STOBER Table of contents
02/2020 | ID 443025.06
iii
7 Commissioning ........................................................................................................................................................ 22
7.1 DS6: Configuring the drive controller .................................................................................................................... 23
7.1.1 Initiating the project ............................................................................................................................. 23
7.1.2 Parameterizing general EtherCAT settings ........................................................................................... 24
7.1.3 Configuring PDO transmission .............................................................................................................. 25
7.1.4 Mapping the mechanical axis model .................................................................................................... 26
7.1.5 Synchronizing EtherCAT nodes ............................................................................................................. 29
7.1.6 Transmitting and saving the configuration........................................................................................... 30
7.2 AS6: Putting the EtherCAT system into operation ................................................................................................. 31
7.2.1 Creating a standard project .................................................................................................................. 31
7.2.2 Adding a drive controller ...................................................................................................................... 32
7.2.3 Configuring synchronization using distributed clocks........................................................................... 32
7.2.4 Parameterizing a SoftMotion axis......................................................................................................... 33
7.2.5 Configuring EoE communication........................................................................................................... 34
7.2.6 Identifying a MC6 motion controller .................................................................................................... 34
7.2.7 Transmitting a project configuration .................................................................................................... 35
7.2.8 Checking the functionality of the axes.................................................................................................. 35
7.2.9 Special case: Adding to the PDO transmission...................................................................................... 36
7.3 TwinCAT 3: Putting the EtherCAT system into operation ......................................................................................37
7.3.1 Creating and exporting an ESI file......................................................................................................... 37
7.3.2 Activating the EtherCAT master............................................................................................................ 38
7.3.3 Scanning the hardware environment ................................................................................................... 39
7.3.4 Configuring synchronization using distributed clocks........................................................................... 40
7.3.5 Parameterizing an axis.......................................................................................................................... 40
7.3.6 Configuring EoE communication........................................................................................................... 41
7.3.7 Transmitting a project configuration .................................................................................................... 41
7.3.8 Checking the functionality of the axes.................................................................................................. 42
8 Monitoring and diagnostics ..................................................................................................................................... 43
8.1 Connection monitoring .......................................................................................................................................... 43
8.2 LED display ............................................................................................................................................................. 43
8.2.1 EtherCAT state ...................................................................................................................................... 43
8.2.2 EtherCAT network connection.............................................................................................................. 44
8.3 Events..................................................................................................................................................................... 45
8.3.1 Event 52: Communication..................................................................................................................... 45
8.4 Parameters............................................................................................................................................................. 46
8.4.1 A255 | EtherCAT Device State | V2 ...................................................................................................... 46
8.4.2 A256 | EtherCAT Address | V1 ............................................................................................................. 46
8.4.3 A257 | EtherCAT Diagnosis | V1 ........................................................................................................... 47
8.4.4 A259 | EtherCAT SM-Watchdog | V1 ................................................................................................... 48
8.4.5 A261 | Sync-Diagnostics | V1 ............................................................................................................... 48
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