Lenze ECSCPxxx - Manual (Page 225)

Commissioning
Configuring the electrical shaft ("E−Shaft")
Electrical shaft via EtherCAT with PLC as electrical shaft master
6
l
225 EDBCSXP064 EN 8.0
Setting Brief description
Preconditions l The EtherCAT communication module (EMF2192IB) is connected to the AIF
interface (X1).
l Wiring of the EtherCAT fieldbus at the EtherCAT communication module
(EMF2192IB) and to the master control (PLC) which acts as electrical shaft
master.
l Connection of a PC via the "Global Drive Control" (GDC) operating program to
the system bus (CAN) X14 for parameterisation
l Information on selection and configuration of the control interface to control
the drive system can be found on
^ 226.
Settings for the master (PLC)
1. Set master control as
electrical shaft master. l Setpoint cycle of master; interval in which the process data and the sync
signal are transmitted by the master.
– The setpoint cycle should be 2 or 4 ms.
l Generation of the master value/master angle to be transmitted to the slaves
– Telegram structure see
^ 158 and ^ 161.
– The master angle is transmitted in bytes 5 ... 8 (PosDirect).
– Information on selection and configuration of the control interface to
control the drive system can be found on ^ 226.
Settings for the slave drive
2. Select the control
interface. l C4010 = 2; select the control interface "AIF (EtherCAT)".
3. Set the synchronisation
of the program cycles by
means of a sync signal
via terminal X6/DI1. l C4011 = 5; assignment of the digital inputs
– Synchronisation is carried out via the digital input 1 (X6/ID1).
l C1120 = 2; set the source of the sync signal to "synchronisation via terminal
X6/DI1" (the synchronisation function will be activated).
l C1121 = 2 ms; set the same synchronisation cycle as for the master.
l Set C1122 (synchronisation phase), C1123 (synchronisation window) and
C0363 (sync correction increment).
4. Set monitoring of the AIF
communication. l C0126 = 0; set the CE0 fault response to TRIP. (Monitoring of the
communication on the automation interface (AIF))
5. Set the positioning
profile for electrical shaft
operation and stretch
factor. l C3095 = 32; set positioning profile mode to "E−shaft via EtherCAT (X1 +
EMF2192IB)".
l C3097 = 1000 / C3098 = 1000 ; set the stretch factor numerator and
denominator for the electrical shaft (e.g.: 1000 / 1000).
Notes:
l Negative values in the numerator C3097 cause a reversal of direction of
rotation.
l The machine parameters C1202 and C1203 for the gearbox ration are only
effective for positioning and do not influence the drive function "electrical
shaft".
6. Save settings with mains
failure protection. l C0003 = 1; save parameter set 1.
The settings for the slave drive are now completed.
Make the same settings for each slave drive in the drive system (from 2nd).
In order to put the drive system into operation, the following actions must be carried out:
ƒ Set the EtherCAT node to the state "operational".
ƒ Enable the slave drives by the master control (PLC) (
¶ 241)and start the positioning
profile with the setting profile mode = electrical shaft ("E−shaft") ( ¶ 226).
ƒ Start the setpoint default by the master control (PLC).
I
Tip!
For test purposes, the control interface can be set to "control via codes" with
C4010 = 3. Then the control bits of the "Ctrl1" control word can be defined in
GDC via C4040 to control the drives without a master control.