EtherCATinterfaceforSINAMICSS120S120变频器EtherCAT通信说明

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ROBOX S.P.A.

Castelletto S. Ticino – Italy Robox Sinamics S120 EtherCAT interface

EtherCAT interface for SINAMICS S120

AS3031.005 - 6SL3055-0AA00-2RB1

Manual No. 18004 rel. 03 – 0421

EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation

GmbH, Germany.

MAN18004_03_E_0421 – page 1 / 326

mod. MAN_01 rev B 13/07/00

  ROBOX S.P.A.
  Castelletto S. Ticino – Italy                                            Robox Sinamics S120 EtherCAT interface 
TABLE OF CONTENTS
EtherCAT interface for SINAMICS S120 AS3031.005 - 6SL3055-0AA00-2RB1...................1
1.  General specification.............................................................................................................12
AS3031.005 Interface Overview....................................................................................................................12
2.  Reference documents.............................................................................................................13
3.  Preface.....................................................................................................................................14
Target Group.....................................................................................................................................14
Benefits............................................................................................................................................14
4.  Legal information...................................................................................................................15
Warning notice system......................................................................................................................15
Qualified Personnel..........................................................................................................................16
Proper use of Robox products...........................................................................................................16
Trademarks.......................................................................................................................................17
Disclaimer of Liability......................................................................................................................17
5.  Basic safety information........................................................................................................18
ESD Notes........................................................................................................................................18
Safety warnings................................................................................................................................19
Recycling and disposal.....................................................................................................................19
6.  SINAMICS configuration for operation with the EtherCAT interface............................20
Installation........................................................................................................................................20
General Sinamics CU settings..........................................................................................................22
EtherCAT Interface Recognition....................................................................................................................22
EtherCAT Interface offline configuration with STARTER............................................................................23
DRIVE-CLiQ network configuration.............................................................................................................24
Servo and Vector axes configuration limits....................................................................................................25
System configuration checking......................................................................................................................26
Interface assignment.......................................................................................................................................30
Configuration of Digital Output integrated into Sinamics CU320-2.............................................................30
Single Drive setting..........................................................................................................................31
Drive configuration – Control type................................................................................................................31
Drive configuration – Function modules.......................................................................................................32
Modes of operation capability........................................................................................................................32
Drive configuration – without Function modules selected– None.................................................................33
Drive configuration – Transducer resolution – Rotary Transducer................................................................35
Drive configuration – Transducer resolution – Linear Transducer................................................................36
Drive configuration – with Function modules - Extended setpoint channel..................................................37
Drive configuration – with Function modules – Position Control.................................................................39
Drive configuration – with Function modules - Basic positioner COE Modes of operations “CSP” (8)......43
 Drive configuration – with Function modules - Basic positioner.................................................................45
COE Modes of operations “Siemens Basic Positioner” (-3)..........................................................................45
Drive configuration with Torque Control COE Modes of operations “CST” (10)........................................48
Drive configuration – Process data exchange configuration..........................................................................48
PROFIdrive message frame type....................................................................................................................48
EtherCAT interface configuration.....................................................................................................49
System behaviour when downloading project..................................................................................50
Siemens commissioning tool connected through X127 or IF2......................................................................50
Siemens commissioning tool connected through EOE..................................................................................51
7.  Diagnostics..............................................................................................................................52
AS3031.005 LEDS...........................................................................................................................52
MAN18004_03_E_0421 – page 2 / 326
mod. MAN_01 rev B 13/07/00

