The CMM-EC02 is an EtherCAT communication card designed for use with Delta's MS300 and MH300 series motor drives. This operation manual provides comprehensive information regarding its specifications, installation, basic operations, configurations, and network communication protocols. The card facilitates real-time communication in industrial automation environments, leveraging the EtherCAT protocol for high-speed and deterministic data exchange.
Function Description:
The CMM-EC02 serves as an interface between an EtherCAT master controller and the M300 series motor drives, enabling precise control and monitoring of motor operations. It supports the CiA402 drive profile, specifically the Velocity Mode, allowing the host controller to send velocity commands, acceleration, and deceleration data to the motor drive. The card translates these commands into actions for the motor, and in turn, provides feedback on the motor's status and actual values.
The communication process involves Process Data Objects (PDO) for cyclic I/O communications and Service Data Objects (SDO) for parameter configuration and diagnostic information. Emergency Objects (EMCY) are also supported for critical event reporting. The EtherCAT State Machine, comprising states like Init, Pre-Operational, Safe-Operational, and Operational, governs the communication and operational readiness of the device.
Key functionalities include:
- Real-time Communication: Utilizes the EtherCAT protocol for fast and deterministic data exchange.
- Motor Control: Enables the host controller to command motor velocity, acceleration, and deceleration.
- Status Monitoring: Provides feedback on motor status, including actual velocity, torque, and operational mode.
- Parameter Configuration: Allows for reading and writing of motor drive parameters via SDOs.
- Error Handling: Reports communication warnings and faults, assisting in troubleshooting.
- PDO Mapping: Supports flexible configuration of PDOs for customized data exchange.
Important Technical Specifications:
Ethernet Specifications:
- Interface: RJ45
- Number of Ports: 2 ports
- Communication Mode: IEEE802.3, IEEE802.3u
- Cable: Category 5e shielding 100 M
- Transmission Speed: 10/100 Mbps Auto-Defect
- Communication Protocol: EtherCAT
- Synchronization Mode: Free Run mode (asynchronous)
- Communication Object: Process Data Object (PDO), Service Data Object (SDO), Emergency Object (EMCY)
- Application Layer Specifications: CiA402 drive profile
- Supported CiA402: Velocity Mode
Environment Conditions:
- Noise Immunity: ESD (IEC 61800-5-1, IEC 6100-4-2), EFT (IEC 61800-5-1, IEC 6100-4-4), Surge Test (IEC 61800-5-1, IEC 6100-4-5), Conducted Susceptibility Test (IEC 61800-5-1, IEC 6100-4-6)
- Operating Temperature: -10°C to 50°C (temperature), 90% (humidity)
- Storage Temperature: -25°C to 70°C (temperature), 95% (humidity)
- Vibration/Shock Resistance: International Standard IEC 61800-5-1, IEC 60068-2-6 / IEC 61800-5-1, IEC 60068-2-27
Electrical Specifications:
- Power Supply Voltage: 15 VDC (supplied by MH300 / MS300 drives)
- Power Consumption: 0.8 W
- Insulation Voltage: 500 VDC
- Weight (g; approx.): 27 (g)
Usage Features:
The CMM-EC02 is designed for straightforward integration and operation with Delta's M300 series drives.
- Mounting Flexibility: The card can be back-mounted or front-mounted depending on the drive frame size (A-F for MS300, A-I for MH300). Specific mounting positions and procedures are detailed for each frame.
- Cable Compatibility: Requires a specific communication cable (CBM-CL01A or CBM-CL02A) depending on the mounting position, ensuring proper connection to the control board.
- Grounding: Emphasizes the importance of proper grounding using a dedicated ground terminal to minimize noise interference. Recommended wire gauge is 16–20 AWG for grounding.
- LED Indicators: Provides clear visual feedback on the card's status through RUN, ERROR, IN LINK, and OUT LINK LEDs. These indicators help in quickly diagnosing communication and operational issues.
- RUN (Green): On for normal status, blinks for pre-operation or safe mode, off for initial status.
- ERROR (Red): Blinks for basic configuration error or status switch error, blinks twice for time-out, off for no error.
- IN LINK (Green): On for network connected, blinks for network in operation, off for network not connected.
- OUT LINK (Green): On for network connected, blinks for network in operation, off for network not connected.
- RJ45 PIN Definition: Standard RJ45 pin assignments are provided for Tx+, Tx-, Rx+, and N/C, facilitating correct cable termination.
- Drive Settings: Specific drive parameters (Pr.00-20, Pr.00-21, Pr.09-60, Pr.09-30) must be configured via the drive's keypad to enable the communication card as the source for frequency and control commands, and to identify it as an EtherCAT Slave.
- ESI File Integration: Requires the loading of an EtherCAT Slave Information (ESI) file into the PLC or host controller for proper identification and communication with the MH300/MS300 drives. These files are available from Delta's download center.
- PDO Mapping Configuration: The manual details how to configure Process Data Objects (PDOs) for data exchange, including default mappings for RxPDO (Controlword, vl target velocity, Max Torque, Max Motor Speed, Mode of Operation) and TxPDO (Statusword, Mode of Operation Display, Position Actual Value, Velocity Actual Value, Torque Actual Value, Error Code). Users can customize these mappings as needed.
- CiA402 State Machine: Explains the CiA402 state machine, which governs the motor drive's operational states (Power Disable, Not Ready to Switch On, Switch On Disable, Ready to Switch On, Switch On, Operation Enable, Quick Stop Active, Fault Reaction Active, Fault) and how control words (OD 6040h) transition the drive between these states.
- Velocity Mode Operation: Provides detailed steps for operating the motor drive in Velocity Mode, including setting the mode, velocity command, acceleration/deceleration times, and control commands.
Maintenance Features:
The manual includes a communication warning/fault table to assist in troubleshooting and maintenance.
- Error Codes and Descriptions: Provides specific ID numbers, warning/fault names, and descriptions for communication-related issues.
- ECto_WARN (ID 81): EtherCAT communication time out. Indicates a timer out warning on communication between the card and host controller.
- ECCb_WARN (ID 89): Communication card disconnected. A warning on the disconnected communication card.
- SYCE_WARN (ID 111): Synchronization warning. The source of communication is not the communication card, or loss of synchronization signal after setting up synchronization mode.
- SYCE_ERR (ID 161): Synchronization fault. The source of command is the communication card, or loss of synchronization signal after setting up synchronization mode, resulting in a fault message.
- Corrective Actions: For each warning or fault, specific corrective actions are suggested, such as verifying wiring, reinstalling the communication card, changing the communication card or motor drive, or reinstalling the motor drive to the upperhost.
- SDO Abort Codes: A comprehensive list of SDO abort codes (e.g., 0x05030000 for deflection fault, 0x06020000 for object not existing, 0x06090030 for parameter value out of bounds) is provided to help diagnose issues related to SDO communication and parameter access.
Overall, the CMM-EC02 is a robust and well-documented EtherCAT communication card, essential for integrating Delta's M300 series motor drives into advanced industrial automation systems that rely on the EtherCAT protocol for precise and synchronized control.
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