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Stober SC6 Series Operating Manual
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STOBER
6 | What you should know before commissioning
02/2020 | ID 443025.06
17
6.
1.3
T
winCA
T 3: S
tructure of
the pr
ogram interface
In TwinCAT 3, you operate your EtherCAT system using TwinCAT XAE. The following graphic shows the interface elements
relevant to this documentation.
1
2
3
4
5
6
Fig.5: TwinCAT 3 (TwinCAT XAE) – program interface
1
Solution explorer
2
Main window
3
Message view
4
Toolbox
5
Event display
6
Status display (configuration, run, connection setup/timeout mode)
16
18
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, Using the SI6 Series as an Example
12
5 Connection
13
Selecting Suitable Lines
13
X200, X201: Fieldbus Connection
13
Tab. 1 X200 and X201 Connection Description
13
6 What You Should Know before Commissioning
14
Program Interfaces
14
DS6: Structure of the Program Interface
14
Fig. 2 DS6 - Program Interface
14
Fig. 3 Drivecontrolsuite: Navigation Using Text Links and Symbols
15
AS6: Structure of the Program Interface
16
Fig. 4 AS6 - Program Interface
16
Twincat 3: Structure of the Program Interface
17
Fig. 5 Twincat 3 (Twincat XAE) - Program Interface
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Meaning of Parameters
18
Parameter Groups
18
Tab. 2 Parameter Groups
18
Parameter Types and Data Types
19
Tab. 3 Parameters - Data Types, Styles, Possible Values
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Parameter Types
20
Parameter Structure
20
Parameter Visibility
21
Power-Loss Protected Storage
21
7 Commissioning
22
DS6: Configuring the Drive Controller
23
Initiating the Project
23
Parameterizing General Ethercat Settings
24
Configuring PDO Transmission
25
Mapping the Mechanical Axis Model
26
Synchronizing Ethercat Nodes
29
Transmitting and Saving the Configuration
30
AS6: Putting the Ethercat System into Operation
31
Creating a Standard Project
31
Adding a Drive Controller
32
Configuring Synchronization Using Distributed Clocks
32
Parameterizing a Softmotion Axis
33
Configuring Eoe Communication
34
Identifying a MC6 Motion Controller
34
Transmitting a Project Configuration
35
Checking the Functionality of the Axes
35
Special Case: Adding to the PDO Transmission
36
Twincat 3: Putting the Ethercat System into Operation
37
Creating and Exporting an ESI File
37
Activating the Ethercat Master
38
Scanning the Hardware Environment
39
Configuring Synchronization Using Distributed Clocks
40
Parameterizing an Axis
40
Configuring Eoe Communication
41
Transmitting a Project Configuration
41
Checking the Functionality of the Axes
42
8 Monitoring and Diagnostics
43
Connection Monitoring
43
LED Display
43
Ethercat State
43
Fig. 6 Leds for the Ethercat State
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Tab. 4 Meaning of the Red LED (Error)
43
Ethercat Network Connection
44
Fig. 7 Leds for the State of the Ethercat Network Connection
44
Tab. 5 Meaning of the Green LED (Run)
44
Tab. 6 Meaning of the Green Leds (LA)
44
Events
45
Event 52: Communication
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Parameters
46
A255 | Ethercat Device State | V2
46
A256 | Ethercat Address | V1
46
Tab. 7 Event 52 - Causes and Actions
46
A257 | Ethercat Diagnosis | V1
47
A259 | Ethercat SM-Watchdog | V1
48
A261 | Sync-Diagnostics | V1
48
9 Looking for more Information about Ethercat
49
Ethercat
49
Communication Protocols
50
Coe: Canopen over Ethercat
50
Eoe: Ethernet over Ethercat
50
Fig. 8 Ethercat - Communication Protocols
50
Eoe: Application Cases with STOBER Devices
51
Fig. 9: Network Overview - Topology 1
51
Fig. 10: Network Overview - Topology 2
52
Communication Objects
53
Process Data Objects - PDO
53
Service Data Objects - SDO
54
Emergency Objects - EMCY
55
Ethercat State Machine
56
Fig. 11 Ethercat State Machine - Potential Operating States and State Changes
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Synchronization
58
SM-Sync: Synchronization Using Syncmanager Event
59
Fig. 12 SM-Sync - Synchronization Using Syncmanager Event
59
DC-Sync: Synchronization Using Distributed Clocks
60
Fig. 13 Ethercat - Distributed Clocks
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Fig. 14 AS6: DC-Sync - Settings
61
Fig. 15 AS6: DC-Sync - Unstable Synchronization, Cycle Time < 1 Ms
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Fig. 16 AS6: DC-Sync - Stable Synchronization, Cycle Time < 1 Ms
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Fig. 17 Twincat 3: DC-Sync - Settings
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Fig. 18 Twincat 3: DC-Sync - Unstable Synchronization, Cycle Time < 1 Ms
71
Fig. 19 Twincat 3: DC-Sync - Stable Synchronization, Cycle Time < 1 Ms
72
Modular ESI Files
73
Adding to a Modular ESI File
73
Deleting a Module from the ESI File
74
10 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
80
Manufacturer-Specific Parameters: A000 Hex - D3FF Hex
81
Tab. 11 Vendor-Specific Communication Objects: A000 Hex - D3FF Hex
81
Cia 402 Drives and Motion Control: 6800 Hex - 6DFF Hex
82
Tab. 12 Cia 402-2 Communication Objects: 6800 Hex - 6DFF Hex
84
ETG.5000.1 Modular Device Profile: F000 Hex - FFFF Hex
85
SDO Transmission: Error Codes
85
Tab. 13 ETG.5000.1 Communication Objects: F000 Hex - FFFF Hex
85
Tab. 14 SDO - Error Codes
85
EMCY Message - Incorrect State Transitions: Error Codes
86
Tab. 15 EMCY - Transition Error Codes
86
Tab. 16 EMCY - Error Codes for States of the Ethercat State Machine
86
Tab. 17 EMCY - Diag Codes for the Cause of Error
86
EMCY Message - Device Fault: Error Codes
87
Detailed Information
88
Tab. 18 EMCY - Device Fault Error Codes
88
Abbreviations
89
11 Contact
90
Consultation, Service and Address
90
Your Opinion Is Important to Us
90
Close to Customers Around the World
91
Glossary
92
List of Figures
94
Other manuals for Stober SC6 Series
Manual
219 pages
Commissioning Instructions
74 pages
4
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Stober SC6 Series Specifications
General
Brand
Stober
Model
SC6 Series
Category
Controller
Language
English
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