Keba KeDrive D3-DA BG3 - 5 Commissioning Procedures; Preliminary Comments, Communication, and EtherCAT Integration

53
1 Commissioning
Operation Manual KeDrive D3-DA BG3 and BG4
1804.200B.1-01 Date: 03/2023
Commissioning
5 Commissioning
The chapter on commissioning is divided into the subject areas "Checking the motor-
encoder combination connected" and "Connecting the KeDrive D3 drive system to a
eld bus".
Caution! Damage to your system/machine due to errors in the operation (axis
controller) of the motor and moving parts due to unclear operating
states and/or product data!
Commissioning is not allowed to be undertaken:
• If connections, product data or operating states are unclear or incorrect
• If system safety and monitoring devices are damaged or not in operation.
5.1 Preliminary comment
For the initial conguration and testing of the axis group after completion of the wiring
for the axis group (supply unit, axis controller, motors and encoders), a PC with
KeStudio DriveManager can be connected directly to each individual axis controller
(peer-to-peer) via Ethernet. The drive axes can also be operated in the group via TCP/IP
by setting the IP address in the axis controller.
5.1.1 Connections for communication
The axis controllers and supply modules have two connections for establishing an
EtherCAT network: X40A ECAT IN and X40B ECAT OUT. Here connection X40A ECAT IN
is the input and connection X40B ECAT OUT the output. The output ECAT OUT remains
open on the last axis controller in the axis group.
The connections X40A can also be switched to the service and diagnostics mode. They
then act as TCP/IP connections.
A PC with KeStudio DriveManager installed can be connected to the axis group. In this
way initial conguration and tests can be undertaken on the complete axis group (supply
unit, axis controller, motors and encoders).
This is possible in the EtherCAT group via the Ethernet-over-EtherCAT function or in the
service and diagnostics mode by directly connecting the service PC to the connection
X40A ECATin on the rst axis controller.
The cable assignment (1:1 or cross-over) is detected automatically.
TCP/IP
EtherCAT
Master
X40A
X40B
X40A
X40B
X40A
X40B
KeDrive D3 DP KeDrive D3 DA KeDrive D3 DA
Figure 5.1 EtherCAT mode
5.1.2 EtherCAT® integration
In an EtherCAT® network, real-time data (PDO) and service data (SDO) are exchanged
between the controller and the drives.
If Ethernet data (TCP/IP) are also to be sent in an EtherCAT® network, the EtherCAT®
master must support the function Ethernet-over-EtherCAT® (EoE) to be able to tunnel
Ethernet data to the axis controllers