarding mounting dimensions, refer to each...
  • Page 20 ● Mounting of Turn-type ABSOCODER Sensor Item Explanation Precaution (1) Coupling of machine A “direct-link” format will shaft and sensor result in shaft fatigue shaft and / or breakage after long periods. Therefore, be sure to use a coupling device to link the shafts.
  • Page 21 ● Coupling of Turn-type ABSOCODER Sensor Item Explanation Precaution (1) Coupling device The selection of a larger selection precaution coupling than necessary will increase the shaft load which is caused by the mounting error amount. Excessive force applied to the shaft can deform the coupling and reduce durability.
  • Page 22 7. WIRING 7-1. Connection between Converter and ABSOCODER Sensor The maximum extension sensor cable length varies according to the ABSOCODER sensor and cable model being used. For more details refer to “3-2. ABSOCODER Sensor Specifications". -Wiring Precautions (1) The sensor cable should be clamped as shown in the right figure to prevent excessive tension from Cable clamp being applied to the cable connectors.
  • Page 23 7-2. Power Supply Connection The power supply should be connected as described below: ●Power Supply - Choose the power supply capacity which is more than twice the power consumption of the converter. The power consumption of the converter is 10W or less. Over Power +24VDC...
  • Page 24 8. NOMENCLATURE 8-1. Part Identification Monitor LEDs Selection switch of the Monitor LED display contents Power terminal block (M4 screw) EtherCAT connector (IN side) (RJ45) EtherCAT connector (OUT side) (RJ45) Axis-1 sensor connector Axis-2 sensor connector ID setting switch...
  • Page 25 8-2. Function and Name of Indicator and Setting Area Contents on the monitor LEDs are described in this section. NCW-3DNEC L/A IN L/A OUT Data Converter Communication indicator status status indicator indicator Indicator LED color Description Green Indicates the EtherCAT communication status of NCW-3DNEC. Communication Indicates the error status for EtherCAT.
  • Page 26 8-2-1. Contents of the communication status indicator area Indicator Color Light status Description INIT state Flickering PRE-OPERATIONAL state Green Single flash SAFE-OPERATIONAL state OPERATIONAL state No error Flickering Memory error Blinking Device information error *1 Single flash Synchronization error *2 Double flash Watchdog timer error for SyncManager *3 Triple flash...
  • Page 27 8-2-2. Contents of the data indicator area The data indicator content is changed by the display selection switch (DISP SEL). DISP SEL Display content Data Display Axis-1 position data D0-D23 Axis-2 position data D0-D23 Axis-1 preset data D0-D23 Axis-2 preset data D0-D23 Reserved Reserved Sensor type...
  • Page 28 *4: Parameter data Code Error Axis Axis-1 Reserved Sequence Clear Unavailable parameter data Code Error Axis Axis-2 Reserved Sequence Clear Unavailable parameter data Unused *5: Ethernet network transmission setting Full Reserved Port 0 Duplex Mbps Mbps Full Reserved Port 1 Duplex Mbps Mbps...
  • Page 29 *7: EtherCAT AL Status AL Status(L) AL Status(L) AL Status(H) AL Status(H) Reserved Reserved Bit position Bit name Description Error indicator 0: Device is in State as requested or Flag cleared by command 1: Device has not entered requested State or changed State as result of a local action Actual state of the device state machine 1: Init state...
  • Page 30 *9: EtherCAT Physical Station Address (Allocated physical node addresses to NCW-3DNEC) Physical Adr(L) Physical Adr(L) Physical Adr(H) Physical Adr(H) Reserved Reserved *10: NCW-3DNEC control information The 8-bit information from index 01 to 08 of I/O communication output data "Axis-1 Control" and "Axis-2 Control". Axis-1 Control PRESET ERRCLR...
  • Page 31 8-2-3. EtherCAT connector (IN/OUT) EtherCAT communication cables are connected to these connectors. Connect the cable of the master side to IN connector and the cable of the slave side to OUT connector. EtherCAT connector (IN side) (RJ45) EtherCAT connector (OUT side) (RJ45) 8-2-4.
  • Page 32 -------- Refer to section 9-2. Preparation Download the ESI (EtherCAT Slave Information)file (XML file) from NSD web site. URL: www.nsdcorp.co.jp -------- Refer to section 8-2-4. ID setting ID is set to the node number in order to identify the slave by the EtherCAT master.
