CoE Programming User Manual Technosoft 2014 TECHNOSOFT CAN application protocol over EtherCAT® (CoE) Programming User Manual P091.064.UM.0214 Technosoft S.A. Avenue des Alpes 20 CH-2000 NEUCHATEL Switzerland Tel.: +41 (0) 32 732 5500 Fax: +41 (0) 32 732 5504 [email protected] www.technosoftmotion.com Read This First Whilst Technosoft believes that the information and guidance given in this manual is correct, all parties must rely upon their own skill and judgment when making use of it. Technosoft does not assume any liability to anyone for any loss or damage caused by any error or omission in the work, whether such error or omission is the result of negligence or any other cause. Any and all such liability is disclaimed. All rights reserved. No part or parts of this document may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopying, recording or by any information-retrieval system without permission in writing from Technosoft S.A. About This Manual This manual describes how to program the Technosoft intelligent drives equipped with EtherCAT® communication interface. These drives support CAN application protocol over EtherCAT® (CoE) in conformance with CiA 402 device profile. The manual presents the object dictionary associated with this profile. The manual also explains how to combine the Technosoft Motion Language and the CoE commands in order to distribute the application between the EtherCAT® master and the Technosoft drives. In order to operate the Technosoft drives with EtherCAT® communication, you need to pass through 3 steps: Step 1 Hardware installation Step 2 Drive commissioning using initially the Technosoft EasySetUp or EasyMotion Studio software platforms and later via an EtherCAT® master Step 3 Motion programming using one of the options: A. An EtherCAT® master B. The drive built-in motion controller executing a Technosoft Motion Language (TML) program developed using Technosoft EasyMotion Studio software C. A distributed control approach which combines the above options, like for example a master calling motion functions programmed on the drives in TML This manual covers steps 2 and 3. For step 1, refer to the Technical Reference manual specific for each drive. Scope of This Manual This manual applies to all Technosoft intelligent drives having an EtherCAT® communication interface. © Technosoft 2014 III CoE programming Notational Conventions This document uses the following conventions: AL – Application Layer CoE - CAN application protocol over EtherCAT® ControlWord.5 – bit 5 of ControlWord data ESM – EtherCAT® State Machine IP - interpolated IU – drive/motor internal units TML – Technosoft Motion Language CSP – Cyclic Synchronous Position CSV – Cyclic Synchronous Velocity CST – Cyclic Synchronous Torque X1 – Subindex 1 of object 60C1h - Interpolation data record X2 – Subindex 2 of object 60C1h - Interpolation data record Trademarks EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Related Documentation Technical Reference Manual of each intelligent drive with EtherCAT® interface – provides information needed for hardware installation: technical data, connectors pin assignment, wiring diagrams plus a detailed presentation of drive setup procedure. Help of the EasySetUp software – describes how to use EasySetUp to quickly setup any Technosoft drive for your application using only 2 dialogues. The output of EasySetUp is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file. At power-on, the drive is initialized with the setup data read from its EEPROM. With EasySetUp it is also possible to retrieve the complete setup information from a previously programmed drive. EasySetUp can be downloaded free of charge from Technosoft web page Motion Programming using EasyMotion Studio (part no. P091.034.ESM.UM.xxxx) – describes how to use the EasyMotion Studio to create motion programs using the Technosoft Motion Language (TML). EasyMotion Studio platform includes EasySetUp for the drive/motor setup, and a Motion Wizard for the motion programming. The Motion Wizard provides a simple, graphical way of creating motion programs and automatically generates all the TML instructions. With EasyMotion Studio you can fully benefit from a key advantage of Technosoft drives – © Technosoft 2014 IV CoE programming their capability to execute complex motions without requiring an external motion controller, thanks to their built-in motion controller. A demo version of EasyMotion Studio (with the corresponding EasySetUp part fully functional) can be downloaded free of charge from Technosoft web page. If you Need Assistance … If you want to … Contact Technosoft at … Visit Technosoft online World Wide Web: http://www.technosoftmotion.com/ Receive general information World Wide Web: http://www.technosoftmotion.com/ or assistance Email: [email protected] Ask questions about product operation or report suspected problems Fax: (41) 32 732 55 04 Email: [email protected] Make suggestions about or report errors in documentation © Technosoft 2014 V CoE programming This page is empty. © Technosoft 2014 VI CoE programming Contents Read This First ............................................................................................................................... III About This Manual ....................................................................................................................... III Scope of This Manual .................................................................................................................. III Notational Conventions ................................................................................................................ IV Trademarks .................................................................................................................................. IV Related Documentation ............................................................................................................... IV If you Need Assistance … ............................................................................................................. V Contents ........................................................................................................................................ VII 1 Getting Started ........................................................................................................................ 1 1.1 Setting up the drive using EasySetUp or EasyMotion Studio ............................................. 1 1.1.1 What are EasySetUp and EasyMotion Studio? .......................................................... 1 1.1.2 Installing EasySetUp or EasyMotion Studio ................................................................ 2 1.1.3 Establishing serial communication with the drive ....................................................... 2 1.1.4 Choosing the drive, motor and feedback configuration .............................................. 3 1.1.5 Commissioning the drive ............................................................................................ 5 1.1.6 Downloading setup data to drive/motor ...................................................................... 6 1.1.7 Saving setup data in a file ........................................................................................... 7 1.1.8 Creating a .sw file with the setup data ........................................................................ 7 1.1.9 Checking and updating setup data via .sw files with an EtherCAT® master .............. 7 1.1.10 Testing and monitoring the drive behavior .................................................................. 8 1.2 Setting up EtherCAT® communication. Example with TwinCAT ....................................... 8 1.2.1 Adding the XML file ..................................................................................................... 8 1.2.2 Understanding EtherCAT® addressing modes supported ......................................... 8 1.2.3 Detecting the drive ...................................................................................................... 9 1.2.4 Configuring Technosoft EtherCAT drives for NC PTP compatibility ......................... 11 1.2.5 Running the NC-PTP interface ................................................................................. 16 1.2.6 Checking and updating the XML file stored in the drive ........................................... 19 1.2.7 Setting the free run communication cycle ................................................................. 21 1.3 Controlling the drive using CoE commands. Examples ................................................... 23 1.3.1 Starting a position profile with TwinCAT System Manager ....................................... 23 1.3.2 Starting a cyclic synchronous position mode ............................................................ 27 1.3.3 Mapping objects to TxPDOs and RxPDOs in TwinCAT System Manager ............... 29 1.3.4 Running an Interpolated Position Time motion in TwinCAT ..................................... 31 2 CAN application protocol over EtherCAT® ........................................................................ 35 2.1 EtherCAT® Architecture .................................................................................................. 35 2.2 Accessing EtherCAT® devices .......................................................................................