SYSTEM Electronics ETC-QUAD UL - Axes Management Firmware Update

page 10
January 2020 - Rev. 1.2
Order Cod. 1902503003
3.5 Other diagnostics
messages
The following messages appears in the event of an
error during the detection of the drive boards; it is
recommendedtocontactSYSTEMElectronics.
HARDWAREERROR
SLAVEHWMISSING
HARDWAREERROR
SLAVEHWPRESENT
CONFIGERROR
ProdCodenotset
3.6 Indicator LEDS
CAN communicationviaCANbuseldbus
ETC RUN EtherCATcommunicationstatusaccording
tostandard:
Table 3.6.1
4. Axes management
Firmware update
Asalreadymentioned,theaxesmanagementrmware
canbeupdatedontheeldthankstothepresenceof
another rmware (xed) on the drive called Monitor
whoseexecutionmust,obviously,beforced.
TherearetwowaystoforceMonitorexecution:
• PressandholdtheESCkeywhileswitchingthe
driveon;
• Invalidatetheaxesmanagementrmware(via
therelevantcommandsentvianetworktothe
rmware)andrequiredrivereset(stillusingthe
relevantcommandsentvianetwork).
Whiletherstmethodrequiresamanualintervention
(butdoesnotinvalidatethemanagementrmware),the
secondoneallowstoruntheupdateremotelywithout
anyneedtoswitchoorevenopenthedrive.
OncetheMonitorexecutionhasbeenforced,thenew
axes management rmware can be downloaded onto
the drive using either EtherCAT or Ethernet network;
viathesamecommunicationchannelonecanthensend
commands that validate the previously downloaded
rmwareandforcethedrivereset;theupdatedrmware
willberunuponrestart.
The various stages of the updating procedure are
accompaniedbyrelevantmessagesonthedisplay.
Thisprocesscan,obviously,be automatedso thatall
drivespresentonanetworkareupdatedinparallel.
Make sure you have a power supply with the correct
voltage during the update procedure and do not
disconnectfromthepowersupplywhiledownloading.
It is in fact essential to update the rmware after
havingdisconnectedthemotorpowersupply,toprevent
uncontrolledmovementsduringtheprogramupdate.
4.1 Update via EtherCAT/FoE
Invalidationofthecurrentrmwareandresetofthedrive
viaEtherCATrequirewriting “make”in twovariables,
each4characterslong,locatedrespectivelyintheObject
Dictionaryataddresses0x4010sub1and0x4010sub2
(seeTable5.3.1)
TheObjectDictionaryisaccessibleusingtheEtherCAT/
CoEprotocol.
Downloading new rmware requires the use of the
EtherCAT/FoEprotocol.
Validation of the new rmware is automatic and is
performedattheendofasuccessfuldownload.
4.2 Update via Ethernet/HTTP
One can perform the invalidation, downloading,
validation and reset operations by connecting to the
Ethernetportofthedriveandusingabrowser(Internet
Explorer,Chromeetc.).
BydefaulttheIPaddressofthedriveis192.168.1.1;
asmentionedpreviously,itcanbechangedviathefront
keypad(orvianetwork).
1 - Viathebrowser,entertheaddressofthedevice
tobeupdatedintheaddressbarandclickonthe
"InvalidateApplication"link.
Figure 4.2.1
LED Description
Off
The device is in INIT state
Blinking
The device is in PRE-OPERATIONAL state
Single Flash
The device is in SAFE-OPERATIONAL state
On The device is in OPERATIONAL state
Flickering The device is booting and has not yet entered the
INIT state, or in BOOTSTRAP firmware download
operation in progress