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www.controltechniques.com
User Guide
Unidrive SP
Affinity
Digitax ST
Commander SK
Mentor MP
Part Number: 0471-0128-05
Issue Number: 5
SM-EtherCAT
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or
incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the
variable speed drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of commitment
to a policy of continuous development and improvement, the manufacturer reserves the right to change the
specification of the product or its performance, or the content of the guide without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means,
electrical or mechanical including, photocopying, recording or by an information storage or retrieval system,
without permission in writing from the publisher.
Environmental Statement
Control Techniques is committed to minimising the environmental impacts of its manufacturing operations
and of its products throughout their life cycle. To this end, we operate an Environmental Management
System (EMS) which is certified to the International Standard ISO 14001. Further information on the EMS,
our Environment Policy and other relevant information is available on request, or can be found at
www.greendrives.com.
The electronic variable speed drives manufactured by Control Techniques have the potential to save
energy and (through increased machine/process efficiency) reduce raw material consumption and scrap
throughout their long working lifetime. In typical applications, these positive environmental effects far
outweigh the negative impacts of product manufacture and end-of-life disposal.
Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded
but should instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the
products easy to dismantle into their major component parts for efficient recycling. Many parts snap
together and can be separated without the use of tools, while other parts are secured with conventional
fasteners. Virtually all parts of the product are suitable for recycling.
Product packaging is of good quality and can be re-used. Large products are packed in wooden crates,
while smaller products come in strong cardboard cartons which themselves have a high-recycled fibre
content. If not re-used, these containers can be recycled. Polythene, used on the protective film and bags
from wrapping product, can be recycled in the same way. Control Techniques' packaging strategy prefers
easily recyclable materials of low environmental impact, and regular reviews identify opportunities for
improvement.
When preparing to recycle or dispose of any product or packaging, please observe local legislation and
best practice.
Software Statement
This Solutions Module (SM) is supplied with the latest software version. When retro-installing to an existing
system, all software versions should be verified to confirm the same functionality as Solutions Modules of
the same type already present. This also applies to products returned from a Control Techniques Service
Centre or Repair Centre. If there is any doubt please contact the supplier of the product.
The software version of the Solutions Module can be identified by looking at Pr MM.02 and Pr MM.51,
where MM is the relevant menu number for the Solutions Module slot being used.
See Pr MM.02 and Pr MM.51 description later in this manual for more information.
The software version takes the form of xx.yy.zz, where Pr MM.02 displays xx.yy and Pr MM.51 displays zz
(e.g. for software version 01.01.00 Pr 15.02 will display 1.01 and Pr 15.51 will display 0).
REACH legislation
EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals
(REACH) requires the supplier of an article to inform the recipient if it contains more than a specified
proportion of any substance which is considered by the European Chemicals Agency (ECHA) to be a
Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for compulsory
authorisation.
For current information on how this requirement applies in relation to specific Control Techniques products,
please approach your usual contact in the first instance. Control Techniques position statement can be
viewed at:
http://www.controltechniques.com/REACH
Copyright : © May 2011 Control Techniques Ltd.
