Table of contents
ID 441896.05
Operation manual
WE KEEP THINGS MOVING
3
7.2.1 Preselection of the axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.2.2 Expedited Transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.2.3 Error codes for SDO services . . . . . . . . . . . . . . . . . . . . . . . 33
7.2.4 List of the drive parameters . . . . . . . . . . . . . . . . . . . . . . . . . 35
8 Emergency messages . . . . . . . . . . . . . . . . . . . . . . .
37
8.1 Error Device State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
8.2 State Changes of the EtherCAT® State Machine . . . . . . . . 40
9 Synchronization with distributed clocks . . . . . . . . . .
42
10 Monitoring and diagnosis on the inverter . . . . . . . . .
47
10.1 Diagnostic Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
11 Commissioning with TwinCAT® . . . . . . . . . . . . . . . .
68
11.1 Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
11.2 Device description file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
11.3 Installing the driver for EtherCAT . . . . . . . . . . . . . . . . . . . . . 69
11.4 Startup of the device on EtherCAT® . . . . . . . . . . . . . . . . . . 69
11.5 Monitoring the process data connection to TwinCAT® . . . . 73
11.6 Activation of the synchronization with TwinCAT® . . . . . . . . 75
12 POSITool over EtherCAT . . . . . . . . . . . . . . . . . . . . .
78
12.1 Prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
12.2 Activating mailbox gateway . . . . . . . . . . . . . . . . . . . . . . . . . 80
12.3 Reading and sending data using POSITool over EtherCAT. 82
12.3.1Reading inverter data from the EtherCAT® network (reverse
documentation)
82
12.3.2Sending inverter data to EtherCAT® . . . . . . . . . . . . . . . . . . 86
12.4 Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
12.5 Principle of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
13 List of literature . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
93
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