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DFE24B EtherCAT
SEW-Eurodrive DFE24B EtherCAT User Manual
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Drive T
echnology \ Drive Auto
mation \ System In
tegration \ Servic
es
Manual
Fieldbus Interface DFE24B EtherCA
T
®
Edition
04/201
3
20075758
/
EN
2
Table of Contents
Default Chapter
3
Table of Contents
3
1 General Information
6
How to Use the Documentation
6
Structure of the Safety Notes
6
Meaning of Signal Words
6
Structure of the Section Safety Notes
6
Structure of the Embedded Safety Notes
6
Right to Claim under Warranty
7
Exclusion of Liability
7
Copyright
7
Other Applicable Documentation
7
Product Names and Trademarks
7
2 Safety Notes
8
Bus Systems
8
Safety Functions
8
Hoist Applications
8
Disposal
8
3 Introduction
9
General Information
9
Content of this Manual
9
Additional Documentation
9
Characteristics
9
MOVIDRIVE ® B, MOVITRAC ® B and Ethercat
9
Access to All Information
9
Cyclic Data Exchange Via Ethercat
9
Acyclic Data Exchange Via Ethercat
10
Configuration of the Ethercat ® Communication Option
10
Monitoring Functions
10
Diagnostics
10
Configuration of the Ethercat 3.2.6 Monitoring Functions
10
4 Assembly and Installation Notes
11
Installing the DFE24B Option Card in MOVIDRIVE
11
Mdx61B
11
Before You Start
11
Basic Procedure for Installing/Removing an Option Card
13
Installing the DFE24B Option Card in MOVITRAC ® B
14
Connecting the System Bus (Sbus 1) between a MOVITRAC
14
B Unit and the DFE24B Option
14
Connecting the System Bus (Sbus 1) between Several MOVITRAC
15
B Units
15
Assembling and Installing the DFE24B/UOH11B Gateway Housing
17
Connection and Terminal Description of the DFE24B Option
18
Part Number
18
Pin Assignment X30 in / X31 out
19
DFE24B - Ethercat ® Connection
19
Shielding and Routing Bus Cables
19
Bus Termination
20
Setting the Station Address
20
DFE24B Operating Displays
20
LED RUN (Green/Orange)
21
LED ERR (Red)
21
LED Link/Activity (Green)
22
Gateway Leds
23
5 Project Planning and Startup
24
Validity of the XML File for the DFE24B
24
Configuration of the Ethercat ® Master for MOVIDRIVE ® B with
24
XML File
24
XML File for Running the DFE24B Communication Option on MOVIDRIVEB
24
Project Planning Procedure
24
Configuration of Process Data Objects (PDO)
24
Movidrive ® B
27
Configuration of the Ethercat ® Master for MOVITRAC ® B/Gateway
32
XML Files for Operation in MOVITRAC ® B and UOH11B Gateway Housing
32
Project Planning Procedure
32
PDO Configuration for DFE24B Gateway for MOVITRAC ® B
33
Auto-Setup for Gateway Operation
37
Setting the MOVIDRIVE ® MDX61B Inverter
38
Setting the MOVITRAC ® B Frequency Inverter
39
6 Operating Behavior on Ethercat
40
Controlling the MOVIDRIVE ® MDX61B Drive Inverter
40
Control Example in Twincat with MOVIDRIVE
40
Mdx61B
40
Ethercat ® Timeout (MOVIDRIVE ® MDX61B)
42
Fieldbus Timeout Response (MOVIDRIVE ® MDX61B)
42
Controlling the MOVITRAC ® B Frequency Inverter (Gateway)
43
Control Example in Twincat with MOVITRAC ® B
44
Sbus Timeout
45
Unit Error
45
DFE24B Fieldbus Timeout in Gateway Operation
46
Parameterization Via Ethercat
46
SDO Services READ and WRITE
46
Example of Reading a Parameter in Twincat Via Ethercat
47
Example of Writing a Parameter in Twincat Via Ethercat
48
Parameterization Return Codes
50
Elements
50
Error Class
50
Error Code
50
Additional Code
50
List of Implemented Error Codes for SDO Services
51
7 Operating MOVITOOLS ® Motionstudio Via Ethercat
52
About MOVITOOLS ® Motionstudio
52
Tasks
52
Functional Principle
52
First Steps
54
Starting the Software and Creating a Project
54
Establishing Communication and Scanning the Network
54
Configuring Units
55
Connection Mode
56
Overview
56
Selecting the Communication Mode (Online or Offline)
57
Communication Via Ethercat
58
Overview
58
Configuration of the Mailbox Gateway in the Ethercat ® Master
61
Configuring the Network at the Engineering PC
62
Checking the Network Settings
63
Communication Settings in MOVITOOLS ® Motionstudio
64
Executing Functions with the Units
66
Parameterizing Units
66
Reading or Changing Unit Parameters
66
Starting up Units (Online)
67
8 Motion Control Via Ethercat
68
Ethercat ® Introduction
68
Clock Synchronism
69
Settings in MOVIDRIVE ® B with MOVITOOLS ® Motionstudio
72
Velocity Mode Settings
72
Settings in MOVIDRIVE 8.2.1 Velocity Mode Settings
72
Position Mode Settings
74
Ethercat ® Master Settings
75
Velocity Mode Settings
76
Position Mode Settings
76
Example Twincat
77
Parameterizing Clock Synchronous Operation
77
NC Axis Parameterization
78
Encoder Parameterization
79
Velocity Mode
79
9 Error Diagnostics
82
Diagnostic Procedures
82
List of Errors
84
10 Technical Data
85
DFE24B Option for MOVIDRIVE ® MDX61B
85
DFE24B Option for MOVITRAC ® B and Gateway Housing
86
Index
87
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SEW-Eurodrive DFE24B EtherCAT Specifications
General
Brand
SEW-Eurodrive
Model
DFE24B EtherCAT
Category
Recording Equipment
Language
English
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