  • Page 33 BeckhoffAutomation GmbH. For the details of the tool, refer to the TwinCAT2 System Manager manual. 1. Obtain ESI file (XML file). ESI file (XML file) is required which is supplied by NSD corporation. Download ESI file from NSD web site.
  • Page 34 9-2-1. Auto configuration in the online Indicates procedures that NCW-3DNEC is registered to EtherCAT network by using the auto configuration Connect NCW-3DNEC and EtherCAT master by a LAN cable. 1. Start TwinCAT2 System Manager Right-click an icon on the task bar. From the “System”...
  • Page 35 Click “Yes” to “Scan for boxes”. Click “Yes” to “Activate Free Run” mode. Confirm that “NCW-3D_EC” has been added on “I/O Devices”. 3. Save setting contents. Click "Save As", and save setting contents (project). Creating a setting file for the network registration is completed.
  • Page 36 9-2-2. Manual configuration in the offline Indicate procedures that NCW-3DNEC is registered to EtherCAT network by using the manual configuration. This procedure uses the EtherCAT master only, and the setting file (project) for registering network is created in advance. Connect NCW-3DNEC and EtherCAT master by a LAN cable. 1.
  • Page 37 Right-click “Device 1 (EtherCAT)”, and select “Append Box...”. Select “NCW-3D_EC”, and clock “OK”. Confirm that “NCW-3D_EC” has been added on “I/O Devices”. 3. Save setting contents. Click "Save As", and save setting contents (project). Creating a setting file for the network registration is completed.
  • Page 38 4. Registering to the network Connect NCW-3DNEC to EtherCAT by a LAN cable, and turn ON the EtherCAT system. For registering the network, open the setting contents which were saved in "9-2-1. 3 or 9-2-2. 3", and then do following procedures. Click "Activate configuration"...
  • Page 39 Click "Set/Reset TwinCAT to Config Mode" icon indicated by a red arrow. Click “OK” to “Restart TwinCAT System in Config Mode”. Click “OK” to “Load I/O Device”. Click “Yes” to “Activate Free Run”. "Free Run" is displayed in the bottom right corner part of TwinCAT2 System Manager screen.
  • Page 40 9-3. Set Parameter of NCW-3DNEC After registering NCW-3DNEC to the network, set the parameters. 9-3-1. Parameter list The parameter list of NCW-3DNEC is indicated below. Set the parameter for two axes. Access sign RW: Read/Write Data Index(h) Parameter name Access Description Type 2001:0...
  • Page 41 9-3-2. Parameters setting procedure Indicates the setting procedures (1) Select "Box1 (NCW-3D_EC)". (2) Select "CoE-Online" tab. (3) "Object Dictionary" is displayed. (4) Set the parameter. “Index 2001:0 (Axis-1 Parameter)” is a parameter for axis-1. “Index 2002:0 (Axis-2 Parameter)” is a parameter for axis-2. Above parameters can designate following items.
  • Page 42 Setting contents (7) Double-click “Code Sequence (Position Data Increase Direction”, and then "Set Value Dialog" is displayed. Select the setting contents, and click "OK". (8) The parameter settings are completed.
  • Page 43 9-4. Preset (Current Position setting) The converter's position data is changed into machine's current position by using the Preset function. (Current position setting) “Preset” is a function that can change the position data into a desired value (Preset value) which was designated in advance.
  • Page 44 Preset value (3) "Set Value Dialog" is displayed when clicking "Write..." button in the previous screen. Input a desired value (Preset value) in the decimal or hexadecimal notation, and click "OK". (4) Click "PRESET ", and select "Online" tab. Box 1 (NCW-3D_EC) PRESET (5) "Set Value Dialog"...
  • Page 45 (7) Check that the position data is preset. Position data of axis-1: Click "TXPDO (Input) Axis-1 Status". Position data of axis-2: Click "TXPDO (Input) Axis-2 Status". "Position" value in the TXPDO Axis-1 or 2 Status is changed into the Preset value. ‘Box 1 (NCW-3DNECMP)’...
  • Page 46 9-5. Operation Mode Selection NCW-3DNEC supports following three operation modes. "SM-Synchronous (SM2)" is used normally. In "SM-Synchronous (SM2)" mode, the Ethernet frame is sent from the EtherCAT master periodically, but a jitter is included in the sending cycle. Also, the delay times for receiving frames are different depending on the cable length to each slave.