  ROBOX S.P.A.
  Castelletto S. Ticino – Italy                                            Robox Sinamics S120 EtherCAT interface 
Boot-up Phases after Power up......................................................................................................................52
Interface Bootstrap and SINAMICS connection’s configurations EtherCAT communication not Enabled..53
EtherCAT Firmware Started EtherCAT communication enabled..................................................................54
Data exchange "EtherCAT interface" <--> "SINAMICS Axis" diagnostics......................................56
EtherCAT communication diagnostics..............................................................................................58
8.  EtherCAT Connection...........................................................................................................59
Cable...............................................................................................................................................................60
Connectors “X1”, “X2” and “ETH” ports......................................................................................................60
9.  EtherCAT Communication...................................................................................................61
EtherCAT communication types.......................................................................................................62
Process data communication function (PDO communication)......................................................................62
Mailbox communication function (SDO communication).............................................................................62
Communications Status and Transitions...........................................................................................63
Status..............................................................................................................................................................63
Transition........................................................................................................................................................64
ESM : Control – Status Registers...................................................................................................................65
AL Control......................................................................................................................................................65
AL Status........................................................................................................................................................65
AL status Code...............................................................................................................................................65
ESM : Control – Status Registers Value.........................................................................................................65
AL Control register.........................................................................................................................................65
AL Status register...........................................................................................................................................65
AL Control register.........................................................................................................................................65
AL Status register...........................................................................................................................................65
ESM : Status Code AL Status Code register value.........................................................................................65
Extended information for Error Status code – Unspecified error (0x0001)...................................................66
Process Data Object (PDO)..............................................................................................................68
PDO Mapping Settings...................................................................................................................................68
Objects for PDO Mapping..............................................................................................................................69
Sync Manager PDOs assignment setting.......................................................................................................70
Objects for PDO Manager assignment...........................................................................................................70
Transmission Modes and Synchronization with Master Cycle.........................................................71
Objects for Transmission Modes and Synchronization..................................................................................71
Service Data Objects (SDO).............................................................................................................72
SDO abort codes.............................................................................................................................................72
Emergency Message.........................................................................................................................73
10.  EtherCAT CoE Modular Device.........................................................................................74
Axis Module identification...............................................................................................................76
Global device objects.....................................................................................................................................76
Single Module configuration and identification objects................................................................................76
11.  EtherCAT CoE profile list...................................................................................................78
The Handled profiles are :..............................................................................................................................78
For all modes the following functions are also enabled :...............................................................................78
12.  CoE Drive state machine.....................................................................................................79
Device states of the Drive Supervisor...............................................................................................79
State Transitions of the Drive Supervisor.........................................................................................80
13.  Operation Mode Implementation.......................................................................................82
Cyclic Synchronous Position mode (CSP) implementation (obj 6060.0 = 8)...................................82
Linear interpolation........................................................................................................................................82
Cubic interpolation without speed prevision..................................................................................................82
Standard parameters for CSP mode handling.................................................................................................83
Additional CSP Profile parameters................................................................................................................84
MAN18004_03_E_0421 – page 3 / 326
mod. MAN_01 rev B 13/07/00

  ROBOX S.P.A.
  Castelletto S. Ticino – Italy                                            Robox Sinamics S120 EtherCAT interface 
Cyclic Synchronous Velocity mode (CSV) implementation (obj 6060.0 = 9)...................................85
Standard parameters for CSV mode handling................................................................................................85
Cyclic Synchronous Torque mode (CST) implementation (obj 6060.0 = 10)...................................86
Standard parameters for CST mode handling................................................................................................91
Additional CST mode parameters..................................................................................................................92
Interpolated Position mode implementation (obj 6060.0 = 7)...........................................................93
Linear interpolation........................................................................................................................................93
Cubic interpolation without speed prevision..................................................................................................93
Standard parameters for Interpolated Position mode handling......................................................................94
Additional Interpolate Profile parameters......................................................................................................95
Homing Mode implementation (obj 6060.0 = 6)..............................................................................96
The available methods are:.............................................................................................................................96
Use of Control word and Status word for Homing........................................................................................98
Standard parameters for Homing mode handling..........................................................................................98
Additional Homing parameters......................................................................................................................99
Profile Position Mode implementation (obj 6060.0 = 1).................................................................100
Standard parameters for Profile Position handling......................................................................................102
Additional parameters for Profile Position handling....................................................................................103
Monitor function for Profile Position handling............................................................................................105
Profile Velocity Mode implementation (Obj 6060.0 = 3)................................................................106
Standard parameters for Profile Velocity handling......................................................................................106
Siemens Basic Positioner Mode implementation (p8841[2x] = 253, obj 6060.0 = -3)....................108
Global Configurations..................................................................................................................................109
Sinamics warning when using Siemens Basic Positioner Mode..................................................................111
EPOS JOG interface implementation:..........................................................................................................112
EPOS Homing interface implementation:....................................................................................................114
EPOS MDI interface implementation:.........................................................................................................116
EPOS Traversing block interface implementation:......................................................................................119
Siemens Basic Positioner connections with Standard EtherCAT objects....................................................122
Additional Siemens Basic Positioner parameters mapping table.................................................................123
Siemens Velocity Mode implementation (obj 6060.0 = -1).............................................................125
Standard parameters for Speed Mode handling...........................................................................................125
Special mode “Axis not Used” implementation (p8841[19+x] = 238 obj 6061.0 = -18)................126
Special mode “Axis Ghost” implementation (p8841[19+x] = 232 obj 6061.0 = -24).....................127
14.  Position Control Function implementation.....................................................................128
EtherCAT Position loop control function parameters.....................................................................128
Position loop closed by EtherCAT interface................................................................................................128
Specific parameters for Position Loop handling..........................................................................................129
Position Loop close inside SINAMICS drive..............................................................................................131
15.  Homing Examples..............................................................................................................133
Homing on “Home Switch open” and Index Pulse.........................................................................133
Controller based and touch probe.................................................................................................................133
Drive based with “Homing Mode”...............................................................................................................134
Homing on “trigger signal”............................................................................................................135
Controller based and touch probe.................................................................................................................135
Drive based with “Homing Mode”...............................................................................................................136
Homing with Position Control Loop close into the SINAMICS drive............................................137
16.  Additional functions and parameters...............................................................................138
Additional axis process data exchange...........................................................................................138
The SINAMICS PDZ data are mapped as follow........................................................................................138
Cu320-2 Data exchange..................................................................................................................140
Objects for CU 320-2 data Exchange...........................................................................................................140
Additional CU320-2 Parameters..................................................................................................................140
MAN18004_03_E_0421 – page 4 / 326
mod. MAN_01 rev B 13/07/00

