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SM-EtherCAT User Guide 3
Issue Number: 2 www.controltechniques.com
Contents
1 Safety Information ..........................................................5
1.1 Warnings, cautions and notes ......................................................................5
1.2 Electrical safety - general warning ...............................................................5
1.3 System design and safety of personnel .......................................................5
1.4 Environmental limits .....................................................................................6
1.5 Compliance with regulations ........................................................................6
1.6 Motor ............................................................................................................6
1.7 Adjusting parameters ...................................................................................6
1.8 General safety considerations for remote operation ....................................7
2 Introduction ....................................................................8
2.1 Features .......................................................................................................8
2.2 Introduction to SM-EtherCAT .......................................................................8
2.3 What is EtherCAT? ......................................................................................8
2.4 Solution module identification ......................................................................8
2.5 Conventions used in this guide ....................................................................9
3 Mechanical Installation ................................................10
3.1 General Installation ....................................................................................10
4 Electrical Installation ...................................................11
4.1 SM-EtherCAT module information .............................................................11
4.2 Module grounding ......................................................................................11
4.3 Network topology .......................................................................................12
4.4 Minimum node-to-node cable length ..........................................................12
5 Getting Started .............................................................13
5.1 Quick start guide ........................................................................................13
5.2 Quick start flowchart ..................................................................................17
5.3 Saving parameters to the drive ..................................................................18
5.4 Re-initialising the SM-EtherCAT ................................................................18
5.5 Re-initialise all Solutions Modules .............................................................18
6 Protocols .......................................................................19
6.1 CANopen over EtherCAT (CoE) ................................................................19
7 Drive profile (DSP-402) support ..................................28
7.1 0x6040 Controlword ...................................................................................28
7.2 0x6041 Statusword ....................................................................................29
7.3 Common profile features ............................................................................29
7.4 Interpolated position mode .........................................................................39
7.5 vl velocity mode .........................................................................................41
7.6 Profile Torque mode ..................................................................................46
7.7 Homing Mode .............................................................................................47
8 Advanced features .......................................................55
8.1 Distributed clocks .......................................................................................55
8.2 SM-EtherCAT protocol support ..................................................................55