  • Page 47 9-6. System Configuration NCW-3DNEC is ready to be controlled through EtherCAT communication. Hereafter, do the control system configuration and setup of the PLC or NC. For details of the operation, refer to each control system manual.
  • Page 48 9-7. Process Data (I/O Communication Data) NCW-3DNEC maps the following data to the process data in order to send/receive data by the high speed system communication cycle between NCW-3DNEC and the EtherCAT master. - Position data -Status information -Control information The process data is allocated as indicated below chart in the object dictionary.
  • Page 49 ● Mapping overview Index(h) Name / Description 4001→1601 RxPDO-Map Axis-1 Control Indicates PDO-Map Axis-1 Control SubIndex(h) Name Description Clear the error. ERRCLR 0: Not clear an error 1: Clear an error Preset the position data to a desired value. 0: Unexecuted PRESET 1: Execute PRESET - Set the PRESET Value (1601:0A) to a desired value before changing to "1".
  • Page 50 ●Control timing (1) Preset procedure Indicates PRESET procedure of the current position value which is using the I/O communication data (process data) Preset Value Preset Value 100ms or more Cycle time or more Cycle time or more PRESET (Axis-n control bit-7) Cycle time or more Position Data PRESET Position data...
  • Page 51 9-7-2. INPUT process data mapping (1/2) Process data mapping information Mapped object to TxPDO Value Index(h) Name Mapping Index(h) Name Index: SubIndex, Bit length 1A00:0 TxPDO-Map Diagnosis 3000:0 Diagnosis ← 1A00:01 SubIndex 001 (1st TxPDO) 3000:01,1 3000:01 NRDY ← 1A00:02 SubIndex 002 (2nd TxPDO) 3000:02,1 3000:02...
  • Page 52 (2/2) Process data mapping information Mapped object to TxPDO Value Index(h) Name Mapping Index(h) Name Index: SubIndex, Bit length 1A02:0 TxPDO-Map Axis-2 Status 3002:0 Axis-2 Status ← 1A02:01 SubIndex 001 (1st TxPDO) 3002:01,32 3002:01 Position ← 1A02:02 SubIndex 002 (2nd TxPDO) 3002:02,32 3002:02 Reserved...
  • Page 53 ● Mapping overview Index(h) Name / Description TxPDO-Map Diagnosis Indicates PDO mapping of the Device Diagnosis Status. SubIndex(h) Name Description NCW-3DNEC status 0: Normal NRDY 1: Error The NRDY status will become "1"if one of errors ("WDTE", "ME", or "I/F EER") occurs.
  • Page 54 10. INSPECTION The inspection should be conducted once every 6 months to a year. Any inspected items which do not satisfy the criteria shown below should be repaired Inspection Inspection Description Criteria Remark item Measure the voltage fluctuation at the power Power supply supply terminal block of the converter to Within 21.6V to 26.4VDC range...
  • Page 55 11. TROUBLE SHOOTING Explains each error which is detected by NCW-3DNEC. 11-1. SDO Abort Message Following Abort codes are returned when SDO data communication (Mailbox communication) of EtherCAT fails. (1/1) Abort Code(h) Description 05 03 00 00 Toggle bit not changed 05 04 00 00 SDO protocol timeout 05 04 00 01...
  • Page 56 ●Checking method for the SDO Abort message (1) SDO Abort message can be checked on the message window. NCW-3DNECMP...
  • Page 57 11-2. AL Status Code NCW-3DNEC will store error codes to ESC register "0134h (AL_STATUS_CODE)" if EtherCAT communication error occurs. State sign I: Init, P: Pre-Operational, B: Bootstrap, S: Safe-Operational, O: Operational, E: Error (1/1) Current state Code(h) Description Resulting state (or change State) 0000 No error...
  • Page 58 ●Checking procedure of the AL Status Code (1) Error codes can be checked on the Advance Settings window. ●Error clear method Following value is stored in the ESC register of NCW-3DNEC if an error occurs. Bit4 (Error Ind) of AL Status (Reg: 130h) ········· "1" AL Status Code (Reg: 134h) ························...
