Stober SC6 Series - X200, X201: EtherCAT

List of figures STOBER
94
02/2020 | ID 443025.06
List of figures
Fig. 1 EtherCAT – Network structure, using the SI6 series as an example................................................................ 12
Fig. 2 DS6 – Program interface ................................................................................................................................. 14
Fig. 3 DriveControlSuite: Navigation using text links and symbols........................................................................... 15
Fig. 4 AS6 – Program interface ................................................................................................................................. 16
Fig. 5 TwinCAT 3 (TwinCAT XAE) – program interface.............................................................................................. 17
Fig. 6 LEDs for the EtherCAT state ........................................................................................................................... 43
Fig. 7 LEDs for the state of the EtherCAT network connection ................................................................................ 44
Fig. 8 EtherCAT – Communication protocols ............................................................................................................ 50
Fig. 9 Network overview – Topology 1 ..................................................................................................................... 51
Fig. 10 Network overview – Topology 2 ..................................................................................................................... 52
Fig. 11 EtherCAT state machine – Potential operating states and state changes ...................................................... 56
Fig. 12 SM-Sync – Synchronization using SyncManager event ................................................................................... 59
Fig. 13 EtherCAT – Distributed clocks ......................................................................................................................... 60
Fig. 14 AS6: DC-Sync – Settings................................................................................................................................... 61
Fig. 15 AS6: DC-Sync – Unstable synchronization, cycle time < 1ms ......................................................................... 65
Fig. 16 AS6: DC-Sync – Stable synchronization, cycle time < 1ms.............................................................................. 66
Fig. 17 TwinCAT 3: DC-Sync – Settings........................................................................................................................ 67
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