Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services Fieldbus Interface DFE24B EtherCAT Edition 05/2007 11571810 / EN Manual SEW-EURODRIVE – Driving the world 1 Important Notes...................................................................................................... 6 1.1 Explanation of symbols .................................................................................. 6 1.2 Integral part of the product............................................................................. 6 1.3 Note on the documentation............................................................................ 6 1.4 Liability for defects ......................................................................................... 7 1.5 Product names and trademarks..................................................................... 7 1.6 Waste disposal............................................................................................... 7 2 Safety Notes ........................................................................................................... 8 2.1 Preliminary information .................................................................................. 8 2.2 General safety notes...................................................................................... 8 2.2.1 General safety notes for bus systems.................................................. 8 2.3 Transportation / putting into storage .............................................................. 8 2.4 Assembly / installation.................................................................................... 9 2.5 Startup / operation ......................................................................................... 9 3 Introduction .......................................................................................................... 10 3.1 Content of this manual ................................................................................. 10 3.2 Additional documentation............................................................................. 10 3.3 Features....................................................................................................... 10 3.3.1 MOVIDRIVE®, MOVITRAC® B and EtherCAT .................................. 10 3.3.2 Access to all information.................................................................... 11 3.3.3 Cyclic data exchange via EtherCAT ................................................. 11 3.3.4 Acyclic data exchange via EtherCAT ................................................ 11 3.3.5 Configuration of the EtherCAT option card........................................ 11 3.3.6 Monitoring functions........................................................................... 12 3.3.7 Diagnostics ........................................................................................ 12 3.3.8 Fieldbus monitor ................................................................................ 12 4 Assembly and Installation Notes........................................................................ 13 4.1 Installing option card DFE24B in MOVIDRIVE® MDX61B ........................... 13 4.1.1 Before you begin................................................................................ 13 4.1.2 Basic procedure for installing and removing an option card .............. 14 4.2 Installing option card DFE24B in MOVITRAC® B ........................................ 15 4.2.1 SBus connection................................................................................ 15 4.2.2 System bus connection...................................................................... 16 4.3 Installing the UOH11B gateway housing...................................................... 18 4.4 Connection and terminal description of the DFE24B option ........................ 19 4.5 Pin assignment ............................................................................................ 20 4.6 Shielding and routing bus cables ................................................................. 21 4.7 Bus termination ............................................................................................ 21 4.8 Setting the station address .......................................................................... 21 4.9 Operating displays of the DFE24B option.................................................... 22 4.9.1 EtherCAT LEDs ................................................................................. 22 4.9.2 Gateway LED..................................................................................... 24 Manual – Fieldbus Interface DFE24B EtherCAT 3 5 Configuration and Startup................................................................................... 25 5.1 Validity of the XML files for DFE24B............................................................ 25 5.2 Configuring the EtherCAT master for MOVIDRIVE® B with the XML file..... 25 5.2.1 XML for operation in MOVIDRIVE® B................................................ 25 5.2.2 Configuration procedure .................................................................... 26 5.2.3 PDO configuration for operation in MOVIDRIVE® ............................. 27 5.3 Configuring the EtherCAT master for MOVITRAC® B / gateway with XML file................................................................................................. 35 5.3.1 XML files for operation in MOVITRAC® B and gateway housing UOH11B ................................................................ 35 5.3.2 Configuration procedure .................................................................... 35 5.3.3 PDO configuration for DFE24B gateway for MOVITRAC® B............. 36 5.3.4 Auto setup for gateway operation ...................................................... 41 5.4 Setting the MOVIDRIVE® MDX61B drive inverter ....................................... 42 5.5 Setting the MOVITRAC® frequency inverter ................................................ 43 6 EtherCAT Operating Characteristics.................................................................. 45 6.1 Controlling the MOVIDRIVE® MDX61B drive inverter ................................. 45 6.1.1 Control example in TwinCAT with MOVIDRIVE® MDX61B ............... 46 6.1.2 EtherCAT timeout (MOVIDRIVE® MDX61B) ..................................... 48 6.1.3 Fieldbus timeout response (MOVIDRIVE® MDX61B)........................ 48 6.2 Controlling the MOVITRAC® B (Gateway) frequency inverter ..................... 49 6.2.1 Control example in TwinCAT with MOVITRAC® B (gateway) ........... 50 6.2.2 SBus timeout ..................................................................................... 51 6.2.3 Unit faults........................................................................................... 51 6.2.4 DFE24B fieldbus timeout in gateway operation................................. 52 6.3 Configuration via EtherCAT ........................................................................ 52 6.3.1 SDO READ and WRITE services ...................................................... 52 6.3.2 Example of reading a parameter in TwinCAT via EtherCAT.............. 53 6.3.3 Example of writing a parameter in TwinCAT via EtherCAT ............... 55 6.4 Configuration return codes........................................................................... 56 6.4.1 Elements............................................................................................ 56 6.4.2 Error class.......................................................................................... 56 6.4.3 Error code .......................................................................................... 56 6.4.4 Additional code .................................................................................. 57 6.4.5 List of the error codes for SDO services............................................ 57 7 Motion Control via EtherCAT ............................................................................. 58 7.1 Introduction to EtherCAT ............................................................................. 58 7.1.1 Velocity mode .................................................................................... 61 7.1.2 Position mode .................................................................................... 62 7.2 Settings in MOVIDRIVE® B with MOVITOOLS® MotionStudio.................... 63 7.2.1 Settings for velocity mode.................................................................. 63 7.2.2 Settings for position mode ................................................................. 65 7.3 Settings in EtherCAT master........................................................................ 67 7.3.1 Settings for velocity mode.................................................................. 67 7.3.2 Settings for position mode ................................................................. 68 7.4 Example in TwinCAT.................................................................................... 69 7.4.1 Velocity mode .................................................................................... 71 4 Manual – Fieldbus Interface DFE24B EtherCAT 8 Operating MOVITOOLS® MotionStudio via EtherCAT ...................................... 74 8.1 Introduction .................................................................................................. 74 8.2 Required hardware ...................................................................................... 75 8.3 Required software.......................................................................................