  • Page 59 11-3. Error Register Each error occurrence status of NCW-3DNEC is reflected to CoE object "1001h (Error Register)". Error name Description Generic error Not supported Current error Not supported Voltage error Not supported Temperature error Not supported The error which is defined in the AL Status Code. Communication error For more details, refer to section 11-2.
  • Page 60 11-4. Emergency Message An emergency message is sent to the EtherCAT master if NCW-3DNEC original error (errors except AL Status Code) occurs. A sent message can be checked on message window in the configuration tool screen. This function sends an emergency message to the EtherCAT master, and writes the diagnosis history by using CoE object "10F3h (Diagnosis handling)".
  • Page 61 ●Checking method of the emergency message (1) The emergency message can be checked on the message window. NCW-3DNECMP...
  • Page 62 11-5. Diagnosis History (Diagnosis Message) NCW-3DNEC can store maximum 16 diagnosis information such as the state transmission status and error occurrence as a history. The diagnosis information is sent to the EtherCAT master. The transmitted diagnosis information can be checked on the message window in the configuration tool screen.
  • Page 63 POINT The diagnosis message is set to collect all categorized messages after turning ON the power. Change the history operation mode if you need. Managed object (h) Description 0: Permission for collecting Info messages 10F3:05 Flags Bit1: Disable info messages 1: Prohibition for collecting Info messages 0: Permission for collecting Warning messages 10F3:05 Flags Bit2: Disable warning messages...
  • Page 64 11-6. Status LEDs Can Check the Error Contents NCW-3DNEC status LEDs’ lights indicate error contents. Abbreviation Light status Timing Flickering 50ms Blinking 0.2s 0.2s Single flash 0.2s Double flash 0.2s 0.2s 0.2s Triple flash 0.2s 0.2s 0.2s 0.2s 0.2s Results of other error occurrences are stored at following places. ①...
  • Page 65 (1) NCW-3DNEC error (EtherCAT communication control parts) Name Cause Countermeasure EtherCAT Link established － (During the communication) EtherCAT Link established － - Check wirings of NCW-3DNEC’s power supply terminal block. The power doesn’t supply to - Check that the power voltage is within Power Supply Error NCW-3DNEC.
  • Page 66 (2) NCW-3DNEC error (ABSOCODER conversion parts) Name Cause Countermeasure During the normal operation － － - Check wirings of NCW-3DNEC’s power supply terminal block. The power doesn’t supply to - Check that the power voltage is within Power Supply Error NCW-3DNEC.
  • Page 67 (3) EtherCAT network error Name Cause Countermeasure The operation is waiting state after EtherCAT Link established － Link is established. - Check whether the LAN cable is wired correctly. - Check whether the LAN cable is severed and connector is disconnected.
  • Page 68 12. MAINTENANCE INFORMATION NCW-3DNEC can store maintenance information to the CoE object (Index 5F00h~). The maintenance information should be store if it is required. Stored information can be checked when doing periodic maintenance NCW-3DNEC or having an error. For more details, refer to "APPENDIX 3-4. Details of the Object Dictionary". Data Index(h) Name...
  • Page 69 -MEMO-...
  • Page 70 13. ABSOCODER Sensor Check List ●Applicable ABSOCODER sensor models MRE-32SP062 MRE-G[ ]SP062 [ ]: 64, 128, 160, 256, 320 ●Connection configuration ●Connector appearance and pin position NCW-3DNEC ABSOCODER sensor View A Extension sensor cable MRE-32SP062 MRE-G[ ]SP062 Checks at Point B should be carried out with Point A connected. ●...
  • Page 71 *1: If checks are done at Point B, the measurement value is [Standard coil resistance + extension sensor cable resistance (cable length (m) x 0.2 (Ω))]. The resistance value of the NSD special cable is 0.2Ω/m (loop resistance). Consider resistance variations due to temperature, which, relative to the standard temperature (25 increases 0.4% when the temperature rises 1...
  • Page 72 APPENDIX 1. DETAILS OF THE ID SETTING SWITCH The ID setting switch sets ID which specifies the slave by the EtherCAT master. The ID can be chosen a proper value by the user. The setting must be designated a 3-digit hexadecimal number between 000H and FFFH (decimal: between 0 and 4095).
  • Page 73 ●CoE object 10E0h (Device Identification Reload) CoE object "10E0h (Device Identification Reload)" is a function that readsout the ID which was designated at the panel side of NCW-3DNEC by EtherCAT master. In (1) and (2) on the previous page, the SII value and value of the ID setting switch are stored in ESC register 0012h (Configuration Station Alias) when turning on the power supply.
