Lenze EtherCAT Controller-based Automation User Manual
Controller-based automation, Ä.o5ôä
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Table of contents
Document Outline
- Controller-based Automation - EtherCAT®
- Contents
- 1 About this documentation
- 2 Safety instructions
- 3 Controller-based Automation: Central motion control
- 4 The Lenze automation system with EtherCAT
- 5 Technical data
- 6 Synchronisation with "Distributed clocks" (DC)
- 7 Commissioning of the system
- 7.1 Sample projects (Application Samples)
- 7.2 Overview of the commissioning steps
- 7.3 Detailed description of the commissioning steps
- 7.3.1 Planning the bus topology
- 7.3.2 Installing field devices
- 7.3.3 Create a project folder
- 7.3.4 Commissioning the i700 servo inverter
- 7.3.4.1 i700 parameter management in the Controller-based Automation system
- 7.3.4.2 i700 parameter management in »EASY Starter«
- 7.3.4.3 Exchanging i700 parameter sets between »PLC Designer« and »EASY Starter«
- 7.3.4.4 Overview of the commissioning steps
- 7.3.4.5 Checking the wiring
- 7.3.4.6 Entering motor and controller settings
- 7.3.4.7 Setting the feedback system for servo control
- 7.3.4.8 Integrating the L_SMC_AxisBasicControl function block
- 7.3.4.9 Executing manual control
- 7.3.4.10 Optimising control
- 7.3.5 Commissioning other Lenze field devices
- 7.3.6 Creating a PLC program with a target system (Logic/Motion)
- 7.3.7 Configuring the communication parameters
- 7.3.8 Determining the physical EtherCAT configuration (fieldbus scan)
- 7.3.9 Importing missing devices / device description files
- 7.3.10 Creating a control configuration (adding field devices)
- 7.3.11 Creating a task
- 7.3.12 Setting a DC synchronisation
- 7.3.13 Setting SoftMotion parameters
- 7.3.14 Processing EtherCAT I/O mapping
- 7.3.15 Compiling the PLC program code
- 7.3.16 Logging in on the controller with the »PLC Designer«
- 7.3.17 Starting the PLC program
- 7.3.18 Start parameters of the Servo Drives 9400 HighLine CiA 402
- 7.3.19 Optimising the task utilisation
- 7.4 State diagram for commissioning
- 8 Mixed operation - EtherCAT with other bus systems
- 9 Function library L_IODrvEtherCAT.lib
- 9.1 Overview of functions and function blocks
- 9.2 CoE Interface
- 9.3 Device Interface
- 9.4 Diagnostic Interface
- 9.5 FoE interface
- 9.6 State Machine Interface
- 9.7 Data types
- 9.7.1 L_ETC_COE_EMERGENCY
- 9.7.2 L_ETC_COE_EMERGENCY_BUFFER_DATA
- 9.7.3 L_ETC_COE_FLAGS
- 9.7.4 L_ETC_DIAGNOSTIC
- 9.7.5 L_ETC_EVTPARAM_PARAMETERTRANSFER
- 9.7.6 L_ETC_ERRORCODE
- 9.7.7 L_ETC_IOCTLOPARMS
- 9.7.8 L_ETC_LANGUAGE
- 9.7.9 L_ETC_SLAVE_PORTS
- 9.7.10 L_ETC_PARAMETERTRANSFERSERVICE_CODE
- 9.7.11 L_ETC_STATE (EtherCAT status)
- 10 Restarting the EtherCAT fieldbus
- 11 Defining the cycle time of the PLC project
- 12 Diagnostics
- 12.1 Diagnostics with the »PLC Designer«
- 12.2 Diagnostic codes in the »WebConfig«
- 12.3 Logbook of the Lenze Controller in the »WebConfig«
- 12.4 Error counters of the EtherCAT slaves
- 12.5 Error scenarios
- 12.5.1 The EtherCAT bus does not assume the "Pre-Operational" state.
- 12.5.2 The EtherCAT bus does not assume the "Operational" state
- 12.5.3 Messages: WKC Error / Not all slaves "Operational" / SyncManager Watchdog
- 12.5.4 Error during process data transfer
- 12.5.5 Message: EtherCAT cable not connected / connected
- 12.5.6 Message: Frame Response Error
- 12.5.7 Shafts make clicking noises
- 12.5.8 Shafts do not rotate
- 12.6 System error messages
- 13 Parameter reference
- C280/4
- C280/4 | ECAT bus scan compliance
- C281/2
- C281/2 | ECAT master: State
- C281/5
- C281/5 | ECAT master: State info
- C281/6
- C281/6 | ECAT bus scan
- C282/2
- C282/2 | ECAT DC: Slave sync deviation limit
- C282/3
- C282/3 | ECAT DC: Current deviation
- C286/3
- C286/3 | ECAT bus: No. of slaves
- C286/4
- C286/4 | ECATBus: No. of DC slaves
- C286/5
- C286/5 | ECAT config.: No. of slaves
- C286/6
- C286/6 | ECAT config.: No. of mailbox slaves
- C286/7
- C286/7 | ECAT counter: Tx frames
- C286/8
- C286/8 | ECAT counter: Rx frames
- C286/9
- C286/9 | ECAT counter: Lost frames
- C286/10
- C286/10 | ECAT counter: Cyclic frames
- C286/11
- C286/11 | ECAT counter: Cyclic datagrams
- C286/12
- C286/12 | ECAT counter: Acyclic frames
- C286/13
- C286/13 | ECAT counter: Acyclic datagrams
- C286/14
- C286/14 | ECAT Clear specific counters
- Index
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