Issue Number : 5
SM-EtherCAT User Guide 3
Issue Number: 5 www.controltechniques.com
Contents
1 Safety information ..........................................................5
1.1 Warnings, cautions and notes ......................................................................5
1.2 Electrical safety - general warning ...............................................................5
1.3 System design and safety of personnel ....................................................... 5
1.4 Environmental limits .....................................................................................6
1.5 Compliance with regulations ........................................................................6
1.6 Motor ............................................................................................................7
1.7 Adjusting parameters ...................................................................................7
1.8 Electrical installation ....................................................................................7
2 Introduction ....................................................................8
2.1 Features .......................................................................................................8
2.2 Introduction to SM-EtherCAT .......................................................................8
2.3 What is EtherCAT? ......................................................................................8
2.4 Solution module identification ......................................................................9
2.5 Product Conformance Certificate ................................................................. 9
2.6 Conventions used in this guide ....................................................................9
3 Mechanical installation ................................................11
3.1 General installation ....................................................................................11
4 Electrical installation ...................................................12
4.1 SM-EtherCAT module information ............................................................. 12
4.2 SM-EtherCAT terminal descriptions ...........................................................12
4.3 Module grounding ......................................................................................13
4.4 Network topology .......................................................................................13
4.5 Minimum node-to-node cable length ..........................................................13
5 Getting started ..............................................................14
5.1 Quick start guide ........................................................................................14
5.2 Quick start flowchart ..................................................................................18
5.3 Saving parameters to the drive ..................................................................19
5.4 SM-EtherCAT Node address ..................................................................... 19
5.5 SM-EtherCAT RUN ....................................................................................19
5.6 Re-initializing the SM-EtherCAT ................................................................20
5.7 Re-initialize all Solutions Modules .............................................................20
6 Protocols .......................................................................21
6.1 Process Data Objects (PDOs) ...................................................................21
6.2 Service Data Object (SDO) parameter access ..........................................21
6.3 CANopen over EtherCAT (CoE) ................................................................22
6.4 Ethernet over EtherCAT (EoE) ..................................................................32
4 SM-EtherCAT User Guide
www.controltechniques.com Issue Number: 5
7 Drive profile (DSP-402) support ..................................36
7.1 0x6040 Controlword ...................................................................................36
7.2 0x6041 Statusword ....................................................................................37
7.3 Common profile features ............................................................................37
7.4 Interpolated position mode .........................................................................48
7.5 vl velocity mode .........................................................................................50
7.6 Profile torque mode ....................................................................................56
7.7 Homing mode ............................................................................................. 57
7.8 Cyclic sync position mode ..........................................................................65
8 Advanced features .......................................................67
8.1 Distributed Clocks ......................................................................................67
8.2 SM-EtherCAT protocol support ..................................................................68
8.3 Menu 61 - General Module Setup .............................................................. 68
8.4 Advanced cyclic data configuration ............................................................ 72
8.5 Internal shortcuts .......................................................................................73
9 Diagnostics ...................................................................74
9.1 Module identification parameters ...............................................................74
9.2 Network configuration objects ....................................................................75
9.3 Diagnostic parameters ...............................................................................76
9.4 Drive trip display codes .............................................................................. 77
9.5 SM-EtherCAT module temperature ...........................................................77
9.6 SM-EtherCAT serial number ......................................................................77
9.7 SM-EtherCAT error codes ......................................................................... 77
9.8 Error handling ............................................................................................78
9.9 Critical task % free .....................................................................................80
9.10 SDO abort codes .......................................................................................81
9.11 FLASH file system % free ..........................................................................81
9.12 Updating SM-EtherCAT firmware ..............................................................82
10 Quick reference ............................................................83
11 Glossary of terms .........................................................87
SM-EtherCAT User Guide 5
Issue Number: 5 www.controltechniques.com
Safety
information
Introduction
Mechanical
installation
Electrical
installation
Getting started Protocols
Drive profile (DSP-402)
support
Advanced
features
Diagnostics
Quick
reference
Glossary of
terms
Index
1 Safety information
1.1 Warnings, cautions and notes
1.2 Electrical safety - general warning
The voltages used in the drive can cause severe electrical shock and/or burns, and
could be lethal. Extreme care is necessary at all times when working with or adjacent to
the drive.
Specific warnings are given at the relevant places in this User Guide.
1.3 System design and safety of personnel
The drive is intended as a component for professional incorporation into complete
equipment or a system. If installed incorrectly, the drive may present a safety hazard.
The drive uses high voltages and currents, carries a high level of stored electrical
energy, and is used to control equipment which can cause injury.
Close attention is required to the electrical installation and the system design to avoid
hazards either in normal operation or in the event of equipment malfunction. System
design, installation, start up and maintenance must be carried out by personnel who
have the necessary training and experience. They must read this safety information and
this User Guide carefully.
The STOP and SAFE TORQUE OFF functions of the drive do not isolate dangerous
voltages from the output of the drive or from any external option unit. The supply must
be disconnected by an approved electrical isolation device before gaining access to the
electrical connections.
With the sole exception of the SAFE TORQUE OFF function on Unidrive SP and
Digitax ST, none of the drive functions must be used to ensure safety of
personnel, i.e. they must not be used for safety-related functions.
A Warning contains information, which is essential for avoiding a safety hazard.
A Caution contains information, which is necessary for avoiding a risk of damage to the
product or other equipment.
A Note contains information, which helps to ensure correct operation of the product.
WARNING
CAUT ION
NOTE
The SAFE TORQUE OFF function is only available as standard on the Unidrive SP and
Digitax ST.
NOTE
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