  • Page 74 ●Reading method of Explicit Device ID Reading method procedures of Explicit Device ID are as follows; ① Set “1” to Bit5(ID Request) of AL Control (0120h). ② ID which is designated by the ID setting switch on the panel is returned to AL Status Code (0134h). ③...
  • Page 75 APPENDIX 2. DETAILS OF THE OPERATION MODE APPENDIX 2-1. SM-Synchronous (SM2) SM-Synchronous (SM2) is a synchronous mode with SM2 event. This mode does the OUTPUT/INPUT data processing with synchronizing the SM2 event. For more detail, refer to the figure (Synchronous with SyncManager 2) below.
  • Page 76 ●CoE Object 1C32h & 1C33h (SM2 synchronization parameter) Access sign RW: Read/Write RO: Read Only SubIdx(h) Name SM2(1C32h) SM3(1C33h) Access Synchronization Type 0001h (SM2 Event) 0022h (SM2 Event) Cycle Time SM2 Event cycle time ← Synchronization Types Supported 401Fh ← Minimum Cycle Time 0001E848h (125μs) ←...
  • Page 77 APPENDIX 2-2. DC-Synchronous (SM2/Sync0) DC-Synchronous (SM2/Sync0) is a synchronous mode with SYNC0 event. This mode does the OUTPUT/INPUT data processing with synchronizing the SYNC0 event. For more detail, refer to the figure (Synchronous with SM2/Sync0) below. For NCW-3DNEC, following data is categorized in OUTPUT or INPUT. - OUTPUT data: PRESET, error clear - INPUT data: Position data, status input SM2 event occurs when NCW-3DNEC receives the communication frame sent from the EtherCAT master.
  • Page 78 ●Time setting from the SM2 event occurrence to SYNC0 event occurrence This time can be adjusted by the setting from the EtherCAT master side of TwinCAT2 System Manager. Set the occurrence cycle of SYNC0 event (1C32:02 (Cycle Time)) as 100 percent. Setting value ●CoE Object 1C32h &...
  • Page 79 ●Details Index(h) Description Cycle Time 1C32:02 Indicates SYNC0 event cycle. Reflects contents of DC CycTime0 (09A3h ~ 09A0h) of ESC register. Synchronization Types Supported Indicates the supported synchronization type. 1C32:04 NCW-3DNEC supports synchronization types as follows. - Synchronous mode with SM event (FreeRUN) - Synchronous mode with SYNC0/SYNC1 event The setting value is fixed at “401Fh”.
  • Page 80 APPENDIX 2-3. DC-Synchronous (SM2/Sync0/Sync1) DC-Synchronous (SM2/Sync0/Sync1) is a synchronous mode with SYNC0 / SYNC1 event. This mode does the OUTPUT data processing with synchronizing the SYNC0 event and INPUT data processing with synchronizing the SYNC1 event. For more detail, refer to the figure (Synchronous with SM2/Sync0/Sync1) below. For NCW-3DNEC, following data is categorized in OUTPUT or INPUT.
  • Page 81 ●Time setting from the SM2 event occurrence to SYNC0 event occurrence This time can be adjusted by the setting from the EtherCAT master side of TwinCAT2 System Manager. Set the occurrence cycle time of SYNC0 event (1C32:02 (Cycle Time)) as 100 percent. Setting value ●SYNC1 Shift Time An occurrence timing of the SYNC1 event is adjusted.
  • Page 82 ●CoE Object 1C32h & 1C33h (SM2/Sync0/Sync1 synchronization parameter) ESC Sync activation register (981h): Bit0, Bit1 and Bit2 = 1 Access sign RW: Read/Write RO: Read Only SubIdx Name SM2(1C32h) SM3(1C33h) Access Synchronization Type 0002h (Sync0 Event) 0003h (Sync1 Event) Sync0 Event cycle time Sync1 Event cycle time Cycle Time (Register 09A3h ~ 09A0h)
  • Page 83 APPENDIX 3. OBJECT DICTIONARY NCW-3DNEC supports the following functions by using SDO (service data object) communication. - Parameter setting - PRESET - Error clear - Status information monitor It accesses them through the CoE object dictionary. APPENDIX 3-1. Object Dictionary Area The data used in EtherCAT is called "Object".
