Document Outline

• Contents
  • 1 Safety Information
    • 1.1 Warnings, cautions and notes
    • 1.2 Electrical safety - general warning
    • 1.3 System design and safety of personnel
    • 1.4 Environmental limits
    • 1.5 Compliance with regulations
    • 1.6 Motor
    • 1.7 Adjusting parameters
    • 1.8 General safety considerations for remote operation
  • 2 Introduction
    • 2.1 Features
    • 2.2 Introduction to SM-EtherCAT
    • 2.3 What is EtherCAT?
    • 2.4 Solution module identification
      • 2.4.1 Date code format
    • 2.5 Conventions used in this guide
  • 3 Mechanical Installation
    • 3.1 General Installation
  • 4 Electrical Installation
    • 4.1 SM-EtherCAT module information
      • 4.1.1 Bus media
      • 4.1.2 Cabling considerations
      • 4.1.3 Cable
      • 4.1.4 Maximum network length
    • 4.2 Module grounding
    • 4.3 Network topology
    • 4.4 Minimum node-to-node cable length
  • 5 Getting Started
    • 5.1 Quick start guide
      • 5.1.1 SM-EtherCAT version compatibility
      • 5.1.2 SM-EtherCAT XML file
      • 5.1.3 Configuring the SM-EtherCAT module for cyclic communications
      • 5.1.4 Configuring the Sync Managers
    • 5.2 Quick start flowchart
    • 5.3 Saving parameters to the drive
    • 5.4 Re-initialising the SM-EtherCAT
    • 5.5 Re-initialise all Solutions Modules
  • 6 Protocols
    • 6.1 CANopen over EtherCAT (CoE)
      • 6.1.1 CoE communication area
      • 6.1.2 RxPDO mappings
      • 6.1.3 TxPDO mappings
      • 6.1.4 Sync manager configuration
      • 6.1.5 Feedback encoder source
  • 7 Drive profile (DSP-402) support
    • 7.1 0x6040 Controlword
    • 7.2 0x6041 Statusword
    • 7.3 Common profile features
      • 7.3.1 Sequencing control
      • 7.3.2 0x605A Quick stop option code
      • 7.3.3 0x605B Shutdown_option_code
      • 7.3.4 0x605C Disable_operation_option_code
      • 7.3.5 0x605E Fault_reaction_option_code
      • 7.3.6 0x6060 Modes_of_operation
      • 7.3.7 0x6061 Modes_of_operation_display
      • 7.3.8 0x6085 Quick_stop_deceleration
      • 7.3.9 Profile units
      • 7.3.10 0x608F Position_encoder_resolution
      • 7.3.11 0x6091 Gear_ratio
      • 7.3.12 0x6092 Feed_constant
      • 7.3.13 Basic position control
      • 7.3.14 0x6062 Position_demand_value
      • 7.3.15 0x6064 Position_actual_value
      • 7.3.16 0x60F4 Following_error_actual_value
      • 7.3.17 0x60FB Position_control_parameter_set object
    • 7.4 Interpolated position mode
      • 7.4.1 0x60C0 Interpolation_sub-mode_select
      • 7.4.2 0x60C1 Interpolation_data_record
      • 7.4.3 0x60C2 Interpolation_time_period
    • 7.5 vl velocity mode
      • 7.5.1 0x6042 vl_target_velocity
      • 7.5.2 0x6043 vl_velocity_demand
      • 7.5.3 0x6044 vl_velocity_actual_value
      • 7.5.4 0x6046 vl_velocity_min_max_amount
      • 7.5.5 0x6047 vl_velocity_min_max
      • 7.5.6 0x6048 vl_velocity_acceleration
      • 7.5.7 0x6049 vl_velocity_deceleration
      • 7.5.8 0x604A vl_velocity_quick_stop
      • 7.5.9 0x604B vl_setpoint_factor
      • 7.5.10 0x604C vl_dimension_factor
    • 7.6 Profile Torque mode
      • 7.6.1 0x6071 Target_torque
      • 7.6.2 0x6075 Motor_rated_current
      • 7.6.3 0x6078 Current_actual_value
      • 7.6.4 0x6087 Torque_slope
    • 7.7 Homing Mode
      • 7.7.1 General homing definitions
      • 7.7.2 Homing mode object definitions
  • 8 Advanced features
    • 8.1 Distributed clocks
    • 8.2 SM-EtherCAT protocol support
  • 9 Diagnostics
    • 9.1 Module identification parameters
      • 9.1.1 SM-EtherCAT module ID code
      • 9.1.2 SM-EtherCAT firmware version
    • 9.2 Network configuration objects
      • 9.2.1 SM-EtherCAT network loss trip
    • 9.3 Diagnostic parameters
      • 9.3.1 Running states
    • 9.4 Drive trip display codes
    • 9.5 SM-EtherCAT module temperature
    • 9.6 SM-EtherCAT serial number
    • 9.7 SM-EtherCAT error codes
    • 9.8 Critical task % free
    • 9.9 Worst case critical task % free
    • 9.10 FLASH file system % free
    • 9.11 Updating SM-EtherCAT firmware
  • 10 Quick Reference
  • 11 Glossary Of Terms
  • Index