  ROBOX S.P.A.
  Castelletto S. Ticino – Italy                                            Robox Sinamics S120 EtherCAT interface 
Active Line Module (Infeed) Control facility.................................................................................142
Line Module Fault Handling........................................................................................................................142
Parameters for Line Module Control Facility..............................................................................................143
Encoder resolution - Axis without Siemens Position Controller Enabled.......................................145
Encoder Resolution with linear motor.........................................................................................................146
Drive Sinamics Parameters for encoder configuration................................................................................146
Specific objects for encoder configuration ( access read/write to axis parameters )...................................147
Specific objects for encoder configuration ( read on start-up).....................................................................147
Use of second encoder..................................................................................................................................148
Specific objects for second encoder configuration......................................................................................148
Encoder resolution - Axis with Siemens Position Controller Enabled............................................149
Objects for Encoder resolution with Siemens Position Controller..............................................................150
Objects for absolute encoder calibration......................................................................................................150
Continuous movement in Profile Position Mode............................................................................151
Torque reduction handling..............................................................................................................152
Force “travel to fixed stop” signal................................................................................................................152
Standard configuration.................................................................................................................................152
Different Positive and negative limits configuration...................................................................................153
Torque limits Positive and negative in Nm value.........................................................................................155
Torque limits with Motor/regenerative limitation active.............................................................................155
Disable Torque limit BICO connection p8841[30]......................................................................................158
Objects for Torque handling.........................................................................................................................158
Torque - Current monitoring...........................................................................................................159
Torque monitoring........................................................................................................................................159
Objects for Torque monitoring when reading r0080 p8841[32].x = 0.........................................................159
Objects for Torque monitoring when reading r0080 p8841[32].x = 1.........................................................159
Current monitoring.......................................................................................................................................160
Objects for Current monitoring....................................................................................................................160
Brake release function....................................................................................................................161
Safety Torque Off Monitoring........................................................................................................162
Objects for STO Monitoring........................................................................................................................162
Touch Probe Function.....................................................................................................................164
Touch Probe 1 Functional description..........................................................................................................164
Objects for Touch Probe Function................................................................................................................165
Parking Axis and Parking Encoder.................................................................................................168
Objects for Axis Parking..............................................................................................................................168
SINAMICS parameter handling.....................................................................................................170
Singles Axis parameters Mapped Directly...................................................................................................170
Single Axis full parameters access obj 37FEh.............................................................................................176
Notes for full access to parameters Objects.................................................................................................177
Firmware version and hardware identification................................................................................179
17.  Fault and warnings............................................................................................................180
Fault ( Alarms )...............................................................................................................................180
Single SINAMICS Drive Alarms (with Sinamics Fault code).....................................................................181
Single SINAMICS Drive Alarms (with NAMUR code obj 37F4h.2 = 1)...................................................182
Single module EtherCAT interface Alarms..................................................................................................183
Global EtherCAT interface Alarms..............................................................................................................185
EtherCAT interface Configuration Alarms...................................................................................................186
Objects for fault handling.............................................................................................................................186
Obj 1003h details.........................................................................................................................................188
EtherCAT interface Configuration Alarms...................................................................................................188
Word 1 data meaning with “Error Code” from FF01h to FF06h.................................................................188
Word 1 data meaning with “Error Code” = FF80h......................................................................................189
MAN18004_03_E_0421 – page 5 / 326
mod. MAN_01 rev B 13/07/00