  • Page 84 APPENDIX 3-3. Object Dictionary List The list of the Object Dictionary for NCW-3DNEC is indicated below. Access sign RW: Read/Write RO: Read Only Index(h) Name Data Type Access Default 1000 Device Type UINT32 00000000h(0) 1001 Error Register UINT8 00h(0) 1008 Device Name String "NCW-3DNECMP"...
  • Page 85 Access sign RW: Read/Write RO: Read Only Index(h) Name Data Type Access Default 1602:0 RxPDO-Map Axis-2 Control UINT8 1602:01 SubIndex 001 PDO Map 4002h:01h,1 1602:02 SubIndex 002 PDO Map 4002h:02h,1 1602:03 SubIndex 003 PDO Map 4002h:03h,1 1602:04 SubIndex 004 PDO Map 4002h:04h,1 1602:05 SubIndex 005...
  • Page 86 Access sign RW: Read/Write RO: Read Only Index(h) Name Data Type Access Default 1A01:12 SubIndex 018 PDO Map 3001h:12h,1 1A01:13 SubIndex 019 PDO Map 3001h:13h,1 1A01:14 SubIndex 020 PDO Map 3001h:14h,8 1A02:0 TxPDO-Map Axis-2 Status UINT8 1A02:01 SubIndex 001 PDO Map 3002h:01h,32 1A02:02 SubIndex 002...
  • Page 87 Access sign RW: Read/Write RO: Read Only Index(h) Name Data Type Access Default 1C32:09 Delay Time UINT32 ********h(*) 1C32:0A Sync0 Cycle Time UINT32 00000000h(0) 1C32:0B SM-Event Missed UINT16 0000h(0) 1C32:0C Cycle Time Too Small UINT16 0000h(0) 1C32:0D Reserved 1C32:0E Reserved 1C32:0F Reserved 1C32:20...
  • Page 88 Access sign RW: Read/Write RO: Read Only Index(h) Name Data Type Access Default 3000:0 Diagnosis UINT8 3000:01 NRDY BOOL FALSE 3000:02 WDTE BOOL FALSE 3000:03 BOOL FALSE 3000:04 Reserved BOOL 3000:05 Reserved BOOL 3000:06 Reserved BOOL 3000:07 Reserved BOOL 3000:08 Reserved BOOL 3000:09...
  • Page 89 Access sign RW: Read/Write RO: Read Only Index(h) Name Data Type Access Default 3002:07 Reserved BOOL 3002:08 BOOL FALSE 3002:09 BOOL FALSE 3002:0A BOOL FALSE 3002:0B Reserved UINT8 3002:0C Reserved BOOL 3002:0D Reserved BOOL 3002:0E Reserved BOOL 3002:0F Reserved BOOL 3002:10 Reserved BOOL...
  • Page 90 Access sign RW: Read/Write RO: Read Only Index(h) Name Data Type Access Default 5F03:0 Installation Date UINT8 5F03:01 code UINT32 00000000h(0) 5F03:02 description STRING "" 5F04:0 Descriptor1 UINT8 5F04:01 code UINT32 00000000h(0) 5F04:02 description STRING "" 5F05:0 Descriptor2 UINT8 5F05:01 code UINT32 00000000h(0)
  • Page 91 APPENDIX 3-4. Details of the Object Dictionary Details of the object dictionary for NCW-3DNEC are indicated below. Index(h) Name/Description 1000 Device Type Indicates the device type. NCW-3DNEC is 00000000h (0). 1001 Error Register An error status which occurs at NCW-3DNEC is indicated. Description Generic error Not supported...
  • Page 92 Index(h) Name/Description 10F1 Error Settings Sets the error condition. SubIndex(h) Name Description The upper limit value of the sync error counter is designated. Sync Error For the count specification, refer to synchronization object 1C32 Counter Limit and 1C33. 10F3 Diagnosis History Sets the diagnosis handling.
  • Page 93 Index(h) Name/Description 1600 Reserved 1601 RxPDO-Map Axis-1 Control Indicates the entry of the RxPDO Mapping Object (Axis-1 Control). SubIndex(h) Name Description Indicates 1st RxPDO Mapping Object. SubIndex 001 “4001h: 01, 1” is fixed (Reserved). Indicates 2nd RxPDO Mapping Object. SubIndex 002 “4001h: 02, 1”...
