Emerson 0471-0128-02 User Manual

Emerson

SM-EtherCAT User Guide

3

Issue Number: 2

www.controltechniques.com

Contents

Safety Information ..........................................................5

Warnings, cautions and notes ......................................................................5

Electrical safety - general warning ...............................................................5

System design and safety of personnel .......................................................5

1.4 Environmental

.....................................................................................6

Compliance with regulations ........................................................................6

............................................................................................................6

...................................................................................6

General safety considerations for remote operation ....................................7

Introduction ....................................................................8

.......................................................................................................8

Introduction to SM-EtherCAT .......................................................................8

What is EtherCAT? ......................................................................................8

Solution module identification ......................................................................8

Conventions used in this guide ....................................................................9

Mechanical Installation ................................................10

....................................................................................10

Electrical Installation ...................................................11

SM-EtherCAT module information .............................................................11

......................................................................................11

.......................................................................................12

Minimum node-to-node cable length ..........................................................12

Getting Started .............................................................13

........................................................................................13

..................................................................................17

Saving parameters to the drive ..................................................................18

5.4 Re-initialising

................................................................18

Re-initialise all Solutions Modules .............................................................18

Protocols .......................................................................19

CANopen over EtherCAT (CoE) ................................................................19

Drive profile (DSP-402) support ..................................28

...................................................................................28

....................................................................................29

............................................................................29

7.4 Interpolated

.........................................................................39

vl velocity mode .........................................................................................41

Profile Torque mode ..................................................................................46

.............................................................................................47

Advanced features .......................................................55

8.1 Distributed

.......................................................................................55

8.2 SM-EtherCAT

..................................................................55