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Stober EtherCAT SD6 Series User Manual
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EtherCA
T
– SD6
Operating manual
en-US
02/2020
ID 442516.07
2
Table of Contents
Table of Contents
2
1 Foreword
5
2 User Information
6
Storage and Transfer
6
Described Product
6
Timeliness
6
Original Language
6
Limitation of Liability
6
Formatting Conventions
7
Use of Symbols
7
Markup of Text Elements
8
Mathematics and Formulas
8
Trademarks
9
3 General Safety Instructions
10
Directives and Standards
10
Qualified Personnel
10
Intended Use
10
Operational Environment and Operation
10
Disposal
11
4 Network Structure
12
Fig. 1 Ethercat - Network Structure
12
5 EC6 Communication Module
13
Installation
13
6 Connection
14
Selecting Suitable Lines
14
X200, X201: Fieldbus Connection
14
Tab. 1 X200 and X201 Connection Description
14
7 What You Should Know before Commissioning
15
Program Interfaces
15
DS6: Structure of the Program Interface
15
Fig. 2 DS6 - Program Interface
15
Fig. 3 Drivecontrolsuite: Navigation Using Text Links and Symbols
16
AS6: Structure of the Program Interface
17
Fig. 4 AS6 - Program Interface
17
Twincat 3: Structure of the Program Interface
18
Fig. 5 Twincat 3 (Twincat XAE) - Program Interface
18
Meaning of Parameters
19
Parameter Groups
19
Tab. 2 Parameter Groups
19
Parameter Types and Data Types
20
Tab. 3 Parameters - Data Types, Styles, Possible Values
20
Parameter Types
21
Parameter Structure
21
Parameter Visibility
22
Power-Loss Protected Storage
22
8 Commissioning
23
DS6: Configuring the Drive Controller
24
Initiating the Project
24
Parameterizing General Ethercat Settings
25
Configuring PDO Transmission
26
Mapping the Mechanical Axis Model
27
Synchronizing Ethercat Nodes
30
Transmitting and Saving the Configuration
30
AS6: Putting the Ethercat System into Operation
32
Creating a Standard Project
32
Adding a Drive Controller
32
Configuring Synchronization Using Distributed Clocks
33
Parameterizing a Softmotion Axis
34
Configuring Eoe Communication
35
Identifying a MC6 Motion Controller
35
Transmitting a Project Configuration
36
Checking the Functionality of the Axes
36
Special Case: Adding to the PDO Transmission
36
Twincat 3: Putting the Ethercat System into Operation
38
Creating and Exporting an ESI File
38
Activating the Ethercat Master
39
Scanning the Hardware Environment
40
Configuring Synchronization Using Distributed Clocks
41
Parameterizing an Axis
42
Configuring Eoe Communication
43
Transmitting a Project Configuration
43
Checking the Functionality of the Axes
44
9 Monitoring and Diagnostics
45
Connection Monitoring
45
LED Display
45
Ethercat State
45
Fig. 6 Leds for the Ethercat State
45
Tab. 4 Meaning of the Green LED (Run)
46
Tab. 5 Meaning of the Red LED (Error)
46
Ethercat Network Connection
47
Fig. 7 Leds for the State of the Ethercat Network Connection
47
Tab. 6 Meaning of the Green Leds (LA)
47
Events
48
Event 52: Communication
49
Tab. 7 Event 52 - Causes and Actions
49
Parameters
50
A255 | Ethercat Device State | V2
50
A256 | Ethercat Address | V1
50
A257 | Ethercat Diagnosis | V1
51
A259 | Ethercat SM-Watchdog | V1
52
A261 | Sync-Diagnostics | V1
52
10 Looking for more Information about Ethercat
53
Ethercat
53
Communication Protocols
54
Coe: Canopen over Ethercat
54
Eoe: Ethernet over Ethercat
54
Fig. 8 Ethercat - Communication Protocols
54
Eoe: Application Cases with STOBER Devices
55
Fig. 9: Network Overview - Topology 1
55
Fig. 10: Network Overview - Topology 2
56
Communication Objects
58
Process Data Objects - PDO
58
Service Data Objects - SDO
58
Emergency Objects - EMCY
60
Ethercat State Machine
61
Fig. 11 Ethercat State Machine - Potential Operating States and State Changes
61
Synchronization
63
SM-Sync: Synchronization Using Syncmanager Event
64
Fig. 12 SM-Sync - Synchronization Using Syncmanager Event
64
DC-Sync: Synchronization Using Distributed Clocks
65
Fig. 13 Ethercat - Distributed Clocks
65
Fig. 14 AS6: DC-Sync - Settings
66
Fig. 15 Twincat 3: DC-Sync - Settings
70
Modular ESI Files
73
Adding to a Modular ESI File
73
Deleting a Module from the ESI File
74
11 Appendix
75
Supported Communication Objects
75
ETG.1000.6 Ethercat Specification: 1000 Hex - 1FFF Hex
75
Tab. 8 Cia 301 Communication Objects: 1000 Hex - 1FFFF Hex
76
Manufacturer-Specific Parameters: 2000 Hex - 53FF Hex
77
Tab. 9 Manufacturer-Specific Communication Objects: 2000 Hex - 53FF Hex
77
Cia 402 Drives and Motion Control: 6000 Hex - 65FF Hex
78
Tab. 10 Cia 402-2 Communication Objects: 6000 Hex - 65FF Hex
78
Tab. 11 ETG.5000.1 Communication Objects: F000 Hex - FFFF Hex
80
SDO Transmission: Error Codes
81
Tab. 12 SDO - Error Codes
81
EMCY Message - Incorrect State Transitions: Error Codes
82
Tab. 13 EMCY - Transition Error Codes
82
Tab. 14 EMCY - Error Codes for States of the Ethercat State Machine
82
Tab. 15 EMCY - Diag Codes for the Cause of Error
82
EMCY Message - Device Fault: Error Codes
83
Tab. 16 EMCY - Device Fault Error Codes
84
Detailed Information
85
Abbreviations
86
12 Contact
87
Consultation, Service and Address
87
Your Opinion Is Important to Us
87
Close to Customers Around the World
88
Glossary
89
List of Figures
91
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Stober EtherCAT SD6 Series Specifications
General
Brand
Stober
Model
EtherCAT SD6 Series
Category
Controller
Language
English
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