  • Page 94 Index(h) Name/Description 1A00 TxPDO-Map Diagnosis Indicates the entry of the TxPDO Mapping Object (Diagnosis). SubIndex(h) Name Description Indicates 1st TxPDO Mapping Object. SubIndex 001 “3000h: 01h, 1” is fixed (NRDY). Indicates 2nd TxPDO Mapping Object. SubIndex 002 “3000h: 02h, 1” is fixed (WDTE). Indicates 3rd TxPDO Mapping Object.
  • Page 95 Index(h) Name/Description 1A01 TxPDO-Map Axis-1 Status Indicates the entry of the TxPDO Mapping Object (Axis-1 Status). SubIndex(h) Name Description Indicates 1st TxPDO Mapping Object. SubIndex 001 “3001h: 01h, 32” is fixed (Position). Indicates 2nd TxPDO Mapping Object. SubIndex 002 “3001h: 02h, 32” is fixed (Reserved). Indicates 3rd TxPDO Mapping Object.
  • Page 96 Index(h) Name/Description 1A02 TxPDO-Map Axis-2 Status Indicates the entry of the TxPDO Mapping Object (Axis-2 Status). SubIndex(h) Name Description Indicates 1st TxPDO Mapping Object. SubIndex 001 “3002h: 01h, 32” is fixed (Position). Indicates 2nd TxPDO Mapping Object. SubIndex 002 “3002h: 02h, 32” is fixed (Reserved). Indicates 3rd TxPDO Mapping Object.
  • Page 97 Index(h) Name/Description 1C00 SyncManager Type Indicates the entry of the SyncManager communication type. SubIndex(h) Name Description Indicates the Sync Manager 0 communication type. SubIndex 001 Fixed at “01h” (Mailbox receive [Master→Slave] type) Indicates the Sync Manager 1 communication type. SubIndex 002 Fixed at “02h”...
  • Page 98 Index(h) Name/Description 2000 Reserved 2001 Axis-1 Parameter Indicates the setting item of the Axis-1 Parameter. SubIndex(h) Name Description Specify “Available” or “Unavailable” for the axis-1. Axis Unavailable 0: Available (Default) 1: Unavailable Specify “Error recovery behavior” for the axis-1. 0: Auto clearing (Default) Error Clear Automatically clears the error when removing the cause of the error.
  • Page 99 Index(h) Name/Description 3000 Diagnosis Indicates the Diagnosis status information. SubIndex(h) Name Description NCW-3DNEC status 0: Normal NRDY 1: Error The NRDY status will become "1"if one of errors ("WDTE", "ME", or "I/F EER") occurs. Watchdog timer error status 0: Normal WDTE 1: Error Non-volatile memory status for storing parameters...
  • Page 100 Index(h) Name/Description 3001 Axis-1 Status Indicates axis-1 status information. SubIndex(h) Name Description Position Position data. Sensor status 0: Normal 1: Error Sensor connection status 0: Connected 1: Disconnected Internal power supply for sensor status. 0: Normal 1: Error Sensor data status 0: Normal 1: Error ERRCLR (Error clear) Answerback...
  • Page 101 Index(h) Name/Description 4000 Reserved 4001 Axis-1 Control Indicates the axis-1 control information (input item). SubIndex(h) Name Description Indicates the error clear command condition. ERRCLR 0: － 1: Clearing an error Indicates the PRESET command condition of the position data. PRESET 0: －...
  • Page 102 Index(h) Name/Description 5F00 Maintenance information: Power Distribution Time NCW-3DNEC cumulative energization time can be check. Unit: second 5F01 Maintenance information: Function Stores the function information. SubIndex(h) Name Description code Stores a function code. Stores a function comment. description Max.character No.: 58 5F02 Maintenance information: Location Stores the installation location information.
  • Page 104 Manufacturer NSD Corporation 3-31-28, OSU, NAKA-KU, NAGOYA, JAPAN 460-8302 Distributor NSD Trading Corporation 3-31-23, OSU, NAKA-KU, NAGOYA, JAPAN 460-8302 Phone: +81-52-261-2352 Facsimile: +81-52-252-0522 URL: www.nsdcorp.com E-mail: foreign@nsdcorp.com Copyright©2020 NSD Corporation All rights reserved.