Document Outline

• Controller-based Automation - EtherCAT®
  • Contents
    • 1 About this documentation
      • 1.1 Document history
      • 1.2 Conventions used
      • 1.3 Terminology used
      • 1.4 Definition of the notes used
    • 2 Safety instructions
    • 3 Controller-based Automation: Central motion control
    • 4 The Lenze automation system with EtherCAT
      • 4.1 Brief description of EtherCAT
        • 4.1.1 Structure of the EtherCAT bus system
        • 4.1.2 Communication
          • 4.1.2.1 The EtherCAT state machine
          • 4.1.2.2 Addressing of the slaves
          • 4.1.2.3 Working counter
      • 4.2 Required hardware components
        • 4.2.1 Field devices
        • 4.2.2 The Lenze Controller - the central component
        • 4.2.3 EtherCAT product codes
        • 4.2.4 The EtherCAT interface of the Lenze Controller
      • 4.3 Lenze Engineering tools
      • 4.4 Interaction of the components
        • 4.4.1 The state machine of the Lenze control technology
        • 4.4.2 Communication between the Engineering PC and the field devices
          • 4.4.2.1 EtherCAT bus not in operation
          • 4.4.2.2 EtherCAT bus in operation (gateway function)
    • 5 Technical data
      • 5.1 General data
      • 5.2 EtherCAT interface of the Lenze Controller
      • 5.3 Communication times and drive-specific data
    • 6 Synchronisation with "Distributed clocks" (DC)
      • 6.1 Synchronous communication
      • 6.2 Test of DC synchronicity
    • 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
          • 7.3.14.1 Entering the settings for PDO mapping
          • 7.3.14.2 Configuring individual PDO mapping
          • 7.3.14.3 PDO mapping for logic devices
          • 7.3.14.4 Using PDO mapping settings from »Engineer«
        • 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
      • 8.1 CANopen and EtherCAT
      • 8.2 PROFIBUS as the logic bus and EtherCAT as a logic bus or motion bus
      • 8.3 EtherCAT and PROFINET
    • 9 Function library L_IODrvEtherCAT.lib
      • 9.1 Overview of functions and function blocks
      • 9.2 CoE Interface
        • 9.2.1 Reading and writing parameters
          • 9.2.1.1 Reading parameters (SDO upload)
          • 9.2.1.2 Writing parameters (SDO download)
        • 9.2.2 L_ETC_CoE_SdoRead (FB)
        • 9.2.3 L_ETC_CoE_SdoRead4 (FB)
        • 9.2.4 L_ETC_CoE_SdoReadEx (FB)
        • 9.2.5 L_ETC_CoE_SdoWrite (FB)
        • 9.2.6 L_ETC_CoE_SdoWrite4 (FB)
        • 9.2.7 L_ETC_CoE_SdoWriteEx (FB)
      • 9.3 Device Interface
        • 9.3.1 ETCSlave (FB)
        • 9.3.2 L_ETC_GetSlave (FUN)
        • 9.3.3 L_ETC_IoControl (FUN)
        • 9.3.4 L_IODrvEtherCAT (FB)
      • 9.4 Diagnostic Interface
        • 9.4.1 L_ETC_GetEmergency (FB)
        • 9.4.2 L_ETC_GetErrorString (FUN)
        • 9.4.3 L_ETC_GetMasterDiagnostic (FB)
        • 9.4.4 L_ETC_ReadErrCnt (FB)
        • 9.4.5 L_ETC_ResetErrCnt (FB)
      • 9.5 FoE interface
        • 9.5.1 L_ETC_FoE_Read (FB)
        • 9.5.2 L_ETC_FoE_Write (FB)
      • 9.6 State Machine Interface
        • 9.6.1 L_ETC_GetMasterState (FB)
        • 9.6.2 L_ETC_GetSlaveState (FB)
        • 9.6.3 L_ETC_SetMasterState (FB)
        • 9.6.4 L_ETC_SetSlaveState (FB)
      • 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
      • 11.1 Determining the task utilisation of the application
      • 11.2 Optimising the system
    • 12 Diagnostics
      • 12.1 Diagnostics with the »PLC Designer«
        • 12.1.1 Representation in the online mode
        • 12.1.2 Diagnostic tabs of the EtherCAT master
        • 12.1.3 Display window for EtherCAT logbook messages
        • 12.1.4 Visualisation of the function block L_ETC_GetMasterDiagnostic
      • 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
        • 12.4.1 Error types "Errors" and "Forwarded Errors"
        • 12.4.2 Error counter reset from the application
      • 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
        • 12.6.1 General error codes (L_ETC_ERRORCODE)
        • 12.6.2 Lenze Controller logbook messages
        • 12.6.3 SDO abort